mirror of
https://github.com/wpilibsuite/allwpilib
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b51e85ae26
* Switches HAL to fixed length signed integers, and adds our own HAL_Bool type * Replaces HAL Floats with Doubles Doubles are just as fast as floats with optimizations turned on, so switches to all doubles. All made doubles for consistency. * Prepends HAL/ to HAL include files. Also fixes some range errors
86 lines
3.0 KiB
C++
86 lines
3.0 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/AnalogTrigger.h"
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#include "HAL/Ports.h"
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#include "HAL/Types.h"
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#include "PortsInternal.h"
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#include "handles/DigitalHandleResource.h"
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#include "handles/HandlesInternal.h"
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namespace hal {
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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 bool digitalSystemsInitialized;
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struct DigitalPort {
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uint8_t pin;
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bool configSet = false;
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bool eliminateDeadband = false;
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int32_t maxPwm = 0;
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int32_t deadbandMaxPwm = 0;
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int32_t centerPwm = 0;
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int32_t deadbandMinPwm = 0;
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int32_t minPwm = 0;
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};
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extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
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kNumDigitalPins + kNumPWMHeaders>
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digitalPinHandles;
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void initializeDigital(int32_t* status);
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bool remapDigitalSource(HAL_Handle digitalSourceHandle,
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HAL_AnalogTriggerType analogTriggerType, uint8_t& pin,
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uint8_t& module, bool& analogTrigger);
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int32_t remapMXPPWMChannel(int32_t pin);
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int32_t remapMXPChannel(int32_t pin);
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} // namespace hal
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