[hal, wpilib] Remove DMA (#7701)

wpilibcExamples/src/main/cpp/examples/DMA/cpp/Robot.cpp

@@ -1,84 +0,0 @@
-// 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 <frc/AnalogInput.h>
-#include <frc/DMA.h>
-#include <frc/DMASample.h>
-#include <frc/DigitalOutput.h>
-#include <frc/Encoder.h>
-#include <frc/TimedRobot.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-
-class Robot : public frc::TimedRobot {
-  frc::DMA m_dma;  // DMA object
-
-  // DMA needs a trigger, can use an output as trigger.
-  // 8 Triggers exist per DMA object, can be triggered on any
-  // DigitalSource.
-  frc::DigitalOutput m_dmaTrigger{2};
-
-  // Analog input to read with DMA
-  frc::AnalogInput m_analogInput{0};
-
-  // Encoder to read with DMA
-  frc::Encoder m_encoder{0, 1};
-
- public:
-  Robot() {
-    // Trigger on falling edge of dma trigger output
-    m_dma.SetExternalTrigger(&m_dmaTrigger, false, true);
-
-    // Add inputs we want to read via DMA
-    m_dma.AddAnalogInput(&m_analogInput);
-    m_dma.AddEncoder(&m_encoder);
-    m_dma.AddEncoderPeriod(&m_encoder);
-
-    // Make sure trigger is set to off.
-    m_dmaTrigger.Set(true);
-
-    // Start DMA. No triggers or inputs can be added after this call
-    // unless DMA is stopped.
-    m_dma.Start(1024);
-  }
-
-  void RobotPeriodic() override {
-    // Manually Trigger DMA read
-    m_dmaTrigger.Set(false);
-
-    // Need to create a sample.
-    frc::DMASample sample;
-    int32_t remaining = 0;
-    int32_t status = 0;
-    // Update our sample. remaining is the number of samples remaining in the
-    // buffer status is more specific error messages if readStatus is not OK.
-    // Wait 1ms if buffer is empty
-    frc::DMASample::DMAReadStatus readStatus =
-        sample.Update(&m_dma, 1_ms, &remaining, &status);
-
-    // Unset trigger
-    m_dmaTrigger.Set(true);
-
-    if (readStatus == frc::DMASample::DMAReadStatus::kOk) {
-      // Status value in all these reads should be checked, a non 0 value means
-      // value could not be read
-
-      // If DMA is good, values exist
-      auto encoderDistance = sample.GetEncoderDistance(&m_encoder, &status);
-      // Period is not scaled, and is a raw value
-      auto encoderPeriod = sample.GetEncoderPeriodRaw(&m_encoder, &status);
-      auto analogVoltage =
-          sample.GetAnalogInputVoltage(&m_analogInput, &status);
-
-      frc::SmartDashboard::PutNumber("Distance", encoderDistance);
-      frc::SmartDashboard::PutNumber("Period", encoderPeriod);
-      frc::SmartDashboard::PutNumber("Input", analogVoltage);
-    }
-  }
-};
-
-#ifndef RUNNING_FRC_TESTS
-int main() {
-  return frc::StartRobot<Robot>();
-}
-#endif

wpilibcExamples/src/main/cpp/examples/examples.json

@@ -503,18 +503,6 @@
     "gradlebase": "cpp",
     "commandversion": 2
   },
-  {
-    "name": "DMA",
-    "description": "Read various sensors using DMA.",
-    "tags": [
-      "Hardware",
-      "DMA",
-      "SmartDashboard"
-    ],
-    "foldername": "DMA",
-    "gradlebase": "cpp",
-    "commandversion": 2
-  },
   {
     "name": "MecanumControllerCommand",
     "description": "Follow a pre-generated trajectory with a mecanum drive using MecanumControllerCommand.",