mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
114 lines
3.5 KiB
C++
114 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
#include <memory>
|
|
|
|
#include <wpi/mutex.h>
|
|
|
|
#include "PortsInternal.h"
|
|
#include "hal/AnalogTrigger.h"
|
|
#include "hal/ChipObject.h"
|
|
#include "hal/Ports.h"
|
|
#include "hal/Types.h"
|
|
#include "hal/handles/DigitalHandleResource.h"
|
|
#include "hal/handles/HandlesInternal.h"
|
|
|
|
namespace 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 Luminary Micro Jaguar speed
|
|
* controllers. Due to the shipping firmware on the Jaguar, we can't run the
|
|
* update period less than 5.05 ms.
|
|
*
|
|
* 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 double kDefaultPwmPeriod = 5.05;
|
|
/**
|
|
* kDefaultPwmCenter is the PWM range center in ms
|
|
*/
|
|
constexpr double kDefaultPwmCenter = 1.5;
|
|
/**
|
|
* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
|
|
*/
|
|
constexpr int32_t kDefaultPwmStepsDown = 1000;
|
|
constexpr int32_t kPwmDisabled = 0;
|
|
|
|
extern std::unique_ptr<tDIO> digitalSystem;
|
|
extern std::unique_ptr<tRelay> relaySystem;
|
|
extern std::unique_ptr<tPWM> pwmSystem;
|
|
extern std::unique_ptr<tSPI> spiSystem;
|
|
|
|
struct DigitalPort {
|
|
uint8_t channel;
|
|
bool configSet = false;
|
|
bool eliminateDeadband = false;
|
|
int32_t maxPwm = 0;
|
|
int32_t deadbandMaxPwm = 0;
|
|
int32_t centerPwm = 0;
|
|
int32_t deadbandMinPwm = 0;
|
|
int32_t minPwm = 0;
|
|
};
|
|
|
|
extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
|
|
kNumDigitalChannels + kNumPWMHeaders>*
|
|
digitalChannelHandles;
|
|
|
|
extern wpi::mutex digitalDIOMutex;
|
|
|
|
/**
|
|
* Initialize the digital system.
|
|
*/
|
|
void initializeDigital(int32_t* status);
|
|
|
|
/**
|
|
* remap the digital source channel and set the module.
|
|
* If it's an analog trigger, determine the module from the high order routing
|
|
* channel else do normal digital input remapping based on channel number
|
|
* (MXP)
|
|
*/
|
|
bool remapDigitalSource(HAL_Handle digitalSourceHandle,
|
|
HAL_AnalogTriggerType analogTriggerType,
|
|
uint8_t& channel, uint8_t& module, bool& analogTrigger);
|
|
|
|
/**
|
|
* 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);
|
|
|
|
/**
|
|
* Map SPI channel numbers from their physical number (27 to 31) to their
|
|
* position in the bit field.
|
|
*/
|
|
int32_t remapSPIChannel(int32_t channel);
|
|
|
|
} // namespace hal
|