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[hal, wpilib] PWM Rewrite (#7845)

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The HAL will only contain the output period and the raw microseconds. Higher level things such as SimDevice can handle everything else.
This commit is contained in:
Thad House
2025-03-20 19:23:22 -07:00
committed by GitHub
parent 2e21a41f87
commit e2cc9e0059
96 changed files with 1037 additions and 2453 deletions
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20
hal/src/main/native/sim/mockdata/PWMData.cpp
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@@ -17,11 +17,9 @@ void InitializePWMData() {
PWMData* hal::SimPWMData;
void PWMData::ResetData() {
initialized.Reset(false);
simDevice = 0;
pulseMicrosecond.Reset(0);
speed.Reset(0);
position.Reset(0);
periodScale.Reset(0);
zeroLatch.Reset(false);
outputPeriod.Reset(0);
}
extern "C" {
@@ -29,16 +27,17 @@ void HALSIM_ResetPWMData(int32_t index) {
SimPWMData[index].ResetData();
}
HAL_SimDeviceHandle HALSIM_GetPWMSimDevice(int32_t index) {
return SimPWMData[index].simDevice;
}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, PWM##CAPINAME, SimPWMData, \
LOWERNAME)
DEFINE_CAPI(HAL_Bool, Initialized, initialized)
DEFINE_CAPI(int32_t, PulseMicrosecond, pulseMicrosecond)
DEFINE_CAPI(double, Speed, speed)
DEFINE_CAPI(double, Position, position)
DEFINE_CAPI(int32_t, PeriodScale, periodScale)
DEFINE_CAPI(HAL_Bool, ZeroLatch, zeroLatch)
DEFINE_CAPI(int32_t, OutputPeriod, outputPeriod)
#define REGISTER(NAME) \
SimPWMData[index].NAME.RegisterCallback(callback, param, initialNotify)
@@ -47,9 +46,6 @@ void HALSIM_RegisterPWMAllCallbacks(int32_t index, HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify) {
REGISTER(initialized);
REGISTER(pulseMicrosecond);
REGISTER(speed);
REGISTER(position);
REGISTER(periodScale);
REGISTER(zeroLatch);
REGISTER(outputPeriod);
}
} // extern "C"

11
hal/src/main/native/sim/mockdata/PWMDataInternal.h
View File

@@ -11,20 +11,15 @@ namespace hal {
class PWMData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
HAL_SIMDATAVALUE_DEFINE_NAME(PulseMicrosecond)
HAL_SIMDATAVALUE_DEFINE_NAME(Speed)
HAL_SIMDATAVALUE_DEFINE_NAME(Position)
HAL_SIMDATAVALUE_DEFINE_NAME(PeriodScale)
HAL_SIMDATAVALUE_DEFINE_NAME(ZeroLatch)
HAL_SIMDATAVALUE_DEFINE_NAME(OutputPeriod)
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
false};
std::atomic<HAL_SimDeviceHandle> simDevice;
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};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetZeroLatchName> zeroLatch{false};
SimDataValue<int32_t, HAL_MakeInt, GetOutputPeriodName> outputPeriod{0};
virtual void ResetData();
};