Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

8
hal/src/main/native/sim/DigitalInternal.h
View File

@@ -39,14 +39,6 @@ constexpr int32_t kExpectedLoopTiming = 40;
* devices.
*/
constexpr float kDefaultPwmPeriod = 5.05f;
/**
* kDefaultPwmCenter is the PWM range center in ms
*/
constexpr float kDefaultPwmCenter = 1.5f;
/**
* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
*/
constexpr int32_t kDefaultPwmStepsDown = 1000;
constexpr int32_t kPwmDisabled = 0;
struct DigitalPort {

88
hal/src/main/native/sim/PWM.cpp
View File

@@ -62,7 +62,7 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
SimPWMData[origChannel].initialized = true;
// 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 : "";
@@ -84,62 +84,28 @@ 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;
@@ -172,15 +138,15 @@ 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 value, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimPWMData[port->channel].rawValue = value;
SimPWMData[port->channel].pulseMicrosecond = value;
}
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
@@ -231,19 +197,20 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
SimPWMData[port->channel].rawValue = 0;
SimPWMData[port->channel].pulseMicrosecond = 0;
SimPWMData[port->channel].position = 0;
SimPWMData[port->channel].speed = 0;
}
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;
return 0;
}
return SimPWMData[port->channel].rawValue;
return SimPWMData[port->channel].pulseMicrosecond;
}
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
@@ -299,6 +266,19 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
SimPWMData[port->channel].zeroLatch = false;
}
void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimPWMData[port->channel].pulseMicrosecond = 0xFFFF;
SimPWMData[port->channel].position = 0xFFFF;
SimPWMData[port->channel].speed = 0xFFFF;
}
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);

6
hal/src/main/native/sim/mockdata/PWMData.cpp
View File

@@ -17,7 +17,7 @@ void InitializePWMData() {
PWMData* hal::SimPWMData;
void PWMData::ResetData() {
initialized.Reset(false);
rawValue.Reset(0);
pulseMicrosecond.Reset(0);
speed.Reset(0);
position.Reset(0);
periodScale.Reset(0);
@@ -34,7 +34,7 @@ void HALSIM_ResetPWMData(int32_t index) {
LOWERNAME)
DEFINE_CAPI(HAL_Bool, Initialized, initialized)
DEFINE_CAPI(int32_t, RawValue, rawValue)
DEFINE_CAPI(int32_t, PulseMicrosecond, pulseMicrosecond)
DEFINE_CAPI(double, Speed, speed)
DEFINE_CAPI(double, Position, position)
DEFINE_CAPI(int32_t, PeriodScale, periodScale)
@@ -46,7 +46,7 @@ DEFINE_CAPI(HAL_Bool, ZeroLatch, zeroLatch)
void HALSIM_RegisterPWMAllCallbacks(int32_t index, HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify) {
REGISTER(initialized);
REGISTER(rawValue);
REGISTER(pulseMicrosecond);
REGISTER(speed);
REGISTER(position);
REGISTER(periodScale);

5
hal/src/main/native/sim/mockdata/PWMDataInternal.h
View File

@@ -10,7 +10,7 @@
namespace hal {
class PWMData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
HAL_SIMDATAVALUE_DEFINE_NAME(RawValue)
HAL_SIMDATAVALUE_DEFINE_NAME(PulseMicrosecond)
HAL_SIMDATAVALUE_DEFINE_NAME(Speed)
HAL_SIMDATAVALUE_DEFINE_NAME(Position)
HAL_SIMDATAVALUE_DEFINE_NAME(PeriodScale)
@@ -19,7 +19,8 @@ class PWMData {
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
false};
SimDataValue<int32_t, HAL_MakeInt, GetRawValueName> rawValue{0};
SimDataValue<int32_t, HAL_MakeInt, GetPulseMicrosecondName> pulseMicrosecond{
0};
SimDataValue<double, HAL_MakeDouble, GetSpeedName> speed{0};
SimDataValue<double, HAL_MakeDouble, GetPositionName> position{0};
SimDataValue<int32_t, HAL_MakeInt, GetPeriodScaleName> periodScale{0};