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https://github.com/wpilibsuite/allwpilib
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87a64ccedc
The existing raw time has an issue where it jumps around, as in the FPGA if the frequency is not a multiple or divisor of 25 Mhz it jumps around by 1 every second. While waiting on an FPGA change, update the API to make raw output give nanoseconds rather then a scaled value. This does a longer read cycle to get the correct value, but in the future if a fast FPGA function is added this can be easily changed.
94 lines
2.8 KiB
C++
94 lines
2.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/DutyCycle.h"
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#include <hal/DutyCycle.h>
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#include <hal/FRCUsageReporting.h>
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#include <wpi/NullDeleter.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include "frc/DigitalSource.h"
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#include "frc/Errors.h"
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using namespace frc;
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DutyCycle::DutyCycle(DigitalSource* source)
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: m_source{source, wpi::NullDeleter<DigitalSource>()} {
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if (!m_source) {
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throw FRC_MakeError(err::NullParameter, "{}", "source");
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}
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InitDutyCycle();
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}
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DutyCycle::DutyCycle(DigitalSource& source)
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: m_source{&source, wpi::NullDeleter<DigitalSource>()} {
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InitDutyCycle();
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}
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DutyCycle::DutyCycle(std::shared_ptr<DigitalSource> source)
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: m_source{std::move(source)} {
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if (!m_source) {
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throw FRC_MakeError(err::NullParameter, "{}", "source");
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}
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InitDutyCycle();
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}
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DutyCycle::~DutyCycle() {
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HAL_FreeDutyCycle(m_handle);
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}
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void DutyCycle::InitDutyCycle() {
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int32_t status = 0;
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m_handle =
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HAL_InitializeDutyCycle(m_source->GetPortHandleForRouting(),
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static_cast<HAL_AnalogTriggerType>(
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m_source->GetAnalogTriggerTypeForRouting()),
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&status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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int index = GetFPGAIndex();
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HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1);
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wpi::SendableRegistry::AddLW(this, "Duty Cycle", index);
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}
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int DutyCycle::GetFPGAIndex() const {
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int32_t status = 0;
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auto retVal = HAL_GetDutyCycleFPGAIndex(m_handle, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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return retVal;
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}
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int DutyCycle::GetFrequency() const {
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int32_t status = 0;
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auto retVal = HAL_GetDutyCycleFrequency(m_handle, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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return retVal;
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}
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double DutyCycle::GetOutput() const {
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int32_t status = 0;
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auto retVal = HAL_GetDutyCycleOutput(m_handle, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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return retVal;
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}
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units::second_t DutyCycle::GetHighTime() const {
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int32_t status = 0;
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auto retVal = HAL_GetDutyCycleHighTime(m_handle, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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return units::nanosecond_t{static_cast<double>(retVal)};
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}
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int DutyCycle::GetSourceChannel() const {
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return m_source->GetChannel();
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}
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void DutyCycle::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Duty Cycle");
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builder.AddDoubleProperty(
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"Frequency", [this] { return this->GetFrequency(); }, nullptr);
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builder.AddDoubleProperty(
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"Output", [this] { return this->GetOutput(); }, nullptr);
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}
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