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[hal, wpilib] Remove DMA (#7701)
This commit is contained in:
Thad House
@@ -1,222 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.hal.DMAJNI;
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import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
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/** Class for configuring Direct Memory Access (DMA) of FPGA inputs. */
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public class DMA implements AutoCloseable {
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final int m_dmaHandle;
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/** Default constructor. */
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public DMA() {
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m_dmaHandle = DMAJNI.initialize();
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}
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@Override
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public void close() {
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DMAJNI.free(m_dmaHandle);
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}
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/**
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* Sets whether DMA is paused.
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*
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* @param pause True pauses DMA.
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*/
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public void setPause(boolean pause) {
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DMAJNI.setPause(m_dmaHandle, pause);
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}
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/**
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* Sets DMA to trigger at an interval.
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*
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* @param periodSeconds Period at which to trigger DMA in seconds.
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*/
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public void setTimedTrigger(double periodSeconds) {
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DMAJNI.setTimedTrigger(m_dmaHandle, periodSeconds);
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}
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/**
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* Sets number of DMA cycles to trigger.
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*
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* @param cycles Number of cycles.
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*/
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public void setTimedTriggerCycles(int cycles) {
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DMAJNI.setTimedTriggerCycles(m_dmaHandle, cycles);
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}
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/**
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* Adds position data for an encoder to be collected by DMA.
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*
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* <p>This can only be called if DMA is not started.
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*
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* @param encoder Encoder to add to DMA.
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*/
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public void addEncoder(Encoder encoder) {
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DMAJNI.addEncoder(m_dmaHandle, encoder.m_encoder);
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}
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/**
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* Adds timer data for an encoder to be collected by DMA.
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*
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* <p>This can only be called if DMA is not started.
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*
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* @param encoder Encoder to add to DMA.
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*/
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public void addEncoderPeriod(Encoder encoder) {
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DMAJNI.addEncoderPeriod(m_dmaHandle, encoder.m_encoder);
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}
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/**
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* Adds position data for an counter to be collected by DMA.
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*
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* <p>This can only be called if DMA is not started.
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*
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* @param counter Counter to add to DMA.
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*/
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public void addCounter(Counter counter) {
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DMAJNI.addCounter(m_dmaHandle, counter.m_counter);
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}
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/**
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* Adds timer data for an counter to be collected by DMA.
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*
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* <p>This can only be called if DMA is not started.
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*
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* @param counter Counter to add to DMA.
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*/
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public void addCounterPeriod(Counter counter) {
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DMAJNI.addCounterPeriod(m_dmaHandle, counter.m_counter);
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}
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/**
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* Adds a digital source to be collected by DMA.
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*
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* <p>This can only be called if DMA is not started.
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*
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* @param digitalSource DigitalSource to add to DMA.
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*/
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public void addDigitalSource(DigitalSource digitalSource) {
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DMAJNI.addDigitalSource(m_dmaHandle, digitalSource.getPortHandleForRouting());
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}
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/**
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* Adds a duty cycle input to be collected by DMA.
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*
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* <p>This can only be called if DMA is not started.
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*
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* @param dutyCycle DutyCycle to add to DMA.
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*/
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public void addDutyCycle(DutyCycle dutyCycle) {
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DMAJNI.addDutyCycle(m_dmaHandle, dutyCycle.m_handle);
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}
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/**
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* Adds an analog input to be collected by DMA.
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*
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* <p>This can only be called if DMA is not started.
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*
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* @param analogInput AnalogInput to add to DMA.
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*/
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public void addAnalogInput(AnalogInput analogInput) {
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DMAJNI.addAnalogInput(m_dmaHandle, analogInput.m_port);
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}
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/**
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* Adds averaged data of an analog input to be collected by DMA.
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*
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* <p>This can only be called if DMA is not started.
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*
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* @param analogInput AnalogInput to add to DMA.
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*/
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public void addAveragedAnalogInput(AnalogInput analogInput) {
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DMAJNI.addAveragedAnalogInput(m_dmaHandle, analogInput.m_port);
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}
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/**
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* Adds accumulator data of an analog input to be collected by DMA.
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*
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* <p>This can only be called if DMA is not started.
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*
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* @param analogInput AnalogInput to add to DMA.
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*/
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public void addAnalogAccumulator(AnalogInput analogInput) {
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DMAJNI.addAnalogAccumulator(m_dmaHandle, analogInput.m_port);
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}
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/**
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* Sets an external DMA trigger.
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*
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* @param source the source to trigger from.
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* @param rising trigger on rising edge.
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* @param falling trigger on falling edge.
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* @return the index of the trigger
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*/
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public int setExternalTrigger(DigitalSource source, boolean rising, boolean falling) {
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return DMAJNI.setExternalTrigger(
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m_dmaHandle,
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source.getPortHandleForRouting(),
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source.getAnalogTriggerTypeForRouting(),
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rising,
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falling);
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}
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/**
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* Sets a DMA PWM edge trigger.
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*
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* @param pwm the PWM to trigger from.
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* @param rising trigger on rising edge.
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* @param falling trigger on falling edge.
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* @return the index of the trigger
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*/
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public int setPwmEdgeTrigger(PWM pwm, boolean rising, boolean falling) {
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return DMAJNI.setExternalTrigger(m_dmaHandle, pwm.getHandle(), 0, rising, falling);
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}
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/**
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* Sets a DMA PWMMotorController edge trigger.
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*
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* @param pwm the PWMMotorController to trigger from.
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* @param rising trigger on rising edge.
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* @param falling trigger on falling edge.
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* @return the index of the trigger
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*/
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public int setPwmEdgeTrigger(PWMMotorController pwm, boolean rising, boolean falling) {
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return DMAJNI.setExternalTrigger(m_dmaHandle, pwm.getPwmHandle(), 0, rising, falling);
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}
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/**
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* Clear all sensors from the DMA collection list.
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*
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* <p>This can only be called if DMA is not started.
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*/
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public void clearSensors() {
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DMAJNI.clearSensors(m_dmaHandle);
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}
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/**
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* Clear all external triggers from the DMA trigger list.
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*
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* <p>This can only be called if DMA is not started.
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*/
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public void clearExternalTriggers() {
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DMAJNI.clearExternalTriggers(m_dmaHandle);
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}
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/**
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* Starts DMA Collection.
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*
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* @param queueDepth The number of objects to be able to queue.
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*/
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public void start(int queueDepth) {
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DMAJNI.startDMA(m_dmaHandle, queueDepth);
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}
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/** Stops DMA Collection. */
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public void stop() {
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DMAJNI.stopDMA(m_dmaHandle);
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}
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}
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@@ -1,237 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.hal.AnalogJNI;
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import edu.wpi.first.hal.DMAJNISample;
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/** DMA sample. */
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public class DMASample {
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/** DMA read status. */
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public enum DMAReadStatus {
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/** OK status. */
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kOk(1),
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/** Timeout status. */
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kTimeout(2),
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/** Error status. */
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kError(3);
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private final int value;
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DMAReadStatus(int value) {
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this.value = value;
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}
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/**
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* Returns the DMAReadStatus value.
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*
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* @return The DMAReadStatus value.
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*/
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public int getValue() {
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return value;
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}
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/**
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* Constructs a DMAReadStatus from a raw value.
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*
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* @param value raw value
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* @return enum value
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*/
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public static DMAReadStatus getValue(int value) {
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if (value == 1) {
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return kOk;
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} else if (value == 2) {
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return kTimeout;
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}
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return kError;
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}
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}
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private final DMAJNISample m_dmaSample = new DMAJNISample();
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/** Default constructor. */
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public DMASample() {}
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/**
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* Retrieves a new DMA sample.
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*
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* @param dma DMA object.
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* @param timeoutSeconds Timeout in seconds for retrieval.
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* @return DMA read status.
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*/
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public DMAReadStatus update(DMA dma, double timeoutSeconds) {
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return DMAReadStatus.getValue(m_dmaSample.update(dma.m_dmaHandle, timeoutSeconds));
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}
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/**
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* Returns the DMA sample time in microseconds.
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*
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* @return The DMA sample time in microseconds.
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*/
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public long getTime() {
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return m_dmaSample.getTime();
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}
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/**
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* Returns the DMA sample timestamp in seconds.
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*
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* @return The DMA sample timestamp in seconds.
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*/
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public double getTimeStamp() {
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return getTime() * 1.0e-6;
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}
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/**
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* Returns the DMA sample capture size.
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*
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* @return The DMA sample capture size.
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*/
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public int getCaptureSize() {
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return m_dmaSample.getCaptureSize();
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}
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/**
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* Returns the number of DMA trigger channels.
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*
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* @return The number of DMA trigger channels.
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*/
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public int getTriggerChannels() {
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return m_dmaSample.getTriggerChannels();
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}
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/**
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* Returns the number of remaining samples.
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*
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* @return The number of remaining samples.
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*/
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public int getRemaining() {
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return m_dmaSample.getRemaining();
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}
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/**
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* Returns raw encoder value from DMA.
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*
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* @param encoder Encoder used for DMA.
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* @return Raw encoder value from DMA.
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*/
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public int getEncoderRaw(Encoder encoder) {
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return m_dmaSample.getEncoder(encoder.m_encoder);
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}
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/**
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* Returns encoder distance from DMA.
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*
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* @param encoder Encoder used for DMA.
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* @return Encoder distance from DMA.
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*/
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public double getEncoderDistance(Encoder encoder) {
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double val = getEncoderRaw(encoder);
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val *= encoder.getDecodingScaleFactor();
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val *= encoder.getDistancePerPulse();
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return val;
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}
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/**
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* Returns raw encoder period from DMA.
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*
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* @param encoder Encoder used for DMA.
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* @return Raw encoder period from DMA.
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*/
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public int getEncoderPeriodRaw(Encoder encoder) {
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return m_dmaSample.getEncoderPeriod(encoder.m_encoder);
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}
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/**
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* Returns counter value from DMA.
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*
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* @param counter Counter used for DMA.
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* @return Counter value from DMA.
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*/
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public int getCounter(Counter counter) {
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return m_dmaSample.getCounter(counter.m_counter);
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}
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/**
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* Returns counter period from DMA.
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*
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* @param counter Counter used for DMA.
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* @return Counter period from DMA.
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*/
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public int getCounterPeriod(Counter counter) {
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return m_dmaSample.getCounterPeriod(counter.m_counter);
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}
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/**
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* Returns digital source value from DMA.
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*
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* @param digitalSource DigitalSource used for DMA.
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* @return DigitalSource value from DMA.
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*/
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public boolean getDigitalSource(DigitalSource digitalSource) {
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return m_dmaSample.getDigitalSource(digitalSource.getPortHandleForRouting());
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}
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/**
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* Returns raw analog input value from DMA.
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*
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* @param analogInput AnalogInput used for DMA.
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* @return Raw analog input value from DMA.
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*/
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public int getAnalogInputRaw(AnalogInput analogInput) {
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return m_dmaSample.getAnalogInput(analogInput.m_port);
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}
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/**
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* Returns analog input voltage from DMA.
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*
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* @param analogInput AnalogInput used for DMA.
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* @return Analog input voltage from DMA.
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*/
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public double getAnalogInputVoltage(AnalogInput analogInput) {
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return AnalogJNI.getAnalogValueToVolts(analogInput.m_port, getAnalogInputRaw(analogInput));
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}
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/**
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* Returns averaged raw analog input value from DMA.
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*
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* @param analogInput AnalogInput used for DMA.
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* @return Averaged raw analog input value from DMA.
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*/
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public int getAveragedAnalogInputRaw(AnalogInput analogInput) {
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return m_dmaSample.getAnalogInputAveraged(analogInput.m_port);
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}
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/**
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* Returns averaged analog input voltage from DMA.
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*
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* @param analogInput AnalogInput used for DMA.
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* @return Averaged analog input voltage from DMA.
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*/
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public double getAveragedAnalogInputVoltage(AnalogInput analogInput) {
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return AnalogJNI.getAnalogValueToVolts(
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analogInput.m_port, getAveragedAnalogInputRaw(analogInput));
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}
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/**
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* Returns raw duty cycle output from DMA.
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*
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* @param dutyCycle DutyCycle used for DMA.
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* @return Raw duty cycle output from DMA.
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*/
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public int getDutyCycleOutputRaw(DutyCycle dutyCycle) {
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return m_dmaSample.getDutyCycleOutput(dutyCycle.m_handle);
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}
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/**
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* Returns duty cycle output (0-1) from DMA.
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*
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* @param dutyCycle DutyCycle used for DMA.
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* @return Duty cycle output (0-1) from DMA.
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*/
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public double getDutyCycleOutput(DutyCycle dutyCycle) {
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return m_dmaSample.getDutyCycleOutput(dutyCycle.m_handle)
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/ (double) dutyCycle.getOutputScaleFactor();
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}
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}
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