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Add FPGA Duty Cycle support (#1987)

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This commit is contained in:
Thad House
2019-11-01 23:41:30 -07:00
committed by Peter Johnson
parent 509819d83f
commit 1d695a1660
42 changed files with 1744 additions and 72 deletions
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58
hal/src/main/native/cpp/jni/AnalogJNI.cpp
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@@ -486,18 +486,31 @@ Java_edu_wpi_first_hal_AnalogJNI_getAccumulatorOutput
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: initializeAnalogTrigger
* Signature: (ILjava/lang/Object;)I
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogTrigger
(JNIEnv* env, jclass, jint id, jobject index)
(JNIEnv* env, jclass, jint id)
{
jint* indexHandle =
reinterpret_cast<jint*>(env->GetDirectBufferAddress(index));
int32_t status = 0;
HAL_AnalogTriggerHandle analogTrigger = HAL_InitializeAnalogTrigger(
(HAL_AnalogInputHandle)id, reinterpret_cast<int32_t*>(indexHandle),
&status);
HAL_AnalogTriggerHandle analogTrigger =
HAL_InitializeAnalogTrigger((HAL_AnalogInputHandle)id, &status);
CheckStatus(env, status);
return (jint)analogTrigger;
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: initializeAnalogTriggerDutyCycle
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogTriggerDutyCycle
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
HAL_AnalogTriggerHandle analogTrigger =
HAL_InitializeAnalogTriggerDutyCycle((HAL_DutyCycleHandle)id, &status);
CheckStatus(env, status);
return (jint)analogTrigger;
}
@@ -531,6 +544,21 @@ Java_edu_wpi_first_hal_AnalogJNI_setAnalogTriggerLimitsRaw
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: setAnalogTriggerLimitsDutyCycle
* Signature: (IDD)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AnalogJNI_setAnalogTriggerLimitsDutyCycle
(JNIEnv* env, jclass, jint id, jdouble lower, jdouble upper)
{
int32_t status = 0;
HAL_SetAnalogTriggerLimitsDutyCycle((HAL_AnalogTriggerHandle)id, lower, upper,
&status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: setAnalogTriggerLimitsVoltage
@@ -622,4 +650,20 @@ Java_edu_wpi_first_hal_AnalogJNI_getAnalogTriggerOutput
return val;
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: getAnalogTriggerFPGAIndex
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_AnalogJNI_getAnalogTriggerFPGAIndex
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
auto val =
HAL_GetAnalogTriggerFPGAIndex((HAL_AnalogTriggerHandle)id, &status);
CheckStatus(env, status);
return val;
}
} // extern "C"