mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-03 03:01:44 +00:00
67 lines
2.3 KiB
C++
67 lines
2.3 KiB
C++
|
// Copyright (c) FIRST and other WPILib contributors.
|
||
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
||
|
|
// the WPILib BSD license file in the root directory of this project.
|
||
|
|
|
||
|
|
#include "FPGACalls.h"
|
||
|
|
|
||
|
|
#include <cerrno>
|
||
|
|
|
||
|
|
#include "dlfcn.h"
|
||
|
|
#include "hal/Errors.h"
|
||
|
|
|
||
|
|
static void* NiFpgaLibrary = nullptr;
|
||
|
|
|
||
|
|
namespace hal {
|
||
|
|
HAL_NiFpga_ReserveIrqContextFunc HAL_NiFpga_ReserveIrqContext;
|
||
|
|
HAL_NiFpga_UnreserveIrqContextFunc HAL_NiFpga_UnreserveIrqContext;
|
||
|
|
HAL_NiFpga_WaitOnIrqsFunc HAL_NiFpga_WaitOnIrqs;
|
||
|
|
HAL_NiFpga_AcknowledgeIrqsFunc HAL_NiFpga_AcknowledgeIrqs;
|
||
|
|
HAL_NiFpga_OpenHmbFunc HAL_NiFpga_OpenHmb;
|
||
|
|
HAL_NiFpga_CloseHmbFunc HAL_NiFpga_CloseHmb;
|
||
|
|
|
||
|
|
namespace init {
|
||
|
|
int InitializeFPGA() {
|
||
|
|
NiFpgaLibrary = dlopen("libNiFpga.so", RTLD_LAZY);
|
||
|
|
if (!NiFpgaLibrary) {
|
||
|
|
return errno;
|
||
|
|
}
|
||
|
|
|
||
|
|
#pragma GCC diagnostic push
|
||
|
|
#pragma GCC diagnostic ignored "-Wpedantic"
|
||
|
|
HAL_NiFpga_ReserveIrqContext =
|
||
|
|
reinterpret_cast<HAL_NiFpga_ReserveIrqContextFunc>(
|
||
|
|
dlsym(NiFpgaLibrary, "NiFpgaDll_ReserveIrqContext"));
|
||
|
|
HAL_NiFpga_UnreserveIrqContext =
|
||
|
|
reinterpret_cast<HAL_NiFpga_UnreserveIrqContextFunc>(
|
||
|
|
dlsym(NiFpgaLibrary, "NiFpgaDll_UnreserveIrqContext"));
|
||
|
|
HAL_NiFpga_WaitOnIrqs = reinterpret_cast<HAL_NiFpga_WaitOnIrqsFunc>(
|
||
|
|
dlsym(NiFpgaLibrary, "NiFpgaDll_WaitOnIrqs"));
|
||
|
|
HAL_NiFpga_AcknowledgeIrqs = reinterpret_cast<HAL_NiFpga_AcknowledgeIrqsFunc>(
|
||
|
|
dlsym(NiFpgaLibrary, "NiFpgaDll_AcknowledgeIrqs"));
|
||
|
|
HAL_NiFpga_OpenHmb = reinterpret_cast<HAL_NiFpga_OpenHmbFunc>(
|
||
|
|
dlsym(NiFpgaLibrary, "NiFpgaDll_OpenHmb"));
|
||
|
|
HAL_NiFpga_CloseHmb = reinterpret_cast<HAL_NiFpga_CloseHmbFunc>(
|
||
|
|
dlsym(NiFpgaLibrary, "NiFpgaDll_CloseHmb"));
|
||
|
|
#pragma GCC diagnostic pop
|
||
|
|
|
||
|
|
if (HAL_NiFpga_ReserveIrqContext == nullptr ||
|
||
|
|
HAL_NiFpga_UnreserveIrqContext == nullptr ||
|
||
|
|
HAL_NiFpga_WaitOnIrqs == nullptr ||
|
||
|
|
HAL_NiFpga_AcknowledgeIrqs == nullptr || HAL_NiFpga_OpenHmb == nullptr ||
|
||
|
|
HAL_NiFpga_CloseHmb == nullptr) {
|
||
|
|
HAL_NiFpga_ReserveIrqContext = nullptr;
|
||
|
|
HAL_NiFpga_UnreserveIrqContext = nullptr;
|
||
|
|
HAL_NiFpga_WaitOnIrqs = nullptr;
|
||
|
|
HAL_NiFpga_AcknowledgeIrqs = nullptr;
|
||
|
|
HAL_NiFpga_OpenHmb = nullptr;
|
||
|
|
HAL_NiFpga_CloseHmb = nullptr;
|
||
|
|
dlclose(NiFpgaLibrary);
|
||
|
|
NiFpgaLibrary = nullptr;
|
||
|
|
return NO_AVAILABLE_RESOURCES;
|
||
|
|
}
|
||
|
|
|
||
|
|
return HAL_SUCCESS;
|
||
|
|
}
|
||
|
|
} // namespace init
|
||
|
|
} // namespace hal
|