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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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4
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java
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@@ -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
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@@ -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
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@@ -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);