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https://github.com/wpilibsuite/allwpilib
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e2cc9e0059
The HAL will only contain the output period and the raw microseconds. Higher level things such as SimDevice can handle everything else.
119 lines
2.9 KiB
C++
119 lines
2.9 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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#pragma once
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#include <stdint.h>
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#include <hal/PWM.h>
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#include <hal/Types.h>
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#include <units/time.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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namespace frc {
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class AddressableLED;
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/**
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* Class implements the PWM generation in the FPGA.
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*
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* The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They
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* are mapped to the microseconds to keep the pulse high, with a range of 0
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* (off) to 4096. Changes are immediately sent to the FPGA, and the update
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* occurs at the next FPGA cycle (5.05ms). There is no delay.
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*/
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class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
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public:
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friend class AddressableLED;
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/**
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* Represents the output period in microseconds.
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*/
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enum OutputPeriod {
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/**
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* PWM pulses occur every 5 ms
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*/
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kOutputPeriod_5Ms = 1,
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/**
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* PWM pulses occur every 10 ms
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*/
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kOutputPeriod_10Ms = 2,
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/**
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* PWM pulses occur every 20 ms
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*/
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kOutputPeriod_20Ms = 4
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};
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/**
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* Allocate a PWM given a channel number.
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*
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* Checks channel value range and allocates the appropriate channel.
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* The allocation is only done to help users ensure that they don't double
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* assign channels.
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*
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* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the
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* MXP port
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* @param registerSendable If true, adds this instance to SendableRegistry
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*/
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explicit PWM(int channel, bool registerSendable = true);
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PWM(PWM&&) = default;
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PWM& operator=(PWM&&) = default;
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/**
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* Free the PWM channel.
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*
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* Free the resource associated with the PWM channel and set the value to 0.
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*/
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~PWM() override;
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/**
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* Set the PWM pulse time directly to the hardware.
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*
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* Write a microsecond value to a PWM channel.
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*
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* @param time Microsecond PWM value.
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*/
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void SetPulseTime(units::microsecond_t time);
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/**
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* Get the PWM pulse time directly from the hardware.
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*
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* Read a microsecond value from a PWM channel.
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*
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* @return Microsecond PWM control value.
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*/
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units::microsecond_t GetPulseTime() const;
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/**
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* Temporarily disables the PWM output. The next set call will re-enable
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* the output.
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*/
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void SetDisabled();
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/**
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* Sets the PWM output period.
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*
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* @param mult The output period to apply to this channel
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*/
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void SetOutputPeriod(OutputPeriod mult);
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int GetChannel() const;
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/**
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* Indicates this input is used by a simulated device.
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*
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* @param device simulated device handle
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*/
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void SetSimDevice(HAL_SimDeviceHandle device);
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protected:
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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int m_channel;
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hal::Handle<HAL_DigitalHandle, HAL_FreePWMPort> m_handle;
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};
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} // namespace frc
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