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[wpilib][hal] PWM Raw using microseconds (#5283)

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Co-authored-by: Joe <sciencewhiz@users.noreply.github.com>
This commit is contained in:
Thad House
2023-06-22 19:43:16 -07:00
committed by GitHub
parent 1fca519fb4
commit c1a01569b4
56 changed files with 374 additions and 466 deletions
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11
crossConnIntegrationTests/src/main/native/cpp/DutyCycleTest.cpp
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@@ -21,10 +21,10 @@ TEST_P(DutyCycleTest, DutyCycle) {
ASSERT_EQ(0, status);
// Ensure our PWM is disabled, and set up properly
HAL_SetPWMRaw(pwmHandle, 0, &status);
HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
ASSERT_EQ(0, status);
HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
HAL_SetPWMConfigMicroseconds(pwmHandle, 5050, 2525, 2525, 2525, 0, &status);
ASSERT_EQ(0, status);
HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
ASSERT_EQ(0, status);
@@ -41,8 +41,9 @@ TEST_P(DutyCycleTest, DutyCycle) {
// Sleep enough time for the frequency to converge
usleep(3500000);
ASSERT_NEAR(1000 / 5.05,
(double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
ASSERT_NEAR(
1000 / 5.05,
static_cast<double>(HAL_GetDutyCycleFrequency(dutyCycle, &status)), 1);
// TODO measure output
}

10
crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp
View File

@@ -32,8 +32,8 @@ void TestTimingDMA(int squelch, std::pair<int, int> param) {
ASSERT_EQ(0, status);
// Ensure our PWM is disabled, and set up properly
HAL_SetPWMRaw(pwmHandle, 0, &status);
HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
unsigned int checkPeriod = 0;
@@ -163,8 +163,8 @@ void TestTiming(int squelch, std::pair<int, int> param) {
ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
// Ensure our PWM is disabled, and set up properly
HAL_SetPWMRaw(pwmHandle, 0, &status);
HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
unsigned int checkPeriod = 0;
@@ -251,7 +251,7 @@ void TestTiming(int squelch, std::pair<int, int> param) {
}
}
HAL_SetPWMRaw(pwmHandle, 0, &status);
HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
// Ensure our interrupts have the proper counts
ASSERT_EQ(interruptData.risingStamps.size(),