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[hal] Add support for Pulse-Per-Second signal (#4819)

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This commit is contained in:
Thad House
2022-12-14 18:15:34 -08:00
committed by GitHub
parent 518916ba02
commit ee02fb7ba7
7 changed files with 100 additions and 0 deletions
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24
hal/src/main/native/athena/DIO.cpp
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@@ -240,6 +240,30 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
}
}
void HAL_SetDigitalPWMPPS(HAL_DigitalPWMHandle pwmGenerator, double dutyCycle,
int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
int32_t id = *port;
digitalSystem->writePWMPeriodPower(0xffff, status);
double rawDutyCycle = 31.0 * dutyCycle;
if (rawDutyCycle > 30.5) {
rawDutyCycle = 30.5;
}
{
std::scoped_lock lock(digitalPwmMutex);
if (id < 4)
digitalSystem->writePWMDutyCycleA(id, static_cast<uint8_t>(rawDutyCycle),
status);
else
digitalSystem->writePWMDutyCycleB(
id - 4, static_cast<uint8_t>(rawDutyCycle), status);
}
}
void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
int32_t channel, int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);