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https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
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 "HAL/AnalogTrigger.h"
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#include "HAL/ChipObject.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 int32_t kMXPDigitalPWMOffset = 6;
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constexpr int32_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 double 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 double 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 std::unique_ptr<tSPI> spiSystem;
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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 remapSPIChannel(int32_t channel);
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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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