/**
* Get a value from a PWM channel. The values range from 0 to 255.
*
* @param channel The PWM channel to read from.
* @return The raw PWM value.
*/
uint8_t DigitalModule::GetPWM(uint32_t channel)
{
CheckPWMChannel(channel);
tRioStatusCode localStatus = NiFpga_Status_Success;
return m_fpgaDIO->readPWMValue(channel - 1, &localStatus);
//wpi_setError(localStatus);
}
/**
* Initialize PWMs given an module and channel.
*
* This method is private and is the common path for all the constructors for creating PWM
* instances. Checks module and channel value ranges and allocates the appropriate channel.
* The allocation is only done to help users ensure that they don't double assign channels.
*/
void PWM::InitPWM(UINT8 moduleNumber, UINT32 channel)
{
char buf[64];
Resource::CreateResourceObject(&allocated, tDIO::kNumSystems * kPwmChannels);
if (!CheckPWMModule(moduleNumber))
{
snprintf(buf, 64, "Digital Module %d", moduleNumber);
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return;
}
if (!CheckPWMChannel(channel))
{
snprintf(buf, 64, "PWM Channel %d", channel);
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
return;
}
snprintf(buf, 64, "PWM %d (Module: %d)", channel, moduleNumber);
if (allocated->Allocate((moduleNumber - 1) * kPwmChannels + channel - 1, buf) == ~0ul)
{
CloneError(allocated);
return;
}
m_channel = channel;
m_module = DigitalModule::GetInstance(moduleNumber);
m_module->SetPWM(m_channel, kPwmDisabled);
m_eliminateDeadband = false;
nUsageReporting::report(nUsageReporting::kResourceType_PWM, channel, moduleNumber - 1);
}
/**
* Set how how often the PWM signal is squelched, thus scaling the period.
*
* @param channel The PWM channel to configure.
* @param squelchMask The 2-bit mask of outputs to squelch.
*/
void DigitalModule::SetPWMPeriodScale(uint32_t channel, uint32_t squelchMask)
{
CheckPWMChannel(channel);
tRioStatusCode localStatus = NiFpga_Status_Success;
m_fpgaDIO->writePWMPeriodScale(channel - 1, squelchMask, &localStatus);
wpi_setError(localStatus);
}
/**
* Set a PWM channel to the desired value. The values range from 0 to 255 and the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The PWM value to set.
*/
void DigitalModule::SetPWM(uint32_t channel, uint8_t value)
{
CheckPWMChannel(channel);
tRioStatusCode localStatus = NiFpga_Status_Success;
m_fpgaDIO->writePWMValue(channel - 1, value, &localStatus);
wpi_setError(localStatus);
}
/**
* Initialize PWMs given an module and channel.
*
* This method is private and is the common path for all the constructors for creating PWM
* instances. Checks module and channel value ranges and allocates the appropriate channel.
* The allocation is only done to help users ensure that they don't double assign channels.
*/
void PWM::InitPWM(UINT32 slot, UINT32 channel)
{
Resource::CreateResourceObject(&allocated, tDIO::kNumSystems * kPwmChannels);
CheckPWMModule(slot);
CheckPWMChannel(channel);
allocated->Allocate(DigitalModule::SlotToIndex(slot) * kPwmChannels + channel - 1);
m_channel = channel;
m_module = DigitalModule::GetInstance(slot);
m_module->SetPWM(m_channel, kPwmDisabled);
m_eliminateDeadband = false;
}
/**
* Allocate a PWM given a channel number.
*
* Checks channel value range and allocates the appropriate channel.
* The allocation is only done to help users ensure that they don't double
* assign channels.
* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP
* port
*/
PWM::PWM(uint32_t channel) {
std::stringstream buf;
if (!CheckPWMChannel(channel)) {
buf << "PWM Channel " << channel;
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
return;
}
int32_t status = 0;
allocatePWMChannel(m_pwm_ports[channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_channel = channel;
setPWM(m_pwm_ports[m_channel], kPwmDisabled, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_eliminateDeadband = false;
HALReport(HALUsageReporting::kResourceType_PWM, channel);
}
/**
* Set a PWM channel to the desired value. The values range from 0 to 255 and the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The PWM value to set.
*/
void DigitalModule::SetPWM(UINT32 channel, UINT8 value)
{
CheckPWMChannel(channel);
m_fpgaDIO->writePWMValue(channel - 1, value, &status);
}
/**
* Set how how often the PWM signal is squelched, thus scaling the period.
*
* @param channel The PWM channel to configure.
* @param squelchMask The 2-bit mask of outputs to squelch.
*/
void DigitalModule::SetPWMPeriodScale(UINT32 channel, UINT32 squelchMask)
{
CheckPWMChannel(channel);
m_fpgaDIO->writePWMPeriodScale(channel - 1, squelchMask, &status);
}
/**
* Get a value from a PWM channel. The values range from 0 to 255.
*
* @param channel The PWM channel to read from.
* @return The raw PWM value.
*/
UINT8 DigitalModule::GetPWM(UINT32 channel)
{
CheckPWMChannel(channel);
return m_fpgaDIO->readPWMValue(channel - 1, &status);
}
