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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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4
hal/src/main/native/athena/DigitalInternal.cpp
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@@ -112,9 +112,7 @@ void initializeDigital(int32_t* status) {
pwmSystem->writeConfig_Period(std::lround(kDefaultPwmPeriod / loopTime),
status);
uint16_t minHigh = std::lround(
(kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime);
pwmSystem->writeConfig_MinHigh(minHigh, status);
pwmSystem->writeConfig_MinHigh(0, status);
// Ensure that PWM output values are set to OFF
for (uint8_t pwmIndex = 0; pwmIndex < kNumPWMChannels; pwmIndex++) {
// Copy of SetPWM

9
hal/src/main/native/athena/DigitalInternal.h
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@@ -47,15 +47,8 @@ constexpr int32_t kExpectedLoopTiming = 40;
* devices.
*/
constexpr double kDefaultPwmPeriod = 5.05;
/**
* kDefaultPwmCenter is the PWM range center in ms
*/
constexpr double kDefaultPwmCenter = 1.5;
/**
* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
*/
constexpr int32_t kDefaultPwmStepsDown = 1000;
constexpr int32_t kPwmDisabled = 0;
constexpr int32_t kPwmAlwaysHigh = 0xFFFF;
extern std::unique_ptr<tDIO> digitalSystem;
extern std::unique_ptr<tRelay> relaySystem;

103
hal/src/main/native/athena/PWM.cpp
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@@ -9,6 +9,8 @@
#include <cstdio>
#include <thread>
#include <fmt/format.h>
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
@@ -118,7 +120,7 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
}
// Defaults to allow an always valid config.
HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
HAL_SetPWMConfigMicroseconds(handle, 2000, 1501, 1500, 1499, 1000, status);
port->previousAllocation = allocationLocation ? allocationLocation : "";
@@ -158,62 +160,28 @@ HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
return channel < kNumPWMChannels && channel >= 0;
}
void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max,
double deadbandMax, double center, double deadbandMin,
double min, int32_t* status) {
void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t max,
int32_t deadbandMax, int32_t center,
int32_t deadbandMin, int32_t min,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
// calculate the loop time in milliseconds
double loopTime =
HAL_GetPWMLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
if (*status != 0) {
return;
}
int32_t maxPwm = static_cast<int32_t>((max - kDefaultPwmCenter) / loopTime +
kDefaultPwmStepsDown - 1);
int32_t deadbandMaxPwm = static_cast<int32_t>(
(deadbandMax - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
int32_t centerPwm = static_cast<int32_t>(
(center - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
int32_t deadbandMinPwm = static_cast<int32_t>(
(deadbandMin - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
int32_t minPwm = static_cast<int32_t>((min - kDefaultPwmCenter) / loopTime +
kDefaultPwmStepsDown - 1);
port->maxPwm = maxPwm;
port->deadbandMaxPwm = deadbandMaxPwm;
port->deadbandMinPwm = deadbandMinPwm;
port->centerPwm = centerPwm;
port->minPwm = minPwm;
port->maxPwm = max;
port->deadbandMaxPwm = deadbandMax;
port->deadbandMinPwm = deadbandMin;
port->centerPwm = center;
port->minPwm = min;
port->configSet = true;
}
void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
port->maxPwm = maxPwm;
port->deadbandMaxPwm = deadbandMaxPwm;
port->deadbandMinPwm = deadbandMinPwm;
port->centerPwm = centerPwm;
port->minPwm = minPwm;
}
void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
int32_t* deadbandMaxPwm, int32_t* centerPwm,
int32_t* deadbandMinPwm, int32_t* minPwm,
int32_t* status) {
void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
int32_t* maxPwm, int32_t* deadbandMaxPwm,
int32_t* centerPwm, int32_t* deadbandMinPwm,
int32_t* minPwm, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -246,18 +214,30 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
return port->eliminateDeadband;
}
void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
int32_t* status) {
void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
int32_t microsecondPulseTime,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
if (microsecondPulseTime < 0 ||
(microsecondPulseTime != 0xFFFF && microsecondPulseTime >= 4096)) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status,
fmt::format("Pulse time {} out of range. Expect [0-4096) or 0xFFFF",
microsecondPulseTime));
return;
}
if (port->channel < tPWM::kNumHdrRegisters) {
pwmSystem->writeHdr(port->channel, value, status);
pwmSystem->writeHdr(port->channel, microsecondPulseTime, status);
} else {
pwmSystem->writeMXP(port->channel - tPWM::kNumHdrRegisters, value, status);
pwmSystem->writeMXP(port->channel - tPWM::kNumHdrRegisters,
microsecondPulseTime, status);
}
}
@@ -302,7 +282,7 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
return;
}
HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
}
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
@@ -335,14 +315,15 @@ void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
return;
}
HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
}
void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
HAL_SetPWMRaw(pwmPortHandle, kPwmDisabled, status);
HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, kPwmDisabled, status);
}
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -367,12 +348,11 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return 0;
}
int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
int32_t value = HAL_GetPWMPulseTimeMicroseconds(pwmPortHandle, status);
if (*status != 0) {
return 0;
}
DigitalPort* dPort = port.get();
if (value == kPwmDisabled) {
return 0.0;
} else if (value > GetMaxPositivePwm(dPort)) {
@@ -401,7 +381,7 @@ double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return 0;
}
int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
int32_t value = HAL_GetPWMPulseTimeMicroseconds(pwmPortHandle, status);
if (*status != 0) {
return 0;
}
@@ -444,6 +424,11 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
}
}
void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle,
int32_t* status) {
HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, kPwmAlwaysHigh, status);
}
int32_t HAL_GetPWMLoopTiming(int32_t* status) {
initializeDigital(status);
if (*status != 0) {

2
hal/src/main/native/athena/mockdata/PWMData.cpp
View File

@@ -13,7 +13,7 @@ void HALSIM_ResetPWMData(int32_t index) {}
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, PWM##CAPINAME, RETURN)
DEFINE_CAPI(HAL_Bool, Initialized, false)
DEFINE_CAPI(int32_t, RawValue, 0)
DEFINE_CAPI(int32_t, PulseMicrosecond, 0)
DEFINE_CAPI(double, Speed, 0)
DEFINE_CAPI(double, Position, 0)
DEFINE_CAPI(int32_t, PeriodScale, 0)