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https://github.com/wpilibsuite/allwpilib
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95d40ed01f
When a digital output object that was tied to an mxp pin had enable pwm called on it it would pwm on a pin 6 lower (although if this wasn't an mxp pin it wouldn't do anything at all.) Fixed in Digital.cpp by adding 6 if it is an MXP pin in setPWMOutputChannel() This should fix the CanJaguar test because when digitalOutputs used as PWM were freed, the PWM generator was set to the number of pins, which meant it was actually outputing on pin 20. Change-Id: Ib48db3e6e3bf78659622145969d24011cc231ea6 Updated Hal to include some documentation about swaping mxp pins. Cannot find NI related documentation as to the pin numbers being wrong though Change-Id: I71d84431dc9bc7bf22aa29b6633e49723311b5f7 fixed formatting on changed files Change-Id: I5b7c16cd798132b6b20c1d03f334a95b42d2ee11
75 lines
2.6 KiB
C++
75 lines
2.6 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 "ChipObject.h"
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#include "HAL/cpp/Resource.h"
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namespace hal {
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constexpr uint32_t kNumHeaders = 10; // Number of non-MXP pins
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constexpr uint32_t kDigitalPins = 26;
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constexpr uint32_t kPwmPins = 20;
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constexpr uint32_t kMXPDigitalPWMOffset = 6; // MXP pins when used as digital
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// output pwm are offset by 6 from
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// actual value
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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 tDIO* digitalSystem;
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extern tRelay* relaySystem;
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extern tPWM* pwmSystem;
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extern hal::Resource* DIOChannels;
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extern hal::Resource* DO_PWMGenerators;
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extern hal::Resource* PWMChannels;
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extern bool digitalSystemsInitialized;
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struct DigitalPort {
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uint8_t pin;
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uint32_t PWMGeneratorID;
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};
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void initializeDigital(int32_t* status);
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void remapDigitalSource(bool analogTrigger, uint32_t& pin, uint8_t& module);
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uint32_t remapMXPPWMChannel(uint32_t pin);
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uint32_t remapMXPChannel(uint32_t pin);
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}
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