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5162d0001c
HAL_SetAddressableLEDBitTiming swapped high and low timings for whatever was written to it. This fixes that bug. Additionally, the API has been updated to take high time first, and then low time. This is due to this being the physical data format, so having the API match is clearer. Additionally, update the docs with the defaults.
100 lines
3.1 KiB
C++
100 lines
3.1 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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#include "frc/AddressableLED.h"
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#include <hal/AddressableLED.h>
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#include <hal/FRCUsageReporting.h>
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#include <hal/HALBase.h>
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#include <hal/PWM.h>
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#include <hal/Ports.h>
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#include <wpi/StackTrace.h>
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#include "frc/Errors.h"
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using namespace frc;
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AddressableLED::AddressableLED(int port) : m_port{port} {
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int32_t status = 0;
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auto stack = wpi::GetStackTrace(1);
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m_pwmHandle =
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HAL_InitializePWMPort(HAL_GetPort(port), stack.c_str(), &status);
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FRC_CheckErrorStatus(status, "Port {}", port);
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if (m_pwmHandle == HAL_kInvalidHandle) {
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return;
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}
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m_handle = HAL_InitializeAddressableLED(m_pwmHandle, &status);
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FRC_CheckErrorStatus(status, "Port {}", port);
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if (m_handle == HAL_kInvalidHandle) {
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HAL_FreePWMPort(m_pwmHandle, &status);
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}
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HAL_Report(HALUsageReporting::kResourceType_AddressableLEDs, port + 1);
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}
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AddressableLED::~AddressableLED() {
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HAL_FreeAddressableLED(m_handle);
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int32_t status = 0;
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HAL_FreePWMPort(m_pwmHandle, &status);
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FRC_ReportError(status, "Port {}", m_port);
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}
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void AddressableLED::SetLength(int length) {
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int32_t status = 0;
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HAL_SetAddressableLEDLength(m_handle, length, &status);
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FRC_CheckErrorStatus(status, "Port {} length {}", m_port, length);
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}
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static_assert(sizeof(AddressableLED::LEDData) == sizeof(HAL_AddressableLEDData),
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"LED Structs MUST be the same size");
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void AddressableLED::SetData(std::span<const LEDData> ledData) {
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int32_t status = 0;
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HAL_WriteAddressableLEDData(m_handle, ledData.data(), ledData.size(),
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&status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::SetData(std::initializer_list<LEDData> ledData) {
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int32_t status = 0;
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HAL_WriteAddressableLEDData(m_handle, ledData.begin(), ledData.size(),
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&status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::SetBitTiming(units::nanosecond_t highTime0,
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units::nanosecond_t lowTime0,
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units::nanosecond_t highTime1,
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units::nanosecond_t lowTime1) {
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int32_t status = 0;
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HAL_SetAddressableLEDBitTiming(
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m_handle, highTime0.to<int32_t>(), lowTime0.to<int32_t>(),
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highTime1.to<int32_t>(), lowTime1.to<int32_t>(), &status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::SetSyncTime(units::microsecond_t syncTime) {
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int32_t status = 0;
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HAL_SetAddressableLEDSyncTime(m_handle, syncTime.to<int32_t>(), &status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::Start() {
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int32_t status = 0;
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HAL_StartAddressableLEDOutput(m_handle, &status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::Stop() {
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int32_t status = 0;
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HAL_StopAddressableLEDOutput(m_handle, &status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::LEDData::SetHSV(int h, int s, int v) {
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SetLED(Color::FromHSV(h, s, v));
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}
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