/**
* 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);
}
/**
* 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;
}
