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05626cfafe
* Fixed cpplint.py [build/include_order] and [build/include_what_you_use] warnings * Fixed cpplint.py [readability/casting] warnings * Updated .styleguide format * Fixed cpplint.py [build/header_guard] warnings
90 lines
3.0 KiB
C++
90 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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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#pragma once
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#include <stdint.h>
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#include <memory>
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#include "ChipObject.h"
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#include "HAL/AnalogTrigger.h"
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#include "HAL/Ports.h"
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#include "HAL/Types.h"
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#include "HAL/handles/DigitalHandleResource.h"
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#include "HAL/handles/HandlesInternal.h"
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#include "PortsInternal.h"
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namespace hal {
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/**
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* MXP channels when used as digital output PWM are offset from actual value
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*/
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constexpr uint32_t kMXPDigitalPWMOffset = 6;
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constexpr uint32_t kExpectedLoopTiming = 40;
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/**
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* kDefaultPwmPeriod is in ms
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*
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* - 20ms periods (50 Hz) are the "safest" setting in that this works for all
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* devices
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* - 20ms periods seem to be desirable for Vex Motors
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* - 20ms periods are the specified period for HS-322HD servos, but work
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* reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums
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* and get hot; by 5.0ms the hum is nearly continuous
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* - 10ms periods work well for Victor 884
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* - 5ms periods allows higher update rates for Luminary Micro Jaguar speed
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* controllers. Due to the shipping firmware on the Jaguar, we can't run the
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* update period less than 5.05 ms.
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*
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* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period
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* scaling is implemented as an output squelch to get longer periods for old
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* devices.
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*/
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constexpr float kDefaultPwmPeriod = 5.05;
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/**
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* kDefaultPwmCenter is the PWM range center in ms
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*/
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constexpr float kDefaultPwmCenter = 1.5;
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/**
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* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
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*/
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constexpr int32_t kDefaultPwmStepsDown = 1000;
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constexpr int32_t kPwmDisabled = 0;
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// Create a mutex to protect changes to the DO PWM config
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extern priority_recursive_mutex digitalPwmMutex;
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extern std::unique_ptr<tDIO> digitalSystem;
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extern std::unique_ptr<tRelay> relaySystem;
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extern std::unique_ptr<tPWM> pwmSystem;
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extern bool digitalSystemsInitialized;
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struct DigitalPort {
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uint8_t channel;
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bool configSet = false;
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bool eliminateDeadband = false;
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int32_t maxPwm = 0;
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int32_t deadbandMaxPwm = 0;
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int32_t centerPwm = 0;
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int32_t deadbandMinPwm = 0;
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int32_t minPwm = 0;
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};
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extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
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kNumDigitalChannels + kNumPWMHeaders>
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digitalChannelHandles;
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void initializeDigital(int32_t* status);
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bool remapDigitalSource(HAL_Handle digitalSourceHandle,
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HAL_AnalogTriggerType analogTriggerType,
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uint8_t& channel, uint8_t& module, bool& analogTrigger);
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int32_t remapMXPPWMChannel(int32_t channel);
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int32_t remapMXPChannel(int32_t channel);
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} // namespace hal
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