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[hal, wpilib] Fix up DIO pulse API (#4387)

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The FPGA API takes microseconds directly, instead of a scaled value. Also add a new HAL level API to trigger multiple DIOs with the same pulse at once.
This commit is contained in:
Thad House
2022-09-02 16:49:42 -07:00
committed by GitHub
parent 59e6706b75
commit a5df391166
9 changed files with 88 additions and 19 deletions
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7
hal/src/main/native/sim/DIO.cpp
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@@ -225,7 +225,7 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
return value;
}
void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLengthSeconds,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -235,6 +235,11 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
// TODO (Thad) Add this
}
void HAL_PulseMultiple(uint32_t channelMask, double pulseLengthSeconds,
int32_t* status) {
// TODO (Thad) Add this
}
HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {