mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
61 lines
1.8 KiB
C++
61 lines
1.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
#include <string>
|
|
|
|
#include "PortsInternal.hpp"
|
|
#include "wpi/hal/handles/DigitalHandleResource.hpp"
|
|
|
|
namespace wpi::hal {
|
|
/**
|
|
* MXP channels when used as digital output PWM are offset from actual value
|
|
*/
|
|
constexpr int32_t kMXPDigitalPWMOffset = 6;
|
|
|
|
constexpr int32_t kExpectedLoopTiming = 40;
|
|
|
|
/**
|
|
* kDefaultPwmPeriod is in ms
|
|
*
|
|
* - 20ms periods (50 Hz) are the "safest" setting in that this works for all
|
|
* devices
|
|
* - 20ms periods seem to be desirable for Vex Motors
|
|
* - 20ms periods are the specified period for HS-322HD servos, but work
|
|
* reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums
|
|
* and get hot; by 5.0ms the hum is nearly continuous
|
|
* - 10ms periods work well for Victor 884
|
|
* - 5ms periods allows higher update rates for modern motor controllers.
|
|
*
|
|
* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period
|
|
* scaling is implemented as an output squelch to get longer periods for old
|
|
* devices.
|
|
*/
|
|
constexpr float kDefaultPwmPeriod = 5.05f;
|
|
constexpr int32_t kPwmDisabled = 0;
|
|
|
|
struct DigitalPort {
|
|
uint8_t channel;
|
|
int32_t filterIndex = 0;
|
|
std::string previousAllocation;
|
|
};
|
|
|
|
extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
|
|
kNumDigitalChannels + kNumPWMHeaders>*
|
|
digitalChannelHandles;
|
|
|
|
/**
|
|
* Map DIO channel numbers from their physical number (10 to 26) to their
|
|
* position in the bit field.
|
|
*/
|
|
int32_t remapMXPChannel(int32_t channel);
|
|
|
|
int32_t remapMXPPWMChannel(int32_t channel);
|
|
|
|
int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status);
|
|
} // namespace wpi::hal
|