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Added support for digital and analog IO pins on the MXP

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Change-Id: I3a4e14ceab885d19a615d6cd45f22a2250ad2856
This commit is contained in:
thomasclark
2014-06-12 09:08:33 -04:00
parent 85d9ead4e2
commit 29c4534c58
11 changed files with 247 additions and 74 deletions
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13
hal/include/HAL/Analog.hpp
View File

@@ -16,10 +16,17 @@ enum AnalogTriggerType
extern "C"
{
void* initializeAnalogPort(void* port_pointer, int32_t *status);
bool checkAnalogModule(uint8_t module);
bool checkAnalogChannel(uint32_t pin);
// Analog output functions
void* initializeAnalogOutputPort(void* port_pointer, int32_t *status);
void setAnalogOutput(void* analog_port_pointer, double voltage, int32_t *status);
double getAnalogOutput(void* analog_port_pointer, int32_t *status);
bool checkAnalogOutputChannel(uint32_t pin);
// Analog input functions
void* initializeAnalogInputPort(void* port_pointer, int32_t *status);
bool checkAnalogModule(uint8_t module);
bool checkAnalogInputChannel(uint32_t pin);
void setAnalogSampleRate(double samplesPerSecond, int32_t *status);
float getAnalogSampleRate(int32_t *status);
void setAnalogSampleRateWithModule(uint8_t module, double samplesPerSecond, int32_t *status);

2
hal/include/HAL/Digital.hpp
View File

@@ -30,8 +30,6 @@ extern "C"
bool checkDigitalModule(uint8_t module);
bool checkPWMChannel(void* digital_port_pointer);
bool checkRelayChannel(void* digital_port_pointer);
uint8_t remapDigitalChannel(uint32_t pin, int32_t *status);
uint8_t unmapDigitalChannel(uint32_t pin, int32_t *status);
void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status);
unsigned short getPWM(void* digital_port_pointer, int32_t *status);

47
hal/lib/Athena/Analog.cpp
View File

@@ -14,7 +14,8 @@ static const long kTimebase = 40000000; ///< 40 MHz clock
static const long kDefaultOversampleBits = 0;
static const long kDefaultAverageBits = 7;
static const float kDefaultSampleRate = 50000.0;
static const uint32_t kAnalogPins = 8;
static const uint32_t kAnalogInputPins = 8;
static const uint32_t kAnalogOutputPins = 2;
static const uint32_t kAccumulatorNumChannels = 2;
static const uint32_t kAccumulatorChannels[] = {0, 1};
@@ -43,15 +44,15 @@ void initializeAnalog(int32_t *status) {
if (analogSystemInitialized) return;
analogRegisterWindowSemaphore = initializeMutexRecursive();
analogSystem = tAI::create(status);
setAnalogNumChannelsToActivate(kAnalogPins);
setAnalogNumChannelsToActivate(kAnalogInputPins);
setAnalogSampleRate(kDefaultSampleRate, status);
analogSystemInitialized = true;
}
/**
* Initialize the analog port using the given port object.
* Initialize the analog input port using the given port object.
*/
void* initializeAnalogPort(void* port_pointer, int32_t *status) {
void* initializeAnalogInputPort(void* port_pointer, int32_t *status) {
initializeAnalog(status);
Port* port = (Port*) port_pointer;
@@ -68,6 +69,19 @@ void* initializeAnalogPort(void* port_pointer, int32_t *status) {
setAnalogOversampleBits(analog_port, kDefaultOversampleBits, status);
return analog_port;
}
/**
* Initialize the analog output port using the given port object.
*/
void* initializeAnalogOutputPort(void* port_pointer, int32_t *status) {
initializeAnalog(status);
Port* port = (Port*) port_pointer;
// Initialize port structure
AnalogPort* analog_port = new AnalogPort();
analog_port->port = *port;
return analog_port;
}
/**
@@ -80,14 +94,27 @@ bool checkAnalogModule(uint8_t module) {
}
/**
* Check that the analog channel number is value.
* Check that the analog output channel number is value.
* Verify that the analog channel number is one of the legal channel numbers. Channel numbers
* are 0-based.
*
* @return Analog channel is valid
*/
bool checkAnalogChannel(uint32_t pin) {
if (pin >= 0 && pin < kAnalogPins)
bool checkAnalogInputChannel(uint32_t pin) {
if (pin >= 0 && pin < kAnalogInputPins)
return true;
return false;
}
/**
* Check that the analog output channel number is value.
* Verify that the analog channel number is one of the legal channel numbers. Channel numbers
* are 0-based.
*
* @return Analog channel is valid
*/
bool checkAnalogOutputChannel(uint32_t pin) {
if (pin >= 0 && pin < kAnalogOutputPins)
return true;
return false;
}
@@ -245,7 +272,7 @@ uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t *status) {
int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
int16_t value;
checkAnalogChannel(port->port.pin);
checkAnalogInputChannel(port->port.pin);
tAI::tReadSelect readSelect;
readSelect.Channel = port->port.pin;
@@ -276,7 +303,7 @@ int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
int16_t value;
checkAnalogChannel(port->port.pin);
checkAnalogInputChannel(port->port.pin);
tAI::tReadSelect readSelect;
readSelect.Channel = port->port.pin;
@@ -568,7 +595,7 @@ void* initializeAnalogTrigger(void* port_pointer, uint32_t *index, int32_t *stat
Resource::CreateResourceObject(&triggers, tAnalogTrigger::kNumSystems);
AnalogTrigger* trigger = new AnalogTrigger();
trigger->port = (AnalogPort*) initializeAnalogPort(port, status);
trigger->port = (AnalogPort*) initializeAnalogInputPort(port, status);
trigger->index = triggers->Allocate("Analog Trigger");
*index = trigger->index;
// TODO: if (index == ~0ul) { CloneError(triggers); return; }

162
hal/lib/Athena/Digital.cpp
View File

@@ -11,9 +11,11 @@
#include <math.h>
static const uint32_t kExpectedLoopTiming = 40;
static const uint32_t kDigitalPins = 14;
static const uint32_t kPwmPins = 10;
static const uint32_t kDigitalPins = 20;
static const uint32_t kPwmPins = 20;
static const uint32_t kRelayPins = 8;
static const uint32_t kNumHeaders = 10; // Number of non-MXP pins
/**
* kDefaultPwmPeriod is in ms
*
@@ -108,12 +110,12 @@ void initializeDigital(int32_t *status) {
// printf("MinHigh: %d\n", minHigh);
// Ensure that PWM output values are set to OFF
for (uint32_t pwm_index = 0; pwm_index < kPwmPins; pwm_index++) {
// Initialize port structure
DigitalPort* digital_port = new DigitalPort();
digital_port->port.pin = pwm_index;
setPWM(digital_port, kPwmDisabled, status);
setPWMPeriodScale(digital_port, 3, status); // Set all to 4x by default.
// Initialize port structure
DigitalPort* digital_port = new DigitalPort();
digital_port->port.pin = pwm_index;
setPWM(digital_port, kPwmDisabled, status);
setPWMPeriodScale(digital_port, 3, status); // Set all to 4x by default.
}
digitalSystemsInitialized = true;
@@ -146,20 +148,24 @@ bool checkDigitalModule(uint8_t module) {
bool checkPWMChannel(void* digital_port_pointer) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
return (port->port.pin >= 0 && port->port.pin < kPwmPins);
return port->port.pin < kPwmPins;
}
bool checkRelayChannel(void* digital_port_pointer) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
return (port->port.pin >= 0 && port->port.pin < kRelayPins);
return port->port.pin < kRelayPins;
}
uint8_t remapDigitalChannel(uint32_t pin, int32_t *status) {
return pin; // TODO: No mapping needed anymore
}
uint8_t unmapDigitalChannel(uint32_t pin, int32_t *status) {
return pin; // TODO: No mapping needed anymore
/**
* Map DIO pin numbers from their physical number (10 to 19) to their position
* in the bit field.
*/
uint32_t remapMXPChannel(uint32_t pin) {
if(pin < 14) {
return pin - 10; // First four digital headers
} else {
return pin - 6; // Last 8 digital headers, not counting the SPI pins
}
}
/**
@@ -172,8 +178,17 @@ uint8_t unmapDigitalChannel(uint32_t pin, int32_t *status) {
void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
// printf("Value:%d\n", value);
pwmSystem->writeHdr(port->port.pin, value, status); // XXX: Support MXP
if(port->port.pin < tPWM::kNumHdrRegisters) {
pwmSystem->writeHdr(port->port.pin, value, status);
} else {
pwmSystem->writeMXP(port->port.pin - tPWM::kNumHdrRegisters, value, status);
// Enable special functions on this pin
uint32_t bitToSet = 1 << remapMXPChannel(port->port.pin);
short specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet, status);
}
}
/**
@@ -185,7 +200,12 @@ void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status) {
unsigned short getPWM(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
return pwmSystem->readHdr(port->port.pin, status); // XXX: Support MXP
if(port->port.pin < tPWM::kNumHdrRegisters) {
return pwmSystem->readHdr(port->port.pin, status);
} else {
return pwmSystem->readMXP(port->port.pin - tPWM::kNumHdrRegisters, status);
}
}
/**
@@ -197,7 +217,12 @@ unsigned short getPWM(void* digital_port_pointer, int32_t *status) {
void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
pwmSystem->writePeriodScaleHdr(port->port.pin, squelchMask, status); // XXX: Support MXP
if(port->port.pin < tPWM::kNumPeriodScaleHdrElements) {
pwmSystem->writePeriodScaleHdr(port->port.pin, squelchMask, status);
} else {
pwmSystem->writePeriodScaleMXP(port->port.pin - tPWM::kNumPeriodScaleHdrElements, squelchMask, status);
}
}
/**
@@ -325,22 +350,22 @@ void setPWMOutputChannelWithModule(uint8_t module, void* pwmGenerator, uint32_t
if (id == ~0ul) return;
switch(id) {
case 0:
digitalSystem->writePWMOutputSelect(0, remapDigitalChannel(pin, status), status);
digitalSystem->writePWMOutputSelect(0, pin, status);
break;
case 1:
digitalSystem->writePWMOutputSelect(1, remapDigitalChannel(pin, status), status);
digitalSystem->writePWMOutputSelect(1, pin, status);
break;
case 2:
digitalSystem->writePWMOutputSelect(2, remapDigitalChannel(pin, status), status);
digitalSystem->writePWMOutputSelect(2, pin, status);
break;
case 3:
digitalSystem->writePWMOutputSelect(3, remapDigitalChannel(pin, status), status);
digitalSystem->writePWMOutputSelect(3, pin, status);
break;
case 4:
digitalSystem->writePWMOutputSelect(4, remapDigitalChannel(pin, status), status);
digitalSystem->writePWMOutputSelect(4, pin, status);
break;
case 5:
digitalSystem->writePWMOutputSelect(5, remapDigitalChannel(pin, status), status);
digitalSystem->writePWMOutputSelect(5, pin, status);
break;
}
}
@@ -417,13 +442,30 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
if (DIOChannels->Allocate(kDigitalPins * (port->port.module - 1) + port->port.pin, buf) == ~0ul) return false;
{
Synchronized sync(digitalDIOSemaphore);
uint32_t bitToSet = 1 << (remapDigitalChannel(port->port.pin, status));
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
if (input) {
outputEnable.Headers = outputEnable.Headers & (~bitToSet); // clear the bit for read
if(port->port.pin < kNumHeaders) {
uint32_t bitToSet = 1 << port->port.pin;
if (input) {
outputEnable.Headers = outputEnable.Headers & (~bitToSet); // clear the bit for read
} else {
outputEnable.Headers = outputEnable.Headers | bitToSet; // set the bit for write
}
} else {
outputEnable.Headers = outputEnable.Headers | bitToSet; // set the bit for write
uint32_t bitToSet = 1 << remapMXPChannel(port->port.pin);
// Disable special functions on this pin
short specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet, status);
if (input) {
outputEnable.MXP = outputEnable.MXP & (~bitToSet); // clear the bit for read
} else {
outputEnable.MXP = outputEnable.MXP | bitToSet; // set the bit for write
}
}
digitalSystem->writeOutputEnable(outputEnable, status);
}
return true;
@@ -455,10 +497,23 @@ void setDIO(void* digital_port_pointer, short value, int32_t *status) {
{
Synchronized sync(digitalDIOSemaphore);
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if(value == 0) {
currentDIO.Headers = currentDIO.Headers & ~(1 << remapDigitalChannel(port->port.pin, status));
} else if (value == 1) {
currentDIO.Headers = currentDIO.Headers | (1 << remapDigitalChannel(port->port.pin, status));
if(port->port.pin < kNumHeaders) {
if(value == 0) {
currentDIO.Headers = currentDIO.Headers & ~(1 << port->port.pin);
} else if (value == 1) {
currentDIO.Headers = currentDIO.Headers | (1 << port->port.pin);
}
} else {
if(value == 0) {
currentDIO.MXP = currentDIO.MXP & ~(1 << remapMXPChannel(port->port.pin));
} else if (value == 1) {
currentDIO.MXP = currentDIO.MXP | (1 << remapMXPChannel(port->port.pin));
}
uint32_t bitToSet = 1 << remapMXPChannel(port->port.pin);
short specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet, status);
}
digitalSystem->writeDO(currentDIO, status);
}
@@ -479,7 +534,16 @@ bool getDIO(void* digital_port_pointer, int32_t *status) {
//if it == 0, then return false
//else return true
return ((currentDIO.Headers >> remapDigitalChannel(port->port.pin, status)) & 1) != 0;
if(port->port.pin < kNumHeaders) {
return ((currentDIO.Headers >> port->port.pin) & 1) != 0;
} else {
// Disable special functions
uint32_t bitToSet = 1 << remapMXPChannel(port->port.pin);
short specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet, status);
return ((currentDIO.MXP >> remapMXPChannel(port->port.pin)) & 1) != 0;
}
}
/**
@@ -492,12 +556,16 @@ bool getDIO(void* digital_port_pointer, int32_t *status) {
bool getDIODirection(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
tDIO::tOutputEnable currentOutputEnable = digitalSystem->readOutputEnable(status);
//Shift 00000001 over port->port.pin-1 places.
//Shift 00000001 over port->port.pin-1 places.
//AND it against the currentOutputEnable
//if it == 0, then return false
//else return true
return ((currentOutputEnable.Headers >> remapDigitalChannel(port->port.pin, status)) & 1) != 0;
if(port->port.pin < kNumHeaders) {
return ((currentOutputEnable.Headers >> port->port.pin) & 1) != 0;
} else {
return ((currentOutputEnable.MXP >> remapMXPChannel(port->port.pin)) & 1) != 0;
}
}
/**
@@ -510,7 +578,13 @@ bool getDIODirection(void* digital_port_pointer, int32_t *status) {
void pulse(void* digital_port_pointer, double pulseLength, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
tDIO::tPulse pulse;
pulse.Headers = 1 << remapDigitalChannel(port->port.pin, status);
if(port->port.pin < kNumHeaders) {
pulse.Headers = 1 << port->port.pin;
} else {
pulse.MXP = 1 << remapMXPChannel(port->port.pin);
}
digitalSystem->writePulseLength((uint8_t)(1.0e9 * pulseLength / (pwmSystem->readLoopTiming(status) * 25)), status);
digitalSystem->writePulse(pulse, status);
}
@@ -522,9 +596,13 @@ void pulse(void* digital_port_pointer, double pulseLength, int32_t *status) {
*/
bool isPulsing(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
uint16_t mask = 1 << remapDigitalChannel(port->port.pin, status);
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
return (pulseRegister.Headers & mask) != 0;
if(port->port.pin < kNumHeaders) {
return (pulseRegister.Headers & (1 << port->port.pin)) != 0;
} else {
return (pulseRegister.MXP & (1 << remapMXPChannel(port->port.pin))) != 0;
}
}
/**
@@ -543,7 +621,7 @@ bool isAnyPulsing(int32_t *status) {
*/
bool isAnyPulsingWithModule(uint8_t module, int32_t *status) {
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
return pulseRegister.Headers != 0;
return pulseRegister.Headers != 0 && pulseRegister.MXP != 0;
}

4
wpilibc/wpilibC++/include/SensorBase.h
View File

@@ -44,13 +44,13 @@ public:
static bool CheckSolenoidChannel(uint32_t channel);
static bool CheckPDPChannel(uint32_t channel);
static const uint32_t kDigitalChannels = 14;
static const uint32_t kDigitalChannels = 20;
static const uint32_t kAnalogChannels = 8;
static const uint32_t kAnalogModules = 2;
static const uint32_t kDigitalModules = 2;
static const uint32_t kSolenoidChannels = 8;
static const uint32_t kSolenoidModules = 2;
static const uint32_t kPwmChannels = 10;
static const uint32_t kPwmChannels = 20;
static const uint32_t kRelayChannels = 8;
static const uint32_t kPDPChannels = 16;
static const uint32_t kChassisSlots = 8;

4
wpilibc/wpilibC++/lib/AnalogChannel.cpp
View File

@@ -31,7 +31,7 @@ void AnalogChannel::InitChannel(uint8_t moduleNumber, uint32_t channel)
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return;
}
if (!checkAnalogChannel(channel))
if (!checkAnalogInputChannel(channel))
{
snprintf(buf, 64, "Analog Channel %d", channel);
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
@@ -49,7 +49,7 @@ void AnalogChannel::InitChannel(uint8_t moduleNumber, uint32_t channel)
void* port = getPortWithModule(moduleNumber, channel);
int32_t status = 0;
m_port = initializeAnalogPort(port, &status);
m_port = initializeAnalogInputPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
LiveWindow::GetInstance()->AddSensor("AnalogChannel",channel, GetModuleNumber(), this);

2
wpilibc/wpilibC++/lib/AnalogModule.cpp
View File

@@ -57,7 +57,7 @@ AnalogModule::AnalogModule(uint8_t moduleNumber)
{
void* port = getPortWithModule(moduleNumber, i);
int32_t status = 0;
m_ports[i] = initializeAnalogPort(port, &status);
m_ports[i] = initializeAnalogInputPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

4
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java
View File

@@ -76,7 +76,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
+ " on module " + m_moduleNumber
+ " cannot be allocated. Module is not present.");
}
if (AnalogJNI.checkAnalogChannel(channel) == 0) {
if (AnalogJNI.checkAnalogInputChannel(channel) == 0) {
throw new AllocationException("Analog channel " + m_channel
+ " on module " + m_moduleNumber
+ " cannot be allocated. Channel is not present.");
@@ -94,7 +94,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
// XXX: Uncomment when Analog has been fixed
m_port = AnalogJNI.initializeAnalogPort(port_pointer, status.asIntBuffer());
m_port = AnalogJNI.initializeAnalogInputPort(port_pointer, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
LiveWindow.addSensor("Analog", moduleNumber, channel, this);

4
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SensorBase.java
View File

@@ -28,7 +28,7 @@ public abstract class SensorBase { // TODO: Refactor
/**
* Number of digital channels per digital sidecar
*/
public static final int kDigitalChannels = 10;
public static final int kDigitalChannels = 20;
/**
* Number of digital modules
* XXX: This number is incorrect. We need to find the correct number.
@@ -53,7 +53,7 @@ public abstract class SensorBase { // TODO: Refactor
/**
* Number of PWM channels per sidecar
*/
public static final int kPwmChannels = 10;
public static final int kPwmChannels = 20;
/**
* Number of relay channels per sidecar
*/

8
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/hal/AnalogJNI.java
View File

@@ -20,9 +20,13 @@ public class AnalogJNI extends JNIWrapper {
public static final int kFallingPulse = 3;
};
public static native ByteBuffer initializeAnalogPort(ByteBuffer port_pointer, IntBuffer status);
public static native ByteBuffer initializeAnalogInputPort(ByteBuffer port_pointer, IntBuffer status);
public static native ByteBuffer initializeAnalogOutputPort(ByteBuffer port_pointer, IntBuffer status);
public static native byte checkAnalogModule(byte module);
public static native byte checkAnalogChannel(int pin);
public static native byte checkAnalogInputChannel(int pin);
public static native byte checkAnalogOutputChannel(int pin);
public static native void setAnalogOutput(ByteBuffer port_pointer, double voltage, IntBuffer status);
public static native double getAnalogOutput(ByteBuffer port_pointer, IntBuffer status);
public static native void setAnalogSampleRate(double samplesPerSecond, IntBuffer status);
public static native double getAnalogSampleRate(IntBuffer status);
public static native void setAnalogSampleRateWithModule(byte module, double samplesPerSecond, IntBuffer status);

71
wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp
View File

@@ -15,10 +15,10 @@ TLogLevel analogJNILogLevel = logWARNING;
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: initializeAnalogPort
* Method: initializeAnalogInputPort
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogPort
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogInputPort
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
@@ -26,7 +26,26 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAna
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** analogPtr = (void**)new unsigned char[4];
*analogPtr = initializeAnalogPort(*javaId, statusPtr);
*analogPtr = initializeAnalogInputPort(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *analogPtr;
return env->NewDirectByteBuffer( analogPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: initializeAnalogOutputPort
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogOutputPort
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** analogPtr = (void**)new unsigned char[4];
*analogPtr = initializeAnalogOutputPort(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *analogPtr;
return env->NewDirectByteBuffer( analogPtr, 4);
@@ -48,18 +67,58 @@ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogModu
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: checkAnalogChannel
* Method: checkAnalogInputChannel
* Signature: (I)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogChannel
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogInputChannel
(JNIEnv *, jclass, jint value)
{
//ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
jbyte returnValue = checkAnalogChannel( value );
jbyte returnValue = checkAnalogInputChannel( value );
//ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: checkAnalogOutputChannel
* Signature: (I)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogOutputChannel
(JNIEnv *, jclass, jint value)
{
//ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
jbyte returnValue = checkAnalogOutputChannel( value );
//ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogOutput
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOutput
(JNIEnv * env, jclass, jobject id, jdouble voltage, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setAnalogOutput(javaId, voltage, statusPtr);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogOutput
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOutput
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
return getAnalogOutput(javaId, statusPtr);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogSampleRate