[hal, wpilib] PWM Rewrite

hal/src/main/java/edu/wpi/first/hal/DIOJNI.java

@@ -123,13 +123,6 @@ public class DIOJNI extends JNIWrapper {
    */
   public static native boolean isAnyPulsing();
 
-  /**
-   * Gets the loop timing of the PWM system.
-   *
-   * @return the loop time in clock ticks
-   */
-  public static native short getLoopTiming();
-
   /**
    * Allocates a DO PWM Generator.
    *

hal/src/main/java/edu/wpi/first/hal/PWMJNI.java

@@ -33,51 +33,14 @@ public class PWMJNI extends DIOJNI {
    */
   public static native void freePWMPort(int pwmPortHandle);
 
-  /**
-   * Sets the configuration settings for the PWM channel.
-   *
-   * <p>All values are in microseconds.
-   *
-   * @param pwmPortHandle the PWM handle
-   * @param maxPwm the maximum PWM value
-   * @param deadbandMaxPwm the high range of the center deadband
-   * @param centerPwm the center PWM value
-   * @param deadbandMinPwm the low range of the center deadband
-   * @param minPwm the minimum PWM value
-   */
-  public static native void setPWMConfigMicroseconds(
-      int pwmPortHandle,
-      int maxPwm,
-      int deadbandMaxPwm,
-      int centerPwm,
-      int deadbandMinPwm,
-      int minPwm);
-
-  /**
-   * Gets the pwm configuration settings for the PWM channel.
-   *
-   * <p>Values are in microseconds.
-   *
-   * @param pwmPortHandle the PWM handle
-   * @return the pwm configuration settings
-   */
-  public static native PWMConfigDataResult getPWMConfigMicroseconds(int pwmPortHandle);
-
-  /**
-   * Sets if the FPGA should output the center value if the input value is within the deadband.
-   *
-   * @param pwmPortHandle the PWM handle
-   * @param eliminateDeadband true to eliminate deadband, otherwise false
-   */
-  public static native void setPWMEliminateDeadband(int pwmPortHandle, boolean eliminateDeadband);
-
-  /**
-   * Gets the current eliminate deadband value.
+    /**
+   * Indicates the pwm is used by a simulated device.
    *
-   * @param pwmPortHandle the PWM handle
-   * @return true if set, otherwise false
+   * @param handle the pwm handle
+   * @param device simulated device handle
+   * @see "HAL_SetPWMSimDevice"
    */
-  public static native boolean getPWMEliminateDeadband(int pwmPortHandle);
+  public static native void setPWMSimDevice(int handle, int device);
 
   /**
    * Sets a PWM channel to the desired pulse width in microseconds.
@@ -87,28 +50,6 @@ public static native void setPWMConfigMicroseconds(
    */
   public static native void setPulseTimeMicroseconds(int pwmPortHandle, int microsecondPulseTime);
 
-  /**
-   * Sets a PWM channel to the desired scaled value.
-   *
-   * <p>The values range from -1 to 1 and the period is controlled by the PWM Period and MinHigh
-   * registers.
-   *
-   * @param pwmPortHandle the PWM handle
-   * @param speed the scaled PWM value to set
-   */
-  public static native void setPWMSpeed(int pwmPortHandle, double speed);
-
-  /**
-   * Sets a PWM channel to the desired position value.
-   *
-   * <p>The values range from 0 to 1 and the period is controlled by the PWM Period and MinHigh
-   * registers.
-   *
-   * @param pwmPortHandle the PWM handle
-   * @param position the positional PWM value to set
-   */
-  public static native void setPWMPosition(int pwmPortHandle, double position);
-
   /**
    * Gets the current microsecond pulse time from a PWM channel.
    *
@@ -118,56 +59,12 @@ public static native void setPWMConfigMicroseconds(
   public static native int getPulseTimeMicroseconds(int pwmPortHandle);
 
   /**
-   * Gets a scaled value from a PWM channel.
-   *
-   * <p>The values range from -1 to 1.
-   *
-   * @param pwmPortHandle the PWM handle
-   * @return the current speed PWM value
-   */
-  public static native double getPWMSpeed(int pwmPortHandle);
-
-  /**
-   * Gets a position value from a PWM channel.
-   *
-   * <p>The values range from 0 to 1.
-   *
-   * @param pwmPortHandle the PWM handle
-   * @return the current positional PWM value
-   */
-  public static native double getPWMPosition(int pwmPortHandle);
-
-  /**
-   * Sets a PWM channel to be disabled.
-   *
-   * <p>The channel is disabled until the next time it is set. Note this is different from just
-   * setting a 0 speed, as this will actively stop all signaling on the channel.
-   *
-   * @param pwmPortHandle the PWM handle.
-   */
-  public static native void setPWMDisabled(int pwmPortHandle);
-
-  /**
-   * Forces a PWM signal to go to 0 temporarily.
-   *
-   * @param pwmPortHandle the PWM handle.
-   */
-  public static native void latchPWMZero(int pwmPortHandle);
-
-  /**
-   * Sets the PWM output to be a continuous high signal while enabled.
-   *
-   * @param pwmPortHandle the PWM handle.
-   */
-  public static native void setAlwaysHighMode(int pwmPortHandle);
-
-  /**
-   * Sets how how often the PWM signal is squelched, thus scaling the period.
+   * Sets the PWM output period.
    *
    * @param pwmPortHandle the PWM handle.
-   * @param squelchMask the 2-bit mask of outputs to squelch
+   * @param period 0 for 5ms, 1 or 2 for 10ms, 3 for 20ms
    */
-  public static native void setPWMPeriodScale(int pwmPortHandle, int squelchMask);
+  public static native void setPWMOutputPeriod(int pwmPortHandle, int period);
 
   /** Utility class. */
   private PWMJNI() {}

hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java

@@ -26,41 +26,14 @@ public static native int registerPulseMicrosecondCallback(
 
   public static native void setPulseMicrosecond(int index, int microsecondPulseTime);
 
-  public static native int registerSpeedCallback(
+  public static native int registerOutputPeriodCallback(
       int index, NotifyCallback callback, boolean initialNotify);
 
-  public static native void cancelSpeedCallback(int index, int uid);
+  public static native void cancelOutputPeriodCallback(int index, int uid);
 
-  public static native double getSpeed(int index);
+  public static native int getOutputPeriod(int index);
 
-  public static native void setSpeed(int index, double speed);
-
-  public static native int registerPositionCallback(
-      int index, NotifyCallback callback, boolean initialNotify);
-
-  public static native void cancelPositionCallback(int index, int uid);
-
-  public static native double getPosition(int index);
-
-  public static native void setPosition(int index, double position);
-
-  public static native int registerPeriodScaleCallback(
-      int index, NotifyCallback callback, boolean initialNotify);
-
-  public static native void cancelPeriodScaleCallback(int index, int uid);
-
-  public static native int getPeriodScale(int index);
-
-  public static native void setPeriodScale(int index, int periodScale);
-
-  public static native int registerZeroLatchCallback(
-      int index, NotifyCallback callback, boolean initialNotify);
-
-  public static native void cancelZeroLatchCallback(int index, int uid);
-
-  public static native boolean getZeroLatch(int index);
-
-  public static native void setZeroLatch(int index, boolean zeroLatch);
+  public static native void setOutputPeriod(int index, int period);
 
   public static native void resetData(int index);
 

hal/src/main/native/cpp/jni/DIOJNI.cpp

@@ -190,21 +190,6 @@ Java_edu_wpi_first_hal_DIOJNI_isAnyPulsing
   return returnValue;
 }
 
-/*
- * Class:     edu_wpi_first_hal_DIOJNI
- * Method:    getLoopTiming
- * Signature: ()S
- */
-JNIEXPORT jshort JNICALL
-Java_edu_wpi_first_hal_DIOJNI_getLoopTiming
-  (JNIEnv* env, jclass)
-{
-  int32_t status = 0;
-  jshort returnValue = HAL_GetPWMLoopTiming(&status);
-  CheckStatus(env, status);
-  return returnValue;
-}
-
 /*
  * Class:     edu_wpi_first_hal_DIOJNI
  * Method:    allocateDigitalPWM

hal/src/main/native/cpp/jni/HALUtil.cpp

@@ -44,7 +44,6 @@ static JException halHandleExCls;
 static JException uncleanStatusExCls;
 static JException nullPointerEx;
 static JClass powerDistributionVersionCls;
-static JClass pwmConfigDataResultCls;
 static JClass canStatusCls;
 static JClass matchInfoDataCls;
 static JClass canReceiveMessageCls;
@@ -56,7 +55,6 @@ static JClass canStreamOverflowExCls;
 static const JClassInit classes[] = {
     {"edu/wpi/first/hal/PowerDistributionVersion",
      &powerDistributionVersionCls},
-    {"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
     {"edu/wpi/first/hal/can/CANStatus", &canStatusCls},
     {"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls},
     {"edu/wpi/first/hal/can/CANReceiveMessage", &canReceiveMessageCls},
@@ -180,17 +178,6 @@ void ThrowBoundaryException(JNIEnv* env, double value, double lower,
   env->Throw(static_cast<jthrowable>(ex));
 }
 
-jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
-                                  int32_t deadbandMaxPwm, int32_t centerPwm,
-                                  int32_t deadbandMinPwm, int32_t minPwm) {
-  static jmethodID constructor =
-      env->GetMethodID(pwmConfigDataResultCls, "<init>", "(IIIII)V");
-  return env->NewObject(
-      pwmConfigDataResultCls, constructor, static_cast<jint>(maxPwm),
-      static_cast<jint>(deadbandMaxPwm), static_cast<jint>(centerPwm),
-      static_cast<jint>(deadbandMinPwm), static_cast<jint>(minPwm));
-}
-
 jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
                            uint32_t firmwareMinor, uint32_t firmwareFix,
                            uint32_t hardwareMinor, uint32_t hardwareMajor,

hal/src/main/native/cpp/jni/HALUtil.h

@@ -49,10 +49,6 @@ void ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg);
 void ThrowBoundaryException(JNIEnv* env, double value, double lower,
                             double upper);
 
-jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
-                                  int32_t deadbandMaxPwm, int32_t centerPwm,
-                                  int32_t deadbandMinPwm, int32_t minPwm);
-
 jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
                            uint32_t firmwareMinor, uint32_t firmwareFix,
                            uint32_t hardwareMinor, uint32_t hardwareMajor,