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Add method for releasing a waiting interrupt (#2347)

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Useful for a new high level interrupt implementation.
This commit is contained in:
Thad House
2020-02-18 20:41:42 -08:00
committed by GitHub
parent 30ccd13b69
commit 2a968df779
9 changed files with 82 additions and 8 deletions
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12
hal/src/main/native/athena/HAL.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -24,6 +24,7 @@
#include <wpi/timestamp.h>
#include "HALInitializer.h"
#include "HALInternal.h"
#include "ctre/ctre.h"
#include "hal/ChipObject.h"
#include "hal/DriverStation.h"
@@ -78,6 +79,15 @@ void InitializeHAL() {
InitializeThreads();
}
} // namespace init
void ReleaseFPGAInterrupt(int32_t interruptNumber) {
if (!global) {
return;
}
int32_t status = 0;
global->writeInterruptForceNumber(static_cast<unsigned char>(interruptNumber),
&status);
}
} // namespace hal
extern "C" {

15
hal/src/main/native/athena/HALInternal.h Normal file
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@@ -0,0 +1,15 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdint.h>
namespace hal {
void ReleaseFPGAInterrupt(int32_t interruptNumber);
} // namespace hal

19
hal/src/main/native/athena/Interrupts.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,9 +13,11 @@
#include "DigitalInternal.h"
#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/ChipObject.h"
#include "hal/Errors.h"
#include "hal/HALBase.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/handles/LimitedHandleResource.h"
@@ -268,4 +270,19 @@ void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle,
anInterrupt->anInterrupt->writeConfig_FallingEdge(fallingEdge, status);
}
void HAL_ReleaseWaitingInterrupt(HAL_InterruptHandle interruptHandle,
int32_t* status) {
auto anInterrupt = interruptHandles->Get(interruptHandle);
if (anInterrupt == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
uint32_t interruptIndex =
static_cast<uint32_t>(getHandleIndex(interruptHandle));
hal::ReleaseFPGAInterrupt(interruptIndex);
hal::ReleaseFPGAInterrupt(interruptIndex + 8);
}
} // extern "C"

17
hal/src/main/native/cpp/jni/InterruptJNI.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -294,4 +294,19 @@ Java_edu_wpi_first_hal_InterruptJNI_setInterruptUpSourceEdge
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_InterruptJNI
* Method: releaseWaitingInterrupt
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_InterruptJNI_releaseWaitingInterrupt
(JNIEnv* env, jclass, jint interruptHandle)
{
int32_t status = 0;
HAL_ReleaseWaitingInterrupt((HAL_InterruptHandle)interruptHandle, &status);
CheckStatus(env, status);
}
} // extern "C"

2
hal/src/main/native/include/hal/HALBase.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */

12
hal/src/main/native/include/hal/Interrupts.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -153,6 +153,16 @@ void HAL_AttachInterruptHandlerThreaded(HAL_InterruptHandle interruptHandle,
void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status);
/**
* Releases a waiting interrupt.
*
* This will release both rising and falling waiters.
*
* @param interruptHandle the interrupt handle to release
*/
void HAL_ReleaseWaitingInterrupt(HAL_InterruptHandle interruptHandle,
int32_t* status);
#ifdef __cplusplus
} // extern "C"
#endif

2
hal/src/main/native/sim/HAL.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */

7
hal/src/main/native/sim/Interrupts.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -566,4 +566,9 @@ void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle,
interrupt->fireOnDown = fallingEdge;
interrupt->fireOnUp = risingEdge;
}
void HAL_ReleaseWaitingInterrupt(HAL_InterruptHandle interruptHandle,
int32_t* status) {
// Requires a fairly large rewrite to get working
}
} // extern "C"