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fc515f4572
HAL Port is using a special handle, where the module and pin are bit shifted straight into the handle. This is one of the few special cases we have, but for the way port is used it is much cleaner and uses much less memory. Plus it is generic and not specific to one type.
73 lines
2.4 KiB
C++
73 lines
2.4 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 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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