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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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88
hal/src/main/native/sim/PWM.cpp
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@@ -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);