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https://github.com/wpilibsuite/allwpilib
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119 lines
3.4 KiB
C++
119 lines
3.4 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 "wpi/hal/PWM.h"
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#include "DigitalInternal.hpp"
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#include "HALInitializer.hpp"
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#include "PortsInternal.hpp"
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#include "mockdata/PWMDataInternal.hpp"
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#include "wpi/hal/ErrorHandling.hpp"
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#include "wpi/hal/handles/HandlesInternal.hpp"
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using namespace wpi::hal;
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namespace wpi::hal::init {
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void InitializePWM() {}
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} // namespace wpi::hal::init
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extern "C" {
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HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
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const char* allocationLocation,
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int32_t* status) {
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wpi::hal::init::CheckInit();
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if (channel < 0 || channel >= kNumPWMChannels) {
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*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
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"Invalid Index for PWM", 0,
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kNumPWMChannels, channel);
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return HAL_INVALID_HANDLE;
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}
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uint8_t origChannel = static_cast<uint8_t>(channel);
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if (origChannel < kNumPWMHeaders) {
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channel += kNumDigitalChannels; // remap Headers to end of allocations
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} else {
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channel = remapMXPPWMChannel(channel) + 10; // remap MXP to proper channel
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}
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auto resource =
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digitalChannelHandles->Allocate(channel, HAL_HandleEnum::PWM, "PWM");
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if (!resource) {
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*status = resource.error();
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return HAL_INVALID_HANDLE; // failed to allocate. Pass error back.
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}
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auto [handle, port] = *resource;
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port->channel = origChannel;
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SimPWMData[origChannel].initialized = true;
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// Disable output.
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HAL_SetPWMPulseTimeMicroseconds(handle, 0, status);
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port->previousAllocation = allocationLocation ? allocationLocation : "";
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return handle;
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}
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void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle) {
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auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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return;
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}
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SimPWMData[port->channel].initialized = false;
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digitalChannelHandles->Free(pwmPortHandle, HAL_HandleEnum::PWM);
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}
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HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
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return channel < kNumPWMChannels && channel >= 0;
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}
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void HAL_SetPWMSimDevice(HAL_DigitalHandle handle, HAL_SimDeviceHandle device) {
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auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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return;
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}
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SimPWMData[port->channel].simDevice = device;
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}
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void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
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int32_t value, int32_t* status) {
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auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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SimPWMData[port->channel].pulseMicrosecond = value;
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}
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int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
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int32_t* status) {
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auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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return SimPWMData[port->channel].pulseMicrosecond;
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}
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void HAL_SetPWMOutputPeriod(HAL_DigitalHandle pwmPortHandle, int32_t period,
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int32_t* status) {
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auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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SimPWMData[port->channel].outputPeriod = period;
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}
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} // extern "C"
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