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https://github.com/wpilibsuite/allwpilib
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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
452
hal/src/main/native/athena/PWM.cpp
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452
hal/src/main/native/athena/PWM.cpp
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@@ -0,0 +1,452 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "HAL/PWM.h"
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#include <cmath>
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#include "ConstantsInternal.h"
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#include "DigitalInternal.h"
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#include "HAL/handles/HandlesInternal.h"
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#include "PortsInternal.h"
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using namespace hal;
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static inline int32_t GetMaxPositivePwm(DigitalPort* port) {
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return port->maxPwm;
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}
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static inline int32_t GetMinPositivePwm(DigitalPort* port) {
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return port->eliminateDeadband ? port->deadbandMaxPwm : port->centerPwm + 1;
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}
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static inline int32_t GetCenterPwm(DigitalPort* port) {
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return port->centerPwm;
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}
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static inline int32_t GetMaxNegativePwm(DigitalPort* port) {
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return port->eliminateDeadband ? port->deadbandMinPwm : port->centerPwm - 1;
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}
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static inline int32_t GetMinNegativePwm(DigitalPort* port) {
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return port->minPwm;
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}
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static inline int32_t GetPositiveScaleFactor(DigitalPort* port) {
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return GetMaxPositivePwm(port) - GetMinPositivePwm(port);
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} ///< The scale for positive speeds.
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static inline int32_t GetNegativeScaleFactor(DigitalPort* port) {
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return GetMaxNegativePwm(port) - GetMinNegativePwm(port);
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} ///< The scale for negative speeds.
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static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) {
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return GetMaxPositivePwm(port) - GetMinNegativePwm(port);
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} ///< The scale for positions.
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extern "C" {
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HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
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int32_t* status) {
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initializeDigital(status);
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if (*status != 0) return HAL_kInvalidHandle;
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int16_t channel = getPortHandleChannel(portHandle);
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if (channel == InvalidHandleIndex || channel >= kNumPWMChannels) {
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*status = PARAMETER_OUT_OF_RANGE;
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return HAL_kInvalidHandle;
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}
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uint8_t origChannel = static_cast<uint8_t>(channel);
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if (origChannel < kNumPWMHeaders) {
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channel += kNumDigitalChannels; // remap Headers to end of allocations
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} else {
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channel = remapMXPPWMChannel(channel) + 10; // remap MXP to proper channel
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}
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auto handle =
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digitalChannelHandles.Allocate(channel, HAL_HandleEnum::PWM, status);
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if (*status != 0)
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return HAL_kInvalidHandle; // failed to allocate. Pass error back.
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auto port = digitalChannelHandles.Get(handle, HAL_HandleEnum::PWM);
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if (port == nullptr) { // would only occur on thread issue.
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*status = HAL_HANDLE_ERROR;
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return HAL_kInvalidHandle;
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}
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port->channel = origChannel;
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int32_t bitToSet = 1 << remapMXPPWMChannel(port->channel);
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uint16_t specialFunctions =
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digitalSystem->readEnableMXPSpecialFunction(status);
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digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet,
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status);
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return handle;
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}
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void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->channel > tPWM::kNumHdrRegisters - 1) {
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int32_t bitToUnset = 1 << remapMXPPWMChannel(port->channel);
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uint16_t specialFunctions =
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digitalSystem->readEnableMXPSpecialFunction(status);
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digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToUnset,
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status);
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}
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digitalChannelHandles.Free(pwmPortHandle, HAL_HandleEnum::PWM);
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}
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HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
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return channel < kNumPWMChannels && channel >= 0;
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}
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void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max,
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double deadbandMax, double center, double deadbandMin,
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double min, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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// calculate the loop time in milliseconds
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double loopTime =
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HAL_GetLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
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if (*status != 0) return;
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int32_t maxPwm = static_cast<int32_t>((max - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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int32_t deadbandMaxPwm = static_cast<int32_t>(
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(deadbandMax - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
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int32_t centerPwm = static_cast<int32_t>(
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(center - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
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int32_t deadbandMinPwm = static_cast<int32_t>(
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(deadbandMin - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
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int32_t minPwm = static_cast<int32_t>((min - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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port->maxPwm = maxPwm;
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port->deadbandMaxPwm = deadbandMaxPwm;
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port->deadbandMinPwm = deadbandMinPwm;
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port->centerPwm = centerPwm;
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port->minPwm = minPwm;
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port->configSet = true;
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}
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void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
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int32_t deadbandMaxPwm, int32_t centerPwm,
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int32_t deadbandMinPwm, int32_t minPwm,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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port->maxPwm = maxPwm;
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port->deadbandMaxPwm = deadbandMaxPwm;
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port->deadbandMinPwm = deadbandMinPwm;
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port->centerPwm = centerPwm;
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port->minPwm = minPwm;
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}
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void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
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int32_t* deadbandMaxPwm, int32_t* centerPwm,
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int32_t* deadbandMinPwm, int32_t* minPwm,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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*maxPwm = port->maxPwm;
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*deadbandMaxPwm = port->deadbandMaxPwm;
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*deadbandMinPwm = port->deadbandMinPwm;
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*centerPwm = port->centerPwm;
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*minPwm = port->minPwm;
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}
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void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
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HAL_Bool eliminateDeadband, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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port->eliminateDeadband = eliminateDeadband;
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}
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HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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return port->eliminateDeadband;
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}
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/**
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* Set a PWM channel to the desired value. The values range from 0 to 255 and
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* the period is controlled
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* by the PWM Period and MinHigh registers.
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*
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* @param channel The PWM channel to set.
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* @param value The PWM value to set.
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*/
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void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->channel < tPWM::kNumHdrRegisters) {
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pwmSystem->writeHdr(port->channel, value, status);
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} else {
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pwmSystem->writeMXP(port->channel - tPWM::kNumHdrRegisters, value, status);
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}
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}
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/**
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* Set a PWM channel to the desired scaled value. The values range from -1 to 1
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* and
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* the period is controlled
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* by the PWM Period and MinHigh registers.
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*
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* @param channel The PWM channel to set.
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* @param value The scaled PWM value to set.
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*/
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void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (!port->configSet) {
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*status = INCOMPATIBLE_STATE;
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return;
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}
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DigitalPort* dPort = port.get();
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if (speed < -1.0) {
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speed = -1.0;
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} else if (speed > 1.0) {
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speed = 1.0;
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} else if (!std::isfinite(speed)) {
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speed = 0.0;
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}
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// calculate the desired output pwm value by scaling the speed appropriately
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int32_t rawValue;
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if (speed == 0.0) {
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rawValue = GetCenterPwm(dPort);
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} else if (speed > 0.0) {
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rawValue = static_cast<int32_t>(
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speed * static_cast<double>(GetPositiveScaleFactor(dPort)) +
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static_cast<double>(GetMinPositivePwm(dPort)) + 0.5);
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} else {
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rawValue = static_cast<int32_t>(
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speed * static_cast<double>(GetNegativeScaleFactor(dPort)) +
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static_cast<double>(GetMaxNegativePwm(dPort)) + 0.5);
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}
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if (!((rawValue >= GetMinNegativePwm(dPort)) &&
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(rawValue <= GetMaxPositivePwm(dPort))) ||
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rawValue == kPwmDisabled) {
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*status = HAL_PWM_SCALE_ERROR;
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return;
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}
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HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
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}
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/**
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* Set a PWM channel to the desired position value. The values range from 0 to 1
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* and
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* the period is controlled
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* by the PWM Period and MinHigh registers.
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*
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* @param channel The PWM channel to set.
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* @param value The scaled PWM value to set.
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*/
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void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (!port->configSet) {
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*status = INCOMPATIBLE_STATE;
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return;
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}
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DigitalPort* dPort = port.get();
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if (pos < 0.0) {
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pos = 0.0;
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} else if (pos > 1.0) {
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pos = 1.0;
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}
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// note, need to perform the multiplication below as floating point before
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// converting to int
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int32_t rawValue = static_cast<int32_t>(
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(pos * static_cast<double>(GetFullRangeScaleFactor(dPort))) +
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GetMinNegativePwm(dPort));
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if (rawValue == kPwmDisabled) {
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*status = HAL_PWM_SCALE_ERROR;
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return;
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}
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HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
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}
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void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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HAL_SetPWMRaw(pwmPortHandle, kPwmDisabled, status);
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}
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/**
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* Get a value from a PWM channel. The values range from 0 to 255.
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*
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* @param channel The PWM channel to read from.
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* @return The raw PWM value.
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*/
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int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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if (port->channel < tPWM::kNumHdrRegisters) {
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return pwmSystem->readHdr(port->channel, status);
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} else {
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return pwmSystem->readMXP(port->channel - tPWM::kNumHdrRegisters, status);
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}
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}
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/**
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* Get a scaled value from a PWM channel. The values range from -1 to 1.
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*
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* @param channel The PWM channel to read from.
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* @return The scaled PWM value.
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*/
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double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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if (!port->configSet) {
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*status = INCOMPATIBLE_STATE;
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return 0;
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}
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int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
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if (*status != 0) return 0;
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DigitalPort* dPort = port.get();
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if (value == kPwmDisabled) {
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return 0.0;
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} else if (value > GetMaxPositivePwm(dPort)) {
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return 1.0;
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} else if (value < GetMinNegativePwm(dPort)) {
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return -1.0;
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} else if (value > GetMinPositivePwm(dPort)) {
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return static_cast<double>(value - GetMinPositivePwm(dPort)) /
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static_cast<double>(GetPositiveScaleFactor(dPort));
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} else if (value < GetMaxNegativePwm(dPort)) {
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return static_cast<double>(value - GetMaxNegativePwm(dPort)) /
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static_cast<double>(GetNegativeScaleFactor(dPort));
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} else {
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return 0.0;
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}
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}
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/**
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* Get a position value from a PWM channel. The values range from 0 to 1.
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*
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* @param channel The PWM channel to read from.
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* @return The scaled PWM value.
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*/
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double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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if (!port->configSet) {
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*status = INCOMPATIBLE_STATE;
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return 0;
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}
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int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
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if (*status != 0) return 0;
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DigitalPort* dPort = port.get();
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if (value < GetMinNegativePwm(dPort)) {
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return 0.0;
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} else if (value > GetMaxPositivePwm(dPort)) {
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return 1.0;
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} else {
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return static_cast<double>(value - GetMinNegativePwm(dPort)) /
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static_cast<double>(GetFullRangeScaleFactor(dPort));
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}
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}
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void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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pwmSystem->writeZeroLatch(port->channel, true, status);
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pwmSystem->writeZeroLatch(port->channel, false, status);
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}
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/**
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* Set how how often the PWM signal is squelched, thus scaling the period.
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*
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* @param channel The PWM channel to configure.
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* @param squelchMask The 2-bit mask of outputs to squelch.
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*/
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void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->channel < tPWM::kNumPeriodScaleHdrElements) {
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pwmSystem->writePeriodScaleHdr(port->channel, squelchMask, status);
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} else {
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pwmSystem->writePeriodScaleMXP(
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port->channel - tPWM::kNumPeriodScaleHdrElements, squelchMask, status);
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}
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}
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/**
|
||||
* Get the loop timing of the PWM system
|
||||
*
|
||||
* @return The loop time
|
||||
*/
|
||||
int32_t HAL_GetLoopTiming(int32_t* status) {
|
||||
initializeDigital(status);
|
||||
if (*status != 0) return 0;
|
||||
return pwmSystem->readLoopTiming(status);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user