mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
fa8bb3fa91
Removed delayTicks(), delayMillis(), delaySeconds(), HAL_NO_WAIT, HAL_WAIT_FOREVER, niTimestamp32(), and niTimestamp64(). Replaced clock_gettime() and usleep() with std::chrono.
131 lines
4.2 KiB
C++
131 lines
4.2 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2016. 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. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "DigitalInternal.h"
|
|
|
|
#include <math.h>
|
|
#include <stdio.h>
|
|
|
|
#include <mutex>
|
|
#include <thread>
|
|
|
|
#include "ChipObject.h"
|
|
#include "FRC_NetworkCommunication/LoadOut.h"
|
|
#include "HAL/HAL.h"
|
|
#include "HAL/Port.h"
|
|
#include "HAL/cpp/Resource.h"
|
|
#include "HAL/cpp/priority_mutex.h"
|
|
|
|
static_assert(sizeof(uint32_t) <= sizeof(void*),
|
|
"This file shoves uint32_ts into pointers.");
|
|
namespace hal {
|
|
// Create a mutex to protect changes to the DO PWM config
|
|
priority_recursive_mutex digitalPwmMutex;
|
|
|
|
tDIO* digitalSystem = nullptr;
|
|
tRelay* relaySystem = nullptr;
|
|
tPWM* pwmSystem = nullptr;
|
|
hal::Resource* DIOChannels = nullptr;
|
|
hal::Resource* DO_PWMGenerators = nullptr;
|
|
hal::Resource* PWMChannels = nullptr;
|
|
|
|
bool digitalSystemsInitialized = false;
|
|
|
|
/**
|
|
* Initialize the digital system.
|
|
*/
|
|
void initializeDigital(int32_t* status) {
|
|
if (digitalSystemsInitialized) return;
|
|
|
|
hal::Resource::CreateResourceObject(&DIOChannels,
|
|
tDIO::kNumSystems * kDigitalPins);
|
|
hal::Resource::CreateResourceObject(
|
|
&DO_PWMGenerators,
|
|
tDIO::kNumPWMDutyCycleAElements + tDIO::kNumPWMDutyCycleBElements);
|
|
hal::Resource::CreateResourceObject(&PWMChannels,
|
|
tPWM::kNumSystems * kPwmPins);
|
|
digitalSystem = tDIO::create(status);
|
|
|
|
// Relay Setup
|
|
relaySystem = tRelay::create(status);
|
|
|
|
// Turn off all relay outputs.
|
|
relaySystem->writeValue_Forward(0, status);
|
|
relaySystem->writeValue_Reverse(0, status);
|
|
|
|
// PWM Setup
|
|
pwmSystem = tPWM::create(status);
|
|
|
|
// Make sure that the 9403 IONode has had a chance to initialize before
|
|
// continuing.
|
|
while (pwmSystem->readLoopTiming(status) == 0) std::this_thread::yield();
|
|
|
|
if (pwmSystem->readLoopTiming(status) != kExpectedLoopTiming) {
|
|
// TODO: char err[128];
|
|
// TODO: sprintf(err, "DIO LoopTiming: %d, expecting: %lu\n",
|
|
// digitalModules[port->module-1]->readLoopTiming(status),
|
|
// kExpectedLoopTiming);
|
|
*status = LOOP_TIMING_ERROR; // NOTE: Doesn't display the error
|
|
}
|
|
|
|
// Calculate the length, in ms, of one DIO loop
|
|
double loopTime = pwmSystem->readLoopTiming(status) /
|
|
(kSystemClockTicksPerMicrosecond * 1e3);
|
|
|
|
pwmSystem->writeConfig_Period((uint16_t)(kDefaultPwmPeriod / loopTime + .5),
|
|
status);
|
|
uint16_t minHigh = (uint16_t)(
|
|
(kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime + .5);
|
|
pwmSystem->writeConfig_MinHigh(minHigh, status);
|
|
// printf("MinHigh: %d\n", minHigh);
|
|
// Ensure that PWM output values are set to OFF
|
|
for (uint32_t pwm_index = 0; pwm_index < kPwmPins; pwm_index++) {
|
|
// Initialize port structure
|
|
DigitalPort digital_port;
|
|
digital_port.port.pin = pwm_index;
|
|
|
|
setPWM(&digital_port, kPwmDisabled, status);
|
|
setPWMPeriodScale(&digital_port, 3, status); // Set all to 4x by default.
|
|
}
|
|
|
|
digitalSystemsInitialized = true;
|
|
}
|
|
|
|
/**
|
|
* Map DIO pin numbers from their physical number (10 to 26) to their position
|
|
* in the bit field.
|
|
*/
|
|
uint32_t remapMXPChannel(uint32_t pin) { return pin - 10; }
|
|
|
|
uint32_t remapMXPPWMChannel(uint32_t pin) {
|
|
if (pin < 14) {
|
|
return pin - 10; // first block of 4 pwms (MXP 0-3)
|
|
} else {
|
|
return pin - 6; // block of PWMs after SPI
|
|
}
|
|
}
|
|
|
|
/**
|
|
* remap the digital source pin 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 pin number (MXP)
|
|
*/
|
|
extern "C++" void remapDigitalSource(bool analogTrigger, uint32_t& pin,
|
|
uint8_t& module) {
|
|
if (analogTrigger) {
|
|
module = pin >> 4;
|
|
} else {
|
|
if (pin >= kNumHeaders) {
|
|
pin = remapMXPChannel(pin);
|
|
module = 1;
|
|
} else {
|
|
module = 0;
|
|
}
|
|
}
|
|
}
|
|
}
|