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Finishes Prefix Renames (#152)

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This commit is contained in:
Thad House
2016-07-09 01:12:37 -07:00
committed by Peter Johnson
parent b637b9ee4c
commit 43a2eccdc9
30 changed files with 279 additions and 294 deletions
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14
hal/include/HAL/Compressor.h
View File

@@ -17,13 +17,13 @@ bool HAL_CheckCompressorModule(uint8_t module);
bool HAL_GetCompressor(HAL_CompressorHandle compressor_handle, int32_t* status);
void HAL_SetClosedLoopControl(HAL_CompressorHandle compressor_handle,
bool value, int32_t* status);
bool HAL_GetClosedLoopControl(HAL_CompressorHandle compressor_handle,
int32_t* status);
void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressor_handle,
bool value, int32_t* status);
bool HAL_GetCompressorClosedLoopControl(HAL_CompressorHandle compressor_handle,
int32_t* status);
bool HAL_GetPressureSwitch(HAL_CompressorHandle compressor_handle,
int32_t* status);
bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressor_handle,
int32_t* status);
float HAL_GetCompressorCurrent(HAL_CompressorHandle compressor_handle,
int32_t* status);
@@ -39,6 +39,4 @@ bool HAL_GetCompressorNotConnectedStickyFault(
HAL_CompressorHandle compressor_handle, int32_t* status);
bool HAL_GetCompressorNotConnectedFault(HAL_CompressorHandle compressor_handle,
int32_t* status);
void HAL_ClearAllPCMStickyFaults(HAL_CompressorHandle compressor_handle,
int32_t* status);
}

10
hal/include/HAL/I2C.h
View File

@@ -10,13 +10,13 @@
#include <stdint.h>
extern "C" {
void HAL_I2CInitialize(uint8_t port, int32_t* status);
int32_t HAL_I2CTransaction(uint8_t port, uint8_t deviceAddress,
void HAL_InitializeI2C(uint8_t port, int32_t* status);
int32_t HAL_TransactionI2C(uint8_t port, uint8_t deviceAddress,
uint8_t* dataToSend, uint8_t sendSize,
uint8_t* dataReceived, uint8_t receiveSize);
int32_t HAL_I2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend,
int32_t HAL_WriteI2C(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend,
uint8_t sendSize);
int32_t HAL_I2CRead(uint8_t port, uint8_t deviceAddress, uint8_t* buffer,
int32_t HAL_ReadI2C(uint8_t port, uint8_t deviceAddress, uint8_t* buffer,
uint8_t count);
void HAL_I2CClose(uint8_t port);
void HAL_CloseI2C(uint8_t port);
}

8
hal/include/HAL/Interrupts.h
View File

@@ -26,10 +26,10 @@ void HAL_EnableInterrupts(HAL_InterruptHandle interrupt_handle,
int32_t* status);
void HAL_DisableInterrupts(HAL_InterruptHandle interrupt_handle,
int32_t* status);
double HAL_ReadRisingTimestamp(HAL_InterruptHandle interrupt_handle,
int32_t* status);
double HAL_ReadFallingTimestamp(HAL_InterruptHandle interrupt_handle,
int32_t* status);
double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interrupt_handle,
int32_t* status);
double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interrupt_handle,
int32_t* status);
void HAL_RequestInterrupts(HAL_InterruptHandle interrupt_handle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,

46
hal/include/HAL/SPI.h
View File

@@ -9,39 +9,35 @@
#include <stdint.h>
#include "HAL/cpp/priority_mutex.h"
priority_recursive_mutex& spiGetSemaphore(uint8_t port);
extern "C" {
void HAL_SpiInitialize(uint8_t port, int32_t* status);
int32_t HAL_SpiTransaction(uint8_t port, uint8_t* dataToSend,
void HAL_InitializeSPI(uint8_t port, int32_t* status);
int32_t HAL_TransactionSPI(uint8_t port, uint8_t* dataToSend,
uint8_t* dataReceived, uint8_t size);
int32_t HAL_SpiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
int32_t HAL_SpiRead(uint8_t port, uint8_t* buffer, uint8_t count);
void HAL_SpiClose(uint8_t port);
void HAL_SpiSetSpeed(uint8_t port, uint32_t speed);
void HAL_SpiSetOpts(uint8_t port, int msb_first, int sample_on_trailing,
int32_t HAL_WriteSPI(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
int32_t HAL_ReadSPI(uint8_t port, uint8_t* buffer, uint8_t count);
void HAL_CloseSPI(uint8_t port);
void HAL_SetSPISpeed(uint8_t port, uint32_t speed);
void HAL_SetSPIOpts(uint8_t port, int msb_first, int sample_on_trailing,
int clk_idle_high);
void HAL_SpiSetChipSelectActiveHigh(uint8_t port, int32_t* status);
void HAL_SpiSetChipSelectActiveLow(uint8_t port, int32_t* status);
int32_t HAL_SpiGetHandle(uint8_t port);
void HAL_SpiSetHandle(uint8_t port, int32_t handle);
void HAL_SetSPIChipSelectActiveHigh(uint8_t port, int32_t* status);
void HAL_SetSPIChipSelectActiveLow(uint8_t port, int32_t* status);
int32_t HAL_GetSPIHandle(uint8_t port);
void HAL_SetSPIHandle(uint8_t port, int32_t handle);
void HAL_SpiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
void HAL_InitSPIAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
uint8_t xfer_size, uint32_t valid_mask,
uint32_t valid_value, uint8_t data_shift,
uint8_t data_size, bool is_signed, bool big_endian,
int32_t* status);
void HAL_SpiFreeAccumulator(uint8_t port, int32_t* status);
void HAL_SpiResetAccumulator(uint8_t port, int32_t* status);
void HAL_SpiSetAccumulatorCenter(uint8_t port, int32_t center, int32_t* status);
void HAL_SpiSetAccumulatorDeadband(uint8_t port, int32_t deadband,
void HAL_FreeSPIAccumulator(uint8_t port, int32_t* status);
void HAL_ResetSPIAccumulator(uint8_t port, int32_t* status);
void HAL_SetSPIAccumulatorCenter(uint8_t port, int32_t center, int32_t* status);
void HAL_SetSPIAccumulatorDeadband(uint8_t port, int32_t deadband,
int32_t* status);
int32_t HAL_SpiGetAccumulatorLastValue(uint8_t port, int32_t* status);
int64_t HAL_SpiGetAccumulatorValue(uint8_t port, int32_t* status);
uint32_t HAL_SpiGetAccumulatorCount(uint8_t port, int32_t* status);
double HAL_SpiGetAccumulatorAverage(uint8_t port, int32_t* status);
void HAL_SpiGetAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count,
int32_t HAL_GetSPIAccumulatorLastValue(uint8_t port, int32_t* status);
int64_t HAL_GetSPIAccumulatorValue(uint8_t port, int32_t* status);
uint32_t HAL_GetSPIAccumulatorCount(uint8_t port, int32_t* status);
double HAL_GetSPIAccumulatorAverage(uint8_t port, int32_t* status);
void HAL_GetSPIAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count,
int32_t* status);
}

36
hal/include/HAL/SerialPort.h
View File

@@ -10,25 +10,25 @@
#include <stdint.h>
extern "C" {
void HAL_SerialInitializePort(uint8_t port, int32_t* status);
void HAL_SerialSetBaudRate(uint8_t port, uint32_t baud, int32_t* status);
void HAL_SerialSetDataBits(uint8_t port, uint8_t bits, int32_t* status);
void HAL_SerialSetParity(uint8_t port, uint8_t parity, int32_t* status);
void HAL_SerialSetStopBits(uint8_t port, uint8_t stopBits, int32_t* status);
void HAL_SerialSetWriteMode(uint8_t port, uint8_t mode, int32_t* status);
void HAL_SerialSetFlowControl(uint8_t port, uint8_t flow, int32_t* status);
void HAL_SerialSetTimeout(uint8_t port, float timeout, int32_t* status);
void HAL_SerialEnableTermination(uint8_t port, char terminator,
void HAL_InitializeSerialPort(uint8_t port, int32_t* status);
void HAL_SetSerialBaudRate(uint8_t port, uint32_t baud, int32_t* status);
void HAL_SetSerialDataBits(uint8_t port, uint8_t bits, int32_t* status);
void HAL_SetSerialParity(uint8_t port, uint8_t parity, int32_t* status);
void HAL_SetSerialStopBits(uint8_t port, uint8_t stopBits, int32_t* status);
void HAL_SetSerialWriteMode(uint8_t port, uint8_t mode, int32_t* status);
void HAL_SetSerialFlowControl(uint8_t port, uint8_t flow, int32_t* status);
void HAL_SetSerialTimeout(uint8_t port, float timeout, int32_t* status);
void HAL_EnableSerialTermination(uint8_t port, char terminator,
int32_t* status);
void HAL_SerialDisableTermination(uint8_t port, int32_t* status);
void HAL_SerialSetReadBufferSize(uint8_t port, uint32_t size, int32_t* status);
void HAL_SerialSetWriteBufferSize(uint8_t port, uint32_t size, int32_t* status);
int32_t HAL_SerialGetBytesReceived(uint8_t port, int32_t* status);
uint32_t HAL_SerialRead(uint8_t port, char* buffer, int32_t count,
void HAL_DisableSerialTermination(uint8_t port, int32_t* status);
void HAL_SetSerialReadBufferSize(uint8_t port, uint32_t size, int32_t* status);
void HAL_SetSerialWriteBufferSize(uint8_t port, uint32_t size, int32_t* status);
int32_t HAL_GetSerialBytesReceived(uint8_t port, int32_t* status);
uint32_t HAL_ReadSerial(uint8_t port, char* buffer, int32_t count,
int32_t* status);
uint32_t HAL_SerialWrite(uint8_t port, const char* buffer, int32_t count,
uint32_t HAL_WriteSerial(uint8_t port, const char* buffer, int32_t count,
int32_t* status);
void HAL_SerialFlush(uint8_t port, int32_t* status);
void HAL_SerialClear(uint8_t port, int32_t* status);
void HAL_SerialClose(uint8_t port, int32_t* status);
void HAL_FlushSerial(uint8_t port, int32_t* status);
void HAL_ClearSerial(uint8_t port, int32_t* status);
void HAL_CloseSerial(uint8_t port, int32_t* status);
}

2
hal/include/HAL/Solenoid.h
View File

@@ -25,5 +25,5 @@ void HAL_SetSolenoid(HAL_SolenoidHandle solenoid_port_handle, bool value,
int HAL_GetPCMSolenoidBlackList(uint8_t module, int32_t* status);
bool HAL_GetPCMSolenoidVoltageStickyFault(uint8_t module, int32_t* status);
bool HAL_GetPCMSolenoidVoltageFault(uint8_t module, int32_t* status);
void HAL_ClearAllPCMStickyFaults_sol(uint8_t module, int32_t* status);
void HAL_ClearAllPCMStickyFaults(uint8_t module, int32_t* status);
}

25
hal/lib/athena/Compressor.cpp
View File

@@ -52,8 +52,8 @@ bool HAL_GetCompressor(HAL_CompressorHandle compressor_handle,
return value;
}
void HAL_SetClosedLoopControl(HAL_CompressorHandle compressor_handle,
bool value, int32_t* status) {
void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressor_handle,
bool value, int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor);
if (index == InvalidHandleIndex) {
@@ -65,8 +65,8 @@ void HAL_SetClosedLoopControl(HAL_CompressorHandle compressor_handle,
*status = module->SetClosedLoopControl(value);
}
bool HAL_GetClosedLoopControl(HAL_CompressorHandle compressor_handle,
int32_t* status) {
bool HAL_GetCompressorClosedLoopControl(HAL_CompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor);
if (index == InvalidHandleIndex) {
@@ -81,8 +81,8 @@ bool HAL_GetClosedLoopControl(HAL_CompressorHandle compressor_handle,
return value;
}
bool HAL_GetPressureSwitch(HAL_CompressorHandle compressor_handle,
int32_t* status) {
bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor);
if (index == InvalidHandleIndex) {
@@ -202,17 +202,4 @@ bool HAL_GetCompressorNotConnectedFault(HAL_CompressorHandle compressor_handle,
return value;
}
void HAL_ClearAllPCMStickyFaults(HAL_CompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = HAL_HANDLE_ERROR;
return;
}
PCM* module = PCM_modules[index];
*status = module->ClearStickyFaults();
}
} // extern "C"

10
hal/lib/athena/I2C.cpp
View File

@@ -31,7 +31,7 @@ extern "C" {
* If opening the MXP port, also sets up the pin functions appropriately
* @param port The port to open, 0 for the on-board, 1 for the MXP.
*/
void HAL_I2CInitialize(uint8_t port, int32_t* status) {
void HAL_InitializeI2C(uint8_t port, int32_t* status) {
initializeDigital(status);
if (*status != 0) return;
@@ -80,7 +80,7 @@ void HAL_I2CInitialize(uint8_t port, int32_t* status) {
* @param receiveSize Number of bytes to read from the device.
* @return The number of bytes read (>= 0) or -1 on transfer abort.
*/
int32_t HAL_I2CTransaction(uint8_t port, uint8_t deviceAddress,
int32_t HAL_TransactionI2C(uint8_t port, uint8_t deviceAddress,
uint8_t* dataToSend, uint8_t sendSize,
uint8_t* dataReceived, uint8_t receiveSize) {
if (port > 1) {
@@ -111,7 +111,7 @@ int32_t HAL_I2CTransaction(uint8_t port, uint8_t deviceAddress,
* @param data The byte to write to the register on the device.
* @return The number of bytes written (>= 0) or -1 on transfer abort.
*/
int32_t HAL_I2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend,
int32_t HAL_WriteI2C(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend,
uint8_t sendSize) {
if (port > 1) {
// Set port out of range error here
@@ -141,7 +141,7 @@ int32_t HAL_I2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend,
* device.
* @return The number of bytes read (>= 0) or -1 on transfer abort.
*/
int32_t HAL_I2CRead(uint8_t port, uint8_t deviceAddress, uint8_t* buffer,
int32_t HAL_ReadI2C(uint8_t port, uint8_t deviceAddress, uint8_t* buffer,
uint8_t count) {
if (port > 1) {
// Set port out of range error here
@@ -157,7 +157,7 @@ int32_t HAL_I2CRead(uint8_t port, uint8_t deviceAddress, uint8_t* buffer,
}
}
void HAL_I2CClose(uint8_t port) {
void HAL_CloseI2C(uint8_t port) {
if (port > 1) {
// Set port out of range error here
return;

8
hal/lib/athena/Interrupts.cpp
View File

@@ -124,8 +124,8 @@ void HAL_DisableInterrupts(HAL_InterruptHandle interrupt_handle,
* This is in the same time domain as GetClock().
* @return Timestamp in seconds since boot.
*/
double HAL_ReadRisingTimestamp(HAL_InterruptHandle interrupt_handle,
int32_t* status) {
double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interrupt_handle,
int32_t* status) {
auto anInterrupt = interruptHandles.Get(interrupt_handle);
if (anInterrupt == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -140,8 +140,8 @@ double HAL_ReadRisingTimestamp(HAL_InterruptHandle interrupt_handle,
* This is in the same time domain as GetClock().
* @return Timestamp in seconds since boot.
*/
double HAL_ReadFallingTimestamp(HAL_InterruptHandle interrupt_handle,
int32_t* status) {
double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interrupt_handle,
int32_t* status) {
auto anInterrupt = interruptHandles.Get(interrupt_handle);
if (anInterrupt == nullptr) {
*status = HAL_HANDLE_ERROR;

101
hal/lib/athena/SPI.cpp
View File

@@ -12,6 +12,7 @@
#include "DigitalInternal.h"
#include "HAL/DIO.h"
#include "HAL/HAL.h"
#include "HAL/cpp/priority_mutex.h"
#include "spilib/spi-lib.h"
static_assert(sizeof(uint32_t) <= sizeof(void*),
@@ -33,6 +34,19 @@ static HAL_DigitalHandle spiMXPDigitalHandle2 = HAL_kInvalidHandle;
static HAL_DigitalHandle spiMXPDigitalHandle3 = HAL_kInvalidHandle;
static HAL_DigitalHandle spiMXPDigitalHandle4 = HAL_kInvalidHandle;
/**
* Get the semaphore for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @return The semaphore for the SPI port.
*/
static priority_recursive_mutex& spiGetSemaphore(uint8_t port) {
if (port < 4)
return spiOnboardSemaphore;
else
return spiMXPSemaphore;
}
extern "C" {
struct SPIAccumulator {
@@ -66,21 +80,21 @@ SPIAccumulator* spiAccumulators[5] = {nullptr, nullptr, nullptr, nullptr,
* If opening the MXP port, also sets up the pin functions appropriately
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SpiInitialize(uint8_t port, int32_t* status) {
void HAL_InitializeSPI(uint8_t port, int32_t* status) {
if (spiSystem == nullptr) spiSystem = tSPI::create(status);
if (HAL_SpiGetHandle(port) != 0) return;
if (HAL_GetSPIHandle(port) != 0) return;
switch (port) {
case 0:
HAL_SpiSetHandle(0, spilib_open("/dev/spidev0.0"));
HAL_SetSPIHandle(0, spilib_open("/dev/spidev0.0"));
break;
case 1:
HAL_SpiSetHandle(1, spilib_open("/dev/spidev0.1"));
HAL_SetSPIHandle(1, spilib_open("/dev/spidev0.1"));
break;
case 2:
HAL_SpiSetHandle(2, spilib_open("/dev/spidev0.2"));
HAL_SetSPIHandle(2, spilib_open("/dev/spidev0.2"));
break;
case 3:
HAL_SpiSetHandle(3, spilib_open("/dev/spidev0.3"));
HAL_SetSPIHandle(3, spilib_open("/dev/spidev0.3"));
break;
case 4:
initializeDigital(status);
@@ -115,7 +129,7 @@ void HAL_SpiInitialize(uint8_t port, int32_t* status) {
}
digitalSystem->writeEnableMXPSpecialFunction(
digitalSystem->readEnableMXPSpecialFunction(status) | 0x00F0, status);
HAL_SpiSetHandle(4, spilib_open("/dev/spidev1.0"));
HAL_SetSPIHandle(4, spilib_open("/dev/spidev1.0"));
break;
default:
break;
@@ -135,10 +149,10 @@ void HAL_SpiInitialize(uint8_t port, int32_t* status) {
* @param size Number of bytes to transfer. [0..7]
* @return Number of bytes transferred, -1 for error
*/
int32_t HAL_SpiTransaction(uint8_t port, uint8_t* dataToSend,
int32_t HAL_TransactionSPI(uint8_t port, uint8_t* dataToSend,
uint8_t* dataReceived, uint8_t size) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_writeread(HAL_SpiGetHandle(port), (const char*)dataToSend,
return spilib_writeread(HAL_GetSPIHandle(port), (const char*)dataToSend,
(char*)dataReceived, (int32_t)size);
}
@@ -152,9 +166,9 @@ int32_t HAL_SpiTransaction(uint8_t port, uint8_t* dataToSend,
* @param sendSize The number of bytes to be written
* @return The number of bytes written. -1 for an error
*/
int32_t HAL_SpiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize) {
int32_t HAL_WriteSPI(uint8_t port, uint8_t* dataToSend, uint8_t sendSize) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_write(HAL_SpiGetHandle(port), (const char*)dataToSend,
return spilib_write(HAL_GetSPIHandle(port), (const char*)dataToSend,
(int32_t)sendSize);
}
@@ -171,9 +185,9 @@ int32_t HAL_SpiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize) {
* @param count The number of bytes to read in the transaction. [1..7]
* @return Number of bytes read. -1 for error.
*/
int32_t HAL_SpiRead(uint8_t port, uint8_t* buffer, uint8_t count) {
int32_t HAL_ReadSPI(uint8_t port, uint8_t* buffer, uint8_t count) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_read(HAL_SpiGetHandle(port), (char*)buffer, (int32_t)count);
return spilib_read(HAL_GetSPIHandle(port), (char*)buffer, (int32_t)count);
}
/**
@@ -181,14 +195,14 @@ int32_t HAL_SpiRead(uint8_t port, uint8_t* buffer, uint8_t count) {
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SpiClose(uint8_t port) {
void HAL_CloseSPI(uint8_t port) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
if (spiAccumulators[port]) {
int32_t status = 0;
HAL_SpiFreeAccumulator(port, &status);
HAL_FreeSPIAccumulator(port, &status);
}
spilib_close(HAL_SpiGetHandle(port));
HAL_SpiSetHandle(port, 0);
spilib_close(HAL_GetSPIHandle(port));
HAL_SetSPIHandle(port, 0);
if (port == 4) {
HAL_FreeDIOPort(spiMXPDigitalHandle1);
HAL_FreeDIOPort(spiMXPDigitalHandle2);
@@ -204,9 +218,9 @@ void HAL_SpiClose(uint8_t port) {
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param speed The speed in Hz (0-1MHz)
*/
void HAL_SpiSetSpeed(uint8_t port, uint32_t speed) {
void HAL_SetSPISpeed(uint8_t port, uint32_t speed) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
spilib_setspeed(HAL_SpiGetHandle(port), speed);
spilib_setspeed(HAL_GetSPIHandle(port), speed);
}
/**
@@ -219,10 +233,10 @@ void HAL_SpiSetSpeed(uint8_t port, uint32_t speed) {
* @param clk_idle_high True to set the clock to active low, False to set the
* clock active high
*/
void HAL_SpiSetOpts(uint8_t port, int msb_first, int sample_on_trailing,
void HAL_SetSPIOpts(uint8_t port, int msb_first, int sample_on_trailing,
int clk_idle_high) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
spilib_setopts(HAL_SpiGetHandle(port), msb_first, sample_on_trailing,
spilib_setopts(HAL_GetSPIHandle(port), msb_first, sample_on_trailing,
clk_idle_high);
}
@@ -231,7 +245,7 @@ void HAL_SpiSetOpts(uint8_t port, int msb_first, int sample_on_trailing,
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SpiSetChipSelectActiveHigh(uint8_t port, int32_t* status) {
void HAL_SetSPIChipSelectActiveHigh(uint8_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
@@ -246,7 +260,7 @@ void HAL_SpiSetChipSelectActiveHigh(uint8_t port, int32_t* status) {
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SpiSetChipSelectActiveLow(uint8_t port, int32_t* status) {
void HAL_SetSPIChipSelectActiveLow(uint8_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
@@ -262,7 +276,7 @@ void HAL_SpiSetChipSelectActiveLow(uint8_t port, int32_t* status) {
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @return The stored handle for the SPI port. 0 represents no stored handle.
*/
int32_t HAL_SpiGetHandle(uint8_t port) {
int32_t HAL_GetSPIHandle(uint8_t port) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
switch (port) {
case 0:
@@ -287,7 +301,7 @@ int32_t HAL_SpiGetHandle(uint8_t port) {
* MXP.
* @param handle The value of the handle for the port.
*/
void HAL_SpiSetHandle(uint8_t port, int32_t handle) {
void HAL_SetSPIHandle(uint8_t port, int32_t handle) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
switch (port) {
case 0:
@@ -310,26 +324,13 @@ void HAL_SpiSetHandle(uint8_t port, int32_t handle) {
}
}
/**
* Get the semaphore for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @return The semaphore for the SPI port.
*/
extern "C++" priority_recursive_mutex& spiGetSemaphore(uint8_t port) {
if (port < 4)
return spiOnboardSemaphore;
else
return spiMXPSemaphore;
}
static void spiAccumulatorProcess(uint64_t currentTime, void* param) {
SPIAccumulator* accum = (SPIAccumulator*)param;
// perform SPI transaction
uint8_t resp_b[4];
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(accum->port));
spilib_writeread(HAL_SpiGetHandle(accum->port), (const char*)accum->cmd,
spilib_writeread(HAL_GetSPIHandle(accum->port), (const char*)accum->cmd,
(char*)resp_b, (int32_t)accum->xfer_size);
// convert from bytes
@@ -390,7 +391,7 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) {
* @param is_signed Is data field signed?
* @param big_endian Is device big endian?
*/
void HAL_SpiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
void HAL_InitSPIAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
uint8_t xfer_size, uint32_t valid_mask,
uint32_t valid_value, uint8_t data_shift,
uint8_t data_size, bool is_signed, bool big_endian,
@@ -434,7 +435,7 @@ void HAL_SpiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
/**
* Frees a SPI accumulator.
*/
void HAL_SpiFreeAccumulator(uint8_t port, int32_t* status) {
void HAL_FreeSPIAccumulator(uint8_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
@@ -450,7 +451,7 @@ void HAL_SpiFreeAccumulator(uint8_t port, int32_t* status) {
/**
* Resets the accumulator to zero.
*/
void HAL_SpiResetAccumulator(uint8_t port, int32_t* status) {
void HAL_ResetSPIAccumulator(uint8_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
@@ -471,7 +472,7 @@ void HAL_SpiResetAccumulator(uint8_t port, int32_t* status) {
* integration work
* and to take the device offset into account when integrating.
*/
void HAL_SpiSetAccumulatorCenter(uint8_t port, int32_t center,
void HAL_SetSPIAccumulatorCenter(uint8_t port, int32_t center,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
@@ -485,7 +486,7 @@ void HAL_SpiSetAccumulatorCenter(uint8_t port, int32_t center,
/**
* Set the accumulator's deadband.
*/
void HAL_SpiSetAccumulatorDeadband(uint8_t port, int32_t deadband,
void HAL_SetSPIAccumulatorDeadband(uint8_t port, int32_t deadband,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
@@ -499,7 +500,7 @@ void HAL_SpiSetAccumulatorDeadband(uint8_t port, int32_t deadband,
/**
* Read the last value read by the accumulator engine.
*/
int32_t HAL_SpiGetAccumulatorLastValue(uint8_t port, int32_t* status) {
int32_t HAL_GetSPIAccumulatorLastValue(uint8_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
@@ -514,7 +515,7 @@ int32_t HAL_SpiGetAccumulatorLastValue(uint8_t port, int32_t* status) {
*
* @return The 64-bit value accumulated since the last Reset().
*/
int64_t HAL_SpiGetAccumulatorValue(uint8_t port, int32_t* status) {
int64_t HAL_GetSPIAccumulatorValue(uint8_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
@@ -532,7 +533,7 @@ int64_t HAL_SpiGetAccumulatorValue(uint8_t port, int32_t* status) {
*
* @return The number of times samples from the channel were accumulated.
*/
uint32_t HAL_SpiGetAccumulatorCount(uint8_t port, int32_t* status) {
uint32_t HAL_GetSPIAccumulatorCount(uint8_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
@@ -547,10 +548,10 @@ uint32_t HAL_SpiGetAccumulatorCount(uint8_t port, int32_t* status) {
*
* @return The accumulated average value (value / count).
*/
double HAL_SpiGetAccumulatorAverage(uint8_t port, int32_t* status) {
double HAL_GetSPIAccumulatorAverage(uint8_t port, int32_t* status) {
int64_t value;
uint32_t count;
HAL_SpiGetAccumulatorOutput(port, &value, &count, status);
HAL_GetAccumulatorOutput(port, &value, &count, status);
if (count == 0) return 0.0;
return ((double)value) / count;
}
@@ -564,7 +565,7 @@ double HAL_SpiGetAccumulatorAverage(uint8_t port, int32_t* status) {
* @param value Pointer to the 64-bit accumulated output.
* @param count Pointer to the number of accumulation cycles.
*/
void HAL_SpiGetAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count,
void HAL_GetSPIAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];

38
hal/lib/athena/SerialPort.cpp
View File

@@ -14,7 +14,7 @@ static uint32_t m_portHandle[2];
extern "C" {
void HAL_SerialInitializePort(uint8_t port, int32_t* status) {
void HAL_InitializeSerialPort(uint8_t port, int32_t* status) {
char const* portName;
if (m_resourceManagerHandle == 0)
@@ -32,44 +32,44 @@ void HAL_SerialInitializePort(uint8_t port, int32_t* status) {
if (*status > 0) *status = 0;
}
void HAL_SerialSetBaudRate(uint8_t port, uint32_t baud, int32_t* status) {
void HAL_SetSerialBaudRate(uint8_t port, uint32_t baud, int32_t* status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_BAUD, baud);
if (*status > 0) *status = 0;
}
void HAL_SerialSetDataBits(uint8_t port, uint8_t bits, int32_t* status) {
void HAL_SetSerialDataBits(uint8_t port, uint8_t bits, int32_t* status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_DATA_BITS, bits);
if (*status > 0) *status = 0;
}
void HAL_SerialSetParity(uint8_t port, uint8_t parity, int32_t* status) {
void HAL_SetSerialParity(uint8_t port, uint8_t parity, int32_t* status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_PARITY, parity);
if (*status > 0) *status = 0;
}
void HAL_SerialSetStopBits(uint8_t port, uint8_t stopBits, int32_t* status) {
void HAL_SetSerialStopBits(uint8_t port, uint8_t stopBits, int32_t* status) {
*status =
viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_STOP_BITS, stopBits);
if (*status > 0) *status = 0;
}
void HAL_SerialSetWriteMode(uint8_t port, uint8_t mode, int32_t* status) {
void HAL_SetSerialWriteMode(uint8_t port, uint8_t mode, int32_t* status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_WR_BUF_OPER_MODE, mode);
if (*status > 0) *status = 0;
}
void HAL_SerialSetFlowControl(uint8_t port, uint8_t flow, int32_t* status) {
void HAL_SetSerialFlowControl(uint8_t port, uint8_t flow, int32_t* status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_FLOW_CNTRL, flow);
if (*status > 0) *status = 0;
}
void HAL_SerialSetTimeout(uint8_t port, float timeout, int32_t* status) {
void HAL_SetSerialTimeout(uint8_t port, float timeout, int32_t* status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_TMO_VALUE,
(uint32_t)(timeout * 1e3));
if (*status > 0) *status = 0;
}
void HAL_SerialEnableTermination(uint8_t port, char terminator,
void HAL_EnableSerialTermination(uint8_t port, char terminator,
int32_t* status) {
viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR_EN, VI_TRUE);
viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR, terminator);
@@ -78,25 +78,25 @@ void HAL_SerialEnableTermination(uint8_t port, char terminator,
if (*status > 0) *status = 0;
}
void HAL_SerialDisableTermination(uint8_t port, int32_t* status) {
void HAL_DisableSerialTermination(uint8_t port, int32_t* status) {
viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR_EN, VI_FALSE);
*status =
viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_END_IN, VI_ASRL_END_NONE);
if (*status > 0) *status = 0;
}
void HAL_SerialSetReadBufferSize(uint8_t port, uint32_t size, int32_t* status) {
void HAL_SetSerialReadBufferSize(uint8_t port, uint32_t size, int32_t* status) {
*status = viSetBuf(m_portHandle[port], VI_READ_BUF, size);
if (*status > 0) *status = 0;
}
void HAL_SerialSetWriteBufferSize(uint8_t port, uint32_t size,
void HAL_SetSerialWriteBufferSize(uint8_t port, uint32_t size,
int32_t* status) {
*status = viSetBuf(m_portHandle[port], VI_WRITE_BUF, size);
if (*status > 0) *status = 0;
}
int32_t HAL_SerialGetBytesReceived(uint8_t port, int32_t* status) {
int32_t HAL_GetSerialBytesReceived(uint8_t port, int32_t* status) {
int32_t bytes = 0;
*status = viGetAttribute(m_portHandle[port], VI_ATTR_ASRL_AVAIL_NUM, &bytes);
@@ -104,7 +104,7 @@ int32_t HAL_SerialGetBytesReceived(uint8_t port, int32_t* status) {
return bytes;
}
uint32_t HAL_SerialRead(uint8_t port, char* buffer, int32_t count,
uint32_t HAL_ReadSerial(uint8_t port, char* buffer, int32_t count,
int32_t* status) {
uint32_t retCount = 0;
@@ -114,14 +114,14 @@ uint32_t HAL_SerialRead(uint8_t port, char* buffer, int32_t count,
if (*status == VI_ERROR_IO || *status == VI_ERROR_ASRL_OVERRUN ||
*status == VI_ERROR_ASRL_FRAMING || *status == VI_ERROR_ASRL_PARITY) {
int32_t localStatus = 0;
HAL_SerialClear(port, &localStatus);
HAL_ClearSerial(port, &localStatus);
}
if (*status == VI_ERROR_TMO || *status > 0) *status = 0;
return retCount;
}
uint32_t HAL_SerialWrite(uint8_t port, const char* buffer, int32_t count,
uint32_t HAL_WriteSerial(uint8_t port, const char* buffer, int32_t count,
int32_t* status) {
uint32_t retCount = 0;
@@ -132,17 +132,17 @@ uint32_t HAL_SerialWrite(uint8_t port, const char* buffer, int32_t count,
return retCount;
}
void HAL_SerialFlush(uint8_t port, int32_t* status) {
void HAL_FlushSerial(uint8_t port, int32_t* status) {
*status = viFlush(m_portHandle[port], VI_WRITE_BUF);
if (*status > 0) *status = 0;
}
void HAL_SerialClear(uint8_t port, int32_t* status) {
void HAL_ClearSerial(uint8_t port, int32_t* status) {
*status = viClear(m_portHandle[port]);
if (*status > 0) *status = 0;
}
void HAL_SerialClose(uint8_t port, int32_t* status) {
void HAL_CloseSerial(uint8_t port, int32_t* status) {
*status = viClose(m_portHandle[port]);
if (*status > 0) *status = 0;
}

2
hal/lib/athena/Solenoid.cpp
View File

@@ -141,7 +141,7 @@ bool HAL_GetPCMSolenoidVoltageFault(uint8_t module, int32_t* status) {
return value;
}
void HAL_ClearAllPCMStickyFaults_sol(uint8_t module, int32_t* status) {
void HAL_ClearAllPCMStickyFaults(uint8_t module, int32_t* status) {
if (module >= kNumPCMModules) {
*status = PARAMETER_OUT_OF_RANGE;
return;

1
wpilibc/athena/include/Compressor.h
View File

@@ -58,6 +58,7 @@ class Compressor : public SensorBase,
private:
void SetCompressor(bool on);
uint8_t m_module;
std::shared_ptr<ITable> m_table;
};

12
wpilibc/athena/src/Compressor.cpp
View File

@@ -12,9 +12,9 @@
*
* @param module The PCM ID to use (0-62)
*/
Compressor::Compressor(uint8_t pcmID) {
Compressor::Compressor(uint8_t pcmID) : m_module(pcmID) {
int32_t status = 0;
m_compressorHandle = HAL_InitializeCompressor(pcmID, &status);
m_compressorHandle = HAL_InitializeCompressor(m_module, &status);
if (status != 0) {
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return;
@@ -69,7 +69,7 @@ bool Compressor::GetPressureSwitchValue() const {
int32_t status = 0;
bool value;
value = HAL_GetPressureSwitch(m_compressorHandle, &status);
value = HAL_GetCompressorPressureSwitch(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -108,7 +108,7 @@ void Compressor::SetClosedLoopControl(bool on) {
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_SetClosedLoopControl(m_compressorHandle, on, &status);
HAL_SetCompressorClosedLoopControl(m_compressorHandle, on, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -127,7 +127,7 @@ bool Compressor::GetClosedLoopControl() const {
int32_t status = 0;
bool value;
value = HAL_GetClosedLoopControl(m_compressorHandle, &status);
value = HAL_GetCompressorClosedLoopControl(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -282,7 +282,7 @@ void Compressor::ClearAllPCMStickyFaults() {
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_ClearAllPCMStickyFaults(m_compressorHandle, &status);
HAL_ClearAllPCMStickyFaults(m_module, &status);
if (status) {
wpi_setWPIError(Timeout);

12
wpilibc/athena/src/I2C.cpp
View File

@@ -18,7 +18,7 @@
I2C::I2C(Port port, uint8_t deviceAddress)
: m_port(port), m_deviceAddress(deviceAddress) {
int32_t status = 0;
HAL_I2CInitialize(m_port, &status);
HAL_InitializeI2C(m_port, &status);
// wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
HAL_Report(HALUsageReporting::kResourceType_I2C, deviceAddress);
@@ -27,7 +27,7 @@ I2C::I2C(Port port, uint8_t deviceAddress)
/**
* Destructor.
*/
I2C::~I2C() { HAL_I2CClose(m_port); }
I2C::~I2C() { HAL_CloseI2C(m_port); }
/**
* Generic transaction.
@@ -44,7 +44,7 @@ I2C::~I2C() { HAL_I2CClose(m_port); }
bool I2C::Transaction(uint8_t* dataToSend, uint8_t sendSize,
uint8_t* dataReceived, uint8_t receiveSize) {
int32_t status = 0;
status = HAL_I2CTransaction(m_port, m_deviceAddress, dataToSend, sendSize,
status = HAL_TransactionI2C(m_port, m_deviceAddress, dataToSend, sendSize,
dataReceived, receiveSize);
// wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return status < receiveSize;
@@ -76,7 +76,7 @@ bool I2C::Write(uint8_t registerAddress, uint8_t data) {
buffer[0] = registerAddress;
buffer[1] = data;
int32_t status = 0;
status = HAL_I2CWrite(m_port, m_deviceAddress, buffer, sizeof(buffer));
status = HAL_WriteI2C(m_port, m_deviceAddress, buffer, sizeof(buffer));
return status < static_cast<int32_t>(sizeof(buffer));
}
@@ -92,7 +92,7 @@ bool I2C::Write(uint8_t registerAddress, uint8_t data) {
*/
bool I2C::WriteBulk(uint8_t* data, uint8_t count) {
int32_t status = 0;
status = HAL_I2CWrite(m_port, m_deviceAddress, data, count);
status = HAL_WriteI2C(m_port, m_deviceAddress, data, count);
return status < count;
}
@@ -142,7 +142,7 @@ bool I2C::ReadOnly(uint8_t count, uint8_t* buffer) {
return true;
}
int32_t status = 0;
status = HAL_I2CRead(m_port, m_deviceAddress, buffer, count);
status = HAL_ReadI2C(m_port, m_deviceAddress, buffer, count);
return status < count;
}

4
wpilibc/athena/src/InterruptableSensorBase.cpp
View File

@@ -146,7 +146,7 @@ double InterruptableSensorBase::ReadRisingTimestamp() {
if (StatusIsFatal()) return 0.0;
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
double timestamp = HAL_ReadRisingTimestamp(m_interrupt, &status);
double timestamp = HAL_ReadInterruptRisingTimestamp(m_interrupt, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return timestamp;
}
@@ -164,7 +164,7 @@ double InterruptableSensorBase::ReadFallingTimestamp() {
if (StatusIsFatal()) return 0.0;
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
double timestamp = HAL_ReadFallingTimestamp(m_interrupt, &status);
double timestamp = HAL_ReadInterruptFallingTimestamp(m_interrupt, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return timestamp;
}

50
wpilibc/athena/src/SPI.cpp
View File

@@ -20,7 +20,7 @@
SPI::SPI(Port SPIport) {
m_port = SPIport;
int32_t status = 0;
HAL_SpiInitialize(m_port, &status);
HAL_InitializeSPI(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
static int32_t instances = 0;
@@ -31,7 +31,7 @@ SPI::SPI(Port SPIport) {
/**
* Destructor.
*/
SPI::~SPI() { HAL_SpiClose(m_port); }
SPI::~SPI() { HAL_CloseSPI(m_port); }
/**
* Configure the rate of the generated clock signal.
@@ -41,7 +41,7 @@ SPI::~SPI() { HAL_SpiClose(m_port); }
*
* @param hz The clock rate in Hertz.
*/
void SPI::SetClockRate(double hz) { HAL_SpiSetSpeed(m_port, hz); }
void SPI::SetClockRate(double hz) { HAL_SetSPISpeed(m_port, hz); }
/**
* Configure the order that bits are sent and received on the wire
@@ -49,7 +49,7 @@ void SPI::SetClockRate(double hz) { HAL_SpiSetSpeed(m_port, hz); }
*/
void SPI::SetMSBFirst() {
m_msbFirst = true;
HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
HAL_SetSPIOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
(int)m_clk_idle_high);
}
@@ -59,7 +59,7 @@ void SPI::SetMSBFirst() {
*/
void SPI::SetLSBFirst() {
m_msbFirst = false;
HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
HAL_SetSPIOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
(int)m_clk_idle_high);
}
@@ -69,7 +69,7 @@ void SPI::SetLSBFirst() {
*/
void SPI::SetSampleDataOnFalling() {
m_sampleOnTrailing = true;
HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
HAL_SetSPIOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
(int)m_clk_idle_high);
}
@@ -79,7 +79,7 @@ void SPI::SetSampleDataOnFalling() {
*/
void SPI::SetSampleDataOnRising() {
m_sampleOnTrailing = false;
HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
HAL_SetSPIOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
(int)m_clk_idle_high);
}
@@ -89,7 +89,7 @@ void SPI::SetSampleDataOnRising() {
*/
void SPI::SetClockActiveLow() {
m_clk_idle_high = true;
HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
HAL_SetSPIOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
(int)m_clk_idle_high);
}
@@ -99,7 +99,7 @@ void SPI::SetClockActiveLow() {
*/
void SPI::SetClockActiveHigh() {
m_clk_idle_high = false;
HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
HAL_SetSPIOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing,
(int)m_clk_idle_high);
}
@@ -108,7 +108,7 @@ void SPI::SetClockActiveHigh() {
*/
void SPI::SetChipSelectActiveHigh() {
int32_t status = 0;
HAL_SpiSetChipSelectActiveHigh(m_port, &status);
HAL_SetSPIChipSelectActiveHigh(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -117,7 +117,7 @@ void SPI::SetChipSelectActiveHigh() {
*/
void SPI::SetChipSelectActiveLow() {
int32_t status = 0;
HAL_SpiSetChipSelectActiveLow(m_port, &status);
HAL_SetSPIChipSelectActiveLow(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -130,7 +130,7 @@ void SPI::SetChipSelectActiveLow() {
*/
int32_t SPI::Write(uint8_t* data, uint8_t size) {
int32_t retVal = 0;
retVal = HAL_SpiWrite(m_port, data, size);
retVal = HAL_WriteSPI(m_port, data, size);
return retVal;
}
@@ -152,9 +152,9 @@ int32_t SPI::Read(bool initiate, uint8_t* dataReceived, uint8_t size) {
if (initiate) {
auto dataToSend = new uint8_t[size];
std::memset(dataToSend, 0, size);
retVal = HAL_SpiTransaction(m_port, dataToSend, dataReceived, size);
retVal = HAL_TransactionSPI(m_port, dataToSend, dataReceived, size);
} else
retVal = HAL_SpiRead(m_port, dataReceived, size);
retVal = HAL_ReadSPI(m_port, dataReceived, size);
return retVal;
}
@@ -168,7 +168,7 @@ int32_t SPI::Read(bool initiate, uint8_t* dataReceived, uint8_t size) {
int32_t SPI::Transaction(uint8_t* dataToSend, uint8_t* dataReceived,
uint8_t size) {
int32_t retVal = 0;
retVal = HAL_SpiTransaction(m_port, dataToSend, dataReceived, size);
retVal = HAL_TransactionSPI(m_port, dataToSend, dataReceived, size);
return retVal;
}
@@ -192,7 +192,7 @@ void SPI::InitAccumulator(double period, uint32_t cmd, uint8_t xfer_size,
uint8_t data_shift, uint8_t data_size, bool is_signed,
bool big_endian) {
int32_t status = 0;
HAL_SpiInitAccumulator(m_port, (uint32_t)(period * 1e6), cmd, xfer_size,
HAL_InitSPIAccumulator(m_port, (uint32_t)(period * 1e6), cmd, xfer_size,
valid_mask, valid_value, data_shift, data_size,
is_signed, big_endian, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
@@ -203,7 +203,7 @@ void SPI::InitAccumulator(double period, uint32_t cmd, uint8_t xfer_size,
*/
void SPI::FreeAccumulator() {
int32_t status = 0;
HAL_SpiFreeAccumulator(m_port, &status);
HAL_FreeSPIAccumulator(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -212,7 +212,7 @@ void SPI::FreeAccumulator() {
*/
void SPI::ResetAccumulator() {
int32_t status = 0;
HAL_SpiResetAccumulator(m_port, &status);
HAL_ResetSPIAccumulator(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -226,7 +226,7 @@ void SPI::ResetAccumulator() {
*/
void SPI::SetAccumulatorCenter(int32_t center) {
int32_t status = 0;
HAL_SpiSetAccumulatorCenter(m_port, center, &status);
HAL_SetSPIAccumulatorCenter(m_port, center, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -235,7 +235,7 @@ void SPI::SetAccumulatorCenter(int32_t center) {
*/
void SPI::SetAccumulatorDeadband(int32_t deadband) {
int32_t status = 0;
HAL_SpiSetAccumulatorDeadband(m_port, deadband, &status);
HAL_SetSPIAccumulatorDeadband(m_port, deadband, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -244,7 +244,7 @@ void SPI::SetAccumulatorDeadband(int32_t deadband) {
*/
int32_t SPI::GetAccumulatorLastValue() const {
int32_t status = 0;
int32_t retVal = HAL_SpiGetAccumulatorLastValue(m_port, &status);
int32_t retVal = HAL_GetSPIAccumulatorLastValue(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return retVal;
}
@@ -256,7 +256,7 @@ int32_t SPI::GetAccumulatorLastValue() const {
*/
int64_t SPI::GetAccumulatorValue() const {
int32_t status = 0;
int64_t retVal = HAL_SpiGetAccumulatorValue(m_port, &status);
int64_t retVal = HAL_GetSPIAccumulatorValue(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return retVal;
}
@@ -271,7 +271,7 @@ int64_t SPI::GetAccumulatorValue() const {
*/
uint32_t SPI::GetAccumulatorCount() const {
int32_t status = 0;
uint32_t retVal = HAL_SpiGetAccumulatorCount(m_port, &status);
uint32_t retVal = HAL_GetSPIAccumulatorCount(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return retVal;
}
@@ -283,7 +283,7 @@ uint32_t SPI::GetAccumulatorCount() const {
*/
double SPI::GetAccumulatorAverage() const {
int32_t status = 0;
double retVal = HAL_SpiGetAccumulatorAverage(m_port, &status);
double retVal = HAL_GetSPIAccumulatorAverage(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return retVal;
}
@@ -299,6 +299,6 @@ double SPI::GetAccumulatorAverage() const {
*/
void SPI::GetAccumulatorOutput(int64_t& value, uint32_t& count) const {
int32_t status = 0;
HAL_SpiGetAccumulatorOutput(m_port, &value, &count, &status);
HAL_GetSPIAccumulatorOutput(m_port, &value, &count, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

36
wpilibc/athena/src/SerialPort.cpp
View File

@@ -30,15 +30,15 @@ SerialPort::SerialPort(uint32_t baudRate, Port port, uint8_t dataBits,
m_port = port;
HAL_SerialInitializePort(port, &status);
HAL_InitializeSerialPort(port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
HAL_SerialSetBaudRate(port, baudRate, &status);
HAL_SetSerialBaudRate(port, baudRate, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
HAL_SerialSetDataBits(port, dataBits, &status);
HAL_SetSerialDataBits(port, dataBits, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
HAL_SerialSetParity(port, parity, &status);
HAL_SetSerialParity(port, parity, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
HAL_SerialSetStopBits(port, stopBits, &status);
HAL_SetSerialStopBits(port, stopBits, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
// Set the default timeout to 5 seconds.
@@ -61,7 +61,7 @@ SerialPort::SerialPort(uint32_t baudRate, Port port, uint8_t dataBits,
*/
SerialPort::~SerialPort() {
int32_t status = 0;
HAL_SerialClose(m_port, &status);
HAL_CloseSerial(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -72,7 +72,7 @@ SerialPort::~SerialPort() {
*/
void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
int32_t status = 0;
HAL_SerialSetFlowControl(m_port, flowControl, &status);
HAL_SetSerialFlowControl(m_port, flowControl, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -87,7 +87,7 @@ void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
*/
void SerialPort::EnableTermination(char terminator) {
int32_t status = 0;
HAL_SerialEnableTermination(m_port, terminator, &status);
HAL_EnableSerialTermination(m_port, terminator, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -96,7 +96,7 @@ void SerialPort::EnableTermination(char terminator) {
*/
void SerialPort::DisableTermination() {
int32_t status = 0;
HAL_SerialDisableTermination(m_port, &status);
HAL_DisableSerialTermination(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -107,7 +107,7 @@ void SerialPort::DisableTermination() {
*/
int32_t SerialPort::GetBytesReceived() {
int32_t status = 0;
int32_t retVal = HAL_SerialGetBytesReceived(m_port, &status);
int32_t retVal = HAL_GetSerialBytesReceived(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return retVal;
}
@@ -121,7 +121,7 @@ int32_t SerialPort::GetBytesReceived() {
*/
uint32_t SerialPort::Read(char* buffer, int32_t count) {
int32_t status = 0;
int32_t retVal = HAL_SerialRead(m_port, buffer, count, &status);
int32_t retVal = HAL_ReadSerial(m_port, buffer, count, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return retVal;
}
@@ -135,7 +135,7 @@ uint32_t SerialPort::Read(char* buffer, int32_t count) {
*/
uint32_t SerialPort::Write(const std::string& buffer, int32_t count) {
int32_t status = 0;
int32_t retVal = HAL_SerialWrite(m_port, buffer.c_str(), count, &status);
int32_t retVal = HAL_WriteSerial(m_port, buffer.c_str(), count, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return retVal;
}
@@ -150,7 +150,7 @@ uint32_t SerialPort::Write(const std::string& buffer, int32_t count) {
*/
void SerialPort::SetTimeout(float timeout) {
int32_t status = 0;
HAL_SerialSetTimeout(m_port, timeout, &status);
HAL_SetSerialTimeout(m_port, timeout, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -168,7 +168,7 @@ void SerialPort::SetTimeout(float timeout) {
*/
void SerialPort::SetReadBufferSize(uint32_t size) {
int32_t status = 0;
HAL_SerialSetReadBufferSize(m_port, size, &status);
HAL_SetSerialReadBufferSize(m_port, size, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -182,7 +182,7 @@ void SerialPort::SetReadBufferSize(uint32_t size) {
*/
void SerialPort::SetWriteBufferSize(uint32_t size) {
int32_t status = 0;
HAL_SerialSetWriteBufferSize(m_port, size, &status);
HAL_SetSerialWriteBufferSize(m_port, size, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -199,7 +199,7 @@ void SerialPort::SetWriteBufferSize(uint32_t size) {
*/
void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) {
int32_t status = 0;
HAL_SerialSetWriteMode(m_port, mode, &status);
HAL_SetSerialWriteMode(m_port, mode, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -211,7 +211,7 @@ void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) {
*/
void SerialPort::Flush() {
int32_t status = 0;
HAL_SerialFlush(m_port, &status);
HAL_FlushSerial(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
@@ -222,6 +222,6 @@ void SerialPort::Flush() {
*/
void SerialPort::Reset() {
int32_t status = 0;
HAL_SerialClear(m_port, &status);
HAL_ClearSerial(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

2
wpilibc/athena/src/SolenoidBase.cpp
View File

@@ -75,5 +75,5 @@ bool SolenoidBase::GetPCMSolenoidVoltageFault(int module) const {
*/
void SolenoidBase::ClearAllPCMStickyFaults(int module) {
int32_t status = 0;
return HAL_ClearAllPCMStickyFaults_sol(static_cast<uint8_t>(module), &status);
return HAL_ClearAllPCMStickyFaults(static_cast<uint8_t>(module), &status);
}

22
wpilibj/src/athena/cpp/lib/CompressorJNI.cpp
View File

@@ -57,41 +57,41 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor(
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: setClosedLoopControl
* Method: setCompressorClosedLoopControl
* Signature: (JZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setClosedLoopControl(
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setCompressorClosedLoopControl(
JNIEnv *env, jclass, jint compressor_handle, jboolean value) {
int32_t status = 0;
HAL_SetClosedLoopControl((HAL_CompressorHandle)compressor_handle, value, &status);
HAL_SetCompressorClosedLoopControl((HAL_CompressorHandle)compressor_handle, value, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getClosedLoopControl
* Method: getCompressorClosedLoopControl
* Signature: (J)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getClosedLoopControl(
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorClosedLoopControl(
JNIEnv *env, jclass, jint compressor_handle) {
int32_t status = 0;
bool val = HAL_GetClosedLoopControl((HAL_CompressorHandle)compressor_handle, &status);
bool val = HAL_GetCompressorClosedLoopControl((HAL_CompressorHandle)compressor_handle, &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getPressureSwitch
* Method: getCompressorPressureSwitch
* Signature: (J)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getPressureSwitch(
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorPressureSwitch(
JNIEnv *env, jclass, jint compressor_handle) {
int32_t status = 0;
bool val = HAL_GetPressureSwitch((HAL_CompressorHandle)compressor_handle, &status);
bool val = HAL_GetCompressorPressureSwitch((HAL_CompressorHandle)compressor_handle, &status);
CheckStatus(env, status);
return val;
}
@@ -201,9 +201,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedFault(
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_clearAllPCMStickyFaults(
JNIEnv *env, jclass, jint compressor_handle) {
JNIEnv *env, jclass, jbyte module) {
int32_t status = 0;
HAL_ClearAllPCMStickyFaults((HAL_CompressorHandle)compressor_handle, &status);
HAL_ClearAllPCMStickyFaults((uint8_t)module, &status);
CheckStatus(env, status);
}

6
wpilibj/src/athena/cpp/lib/HALUtil.cpp
View File

@@ -128,7 +128,7 @@ void ThrowAllocationException(JNIEnv *env, int32_t status) {
delete[] buf;
}
void ThrowHAL_HandleException(JNIEnv *env, int32_t status) {
void ThrowHalHandleException(JNIEnv *env, int32_t status) {
const char *message = HAL_GetErrorMessage(status);
char *buf = new char[strlen(message) + 30];
sprintf(buf, " Code: $%d. %s", status, message);
@@ -143,7 +143,7 @@ void ReportError(JNIEnv *env, int32_t status, bool do_throw) {
ThrowAllocationException(env, status);
}
if (status == HAL_HANDLE_ERROR) {
ThrowHAL_HandleException(env, status);
ThrowHalHandleException(env, status);
}
const char *message = HAL_GetErrorMessage(status);
if (do_throw && status < 0) {
@@ -302,7 +302,7 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
if (!allocationExCls) return JNI_ERR;
env->DeleteLocalRef(local);
local = env->FindClass("edu/wpi/first/wpilibj/util/HAL_HandleException");
local = env->FindClass("edu/wpi/first/wpilibj/util/HalHandleException");
if (!local) return JNI_ERR;
halHandleExCls = static_cast<jclass>(env->NewGlobalRef(local));
if (!halHandleExCls) return JNI_ERR;

10
wpilibj/src/athena/cpp/lib/I2CJNI.cpp
View File

@@ -35,7 +35,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize(
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize";
I2CJNI_LOG(logDEBUG) << "Port: " << (jint)value;
int32_t status = 0;
HAL_I2CInitialize(value, &status);
HAL_InitializeI2C(value, &status);
I2CJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -61,7 +61,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction(
(uint8_t*)env->GetDirectBufferAddress(dataReceived);
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
jint returnValue = HAL_I2CTransaction(port, address, dataToSendPtr, sendSize,
jint returnValue = HAL_TransactionI2C(port, address, dataToSendPtr, sendSize,
dataReceivedPtr, receiveSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
@@ -85,7 +85,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite(
}
I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)dataToSend;
jint returnValue = HAL_I2CWrite(port, address, dataToSendPtr, sendSize);
jint returnValue = HAL_WriteI2C(port, address, dataToSendPtr, sendSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
return returnValue;
}
@@ -105,7 +105,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
(uint8_t*)env->GetDirectBufferAddress(dataReceived);
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
jint returnValue = HAL_I2CRead(port, address, dataReceivedPtr, receiveSize);
jint returnValue = HAL_ReadI2C(port, address, dataReceivedPtr, receiveSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
@@ -118,7 +118,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose(JNIEnv*, jclass, jbyte value) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CClose";
HAL_I2CClose(value);
HAL_CloseI2C(value);
}
} // extern "C"

16
wpilibj/src/athena/cpp/lib/InterruptJNI.cpp
View File

@@ -218,17 +218,17 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: readRisingTimestamp
* Method: readInterruptRisingTimestamp
* Signature: (J)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readRisingTimestamp(
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptRisingTimestamp(
JNIEnv* env, jclass, jint interrupt_handle) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readRisingTimestamp";
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readInterruptRisingTimestamp";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle;
int32_t status = 0;
jdouble timeStamp = HAL_ReadRisingTimestamp((HAL_InterruptHandle)interrupt_handle, &status);
jdouble timeStamp = HAL_ReadInterruptRisingTimestamp((HAL_InterruptHandle)interrupt_handle, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -237,17 +237,17 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readRisingTimestamp(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: readFallingTimestamp
* Method: readInterruptFallingTimestamp
* Signature: (J)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallingTimestamp(
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptFallingTimestamp(
JNIEnv* env, jclass, jint interrupt_handle) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readFallingTimestamp";
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readInterruptFallingTimestamp";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle;
int32_t status = 0;
jdouble timeStamp = HAL_ReadFallingTimestamp((HAL_InterruptHandle)interrupt_handle, &status);
jdouble timeStamp = HAL_ReadInterruptFallingTimestamp((HAL_InterruptHandle)interrupt_handle, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);

38
wpilibj/src/athena/cpp/lib/SPIJNI.cpp
View File

@@ -35,7 +35,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize(
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_SpiInitialize(port, &status);
HAL_InitializeSPI(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -59,7 +59,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction(
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
jint retVal = HAL_SpiTransaction(port, dataToSendPtr, dataReceivedPtr, size);
jint retVal = HAL_TransactionSPI(port, dataToSendPtr, dataReceivedPtr, size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -79,7 +79,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite(
}
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
jint retVal = HAL_SpiWrite(port, dataToSendPtr, size);
jint retVal = HAL_WriteSPI(port, dataToSendPtr, size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -97,7 +97,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead(
(uint8_t *)env->GetDirectBufferAddress(dataReceived);
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
jint retVal = HAL_SpiRead(port, (uint8_t *)dataReceivedPtr, size);
jint retVal = HAL_ReadSPI(port, (uint8_t *)dataReceivedPtr, size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -111,7 +111,7 @@ JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose(JNIEnv *, jclass, jbyte port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
HAL_SpiClose(port);
HAL_CloseSPI(port);
}
/*
@@ -124,7 +124,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed(
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Speed = " << (jint)speed;
HAL_SpiSetSpeed(port, speed);
HAL_SetSPISpeed(port, speed);
}
/*
@@ -140,7 +140,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts(
SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
HAL_SpiSetOpts(port, msb_first, sample_on_trailing, clk_idle_high);
HAL_SetSPIOpts(port, msb_first, sample_on_trailing, clk_idle_high);
}
/*
@@ -154,7 +154,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh(
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_SpiSetChipSelectActiveHigh(port, &status);
HAL_SetSPIChipSelectActiveHigh(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -170,7 +170,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow(
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_SpiSetChipSelectActiveLow(port, &status);
HAL_SetSPIChipSelectActiveLow(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -196,7 +196,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAccumulator(
SPIJNI_LOG(logDEBUG) << "IsSigned = " << (jint)isSigned;
SPIJNI_LOG(logDEBUG) << "BigEndian = " << (jint)bigEndian;
int32_t status = 0;
HAL_SpiInitAccumulator(port, period, cmd, xferSize, validMask, validValue,
HAL_InitSPIAccumulator(port, period, cmd, xferSize, validMask, validValue,
dataShift, dataSize, isSigned, bigEndian, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -212,7 +212,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAccumulator(
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAccumulator";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_SpiFreeAccumulator(port, &status);
HAL_FreeSPIAccumulator(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -228,7 +228,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiResetAccumulator(
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiResetAccumulator";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_SpiResetAccumulator(port, &status);
HAL_ResetSPIAccumulator(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -245,7 +245,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorCenter(
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Center = " << center;
int32_t status = 0;
HAL_SpiSetAccumulatorCenter(port, center, &status);
HAL_SetSPIAccumulatorCenter(port, center, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -262,7 +262,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorDeadband(
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Deadband = " << deadband;
int32_t status = 0;
HAL_SpiSetAccumulatorDeadband(port, deadband, &status);
HAL_SetSPIAccumulatorDeadband(port, deadband, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -278,7 +278,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorLastValue(
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorLastValue";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
jint retVal = HAL_SpiGetAccumulatorLastValue(port, &status);
jint retVal = HAL_GetSPIAccumulatorLastValue(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
@@ -296,7 +296,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorValue(
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorValue";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
jlong retVal = HAL_SpiGetAccumulatorValue(port, &status);
jlong retVal = HAL_GetSPIAccumulatorValue(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
@@ -314,7 +314,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorCount(
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorCount";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
jint retVal = HAL_SpiGetAccumulatorCount(port, &status);
jint retVal = HAL_GetSPIAccumulatorCount(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
@@ -332,7 +332,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorAverage(
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorAverage";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
jdouble retVal = HAL_SpiGetAccumulatorAverage(port, &status);
jdouble retVal = HAL_GetSPIAccumulatorAverage(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
@@ -354,7 +354,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorOutput(
jlong *valuePtr = (jlong *)env->GetDirectBufferAddress(value);
uint32_t *countPtr = (uint32_t *)env->GetDirectBufferAddress(count);
HAL_SpiGetAccumulatorOutput(port, valuePtr, countPtr, &status);
HAL_GetSPIAccumulatorOutput(port, valuePtr, countPtr, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "Value = " << *valuePtr;

36
wpilibj/src/athena/cpp/lib/SerialPortJNI.cpp
View File

@@ -36,7 +36,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePort(
SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize";
SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_SerialInitializePort(port, &status);
HAL_InitializeSerialPort(port, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -52,7 +52,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetBaudRate(
SERIALJNI_LOG(logDEBUG) << "Setting Serial Baud Rate";
SERIALJNI_LOG(logDEBUG) << "Baud: " << rate;
int32_t status = 0;
HAL_SerialSetBaudRate(port, rate, &status);
HAL_SetSerialBaudRate(port, rate, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -68,7 +68,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetDataBits(
SERIALJNI_LOG(logDEBUG) << "Setting Serial Data Bits";
SERIALJNI_LOG(logDEBUG) << "Data Bits: " << bits;
int32_t status = 0;
HAL_SerialSetDataBits(port, bits, &status);
HAL_SetSerialDataBits(port, bits, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -84,7 +84,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetParity(
SERIALJNI_LOG(logDEBUG) << "Setting Serial Parity";
SERIALJNI_LOG(logDEBUG) << "Parity: " << parity;
int32_t status = 0;
HAL_SerialSetParity(port, parity, &status);
HAL_SetSerialParity(port, parity, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -100,7 +100,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetStopBits(
SERIALJNI_LOG(logDEBUG) << "Setting Serial Stop Bits";
SERIALJNI_LOG(logDEBUG) << "Stop Bits: " << bits;
int32_t status = 0;
HAL_SerialSetStopBits(port, bits, &status);
HAL_SetSerialStopBits(port, bits, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -116,7 +116,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteMode(
SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Mode";
SERIALJNI_LOG(logDEBUG) << "Write mode: " << mode;
int32_t status = 0;
HAL_SerialSetWriteMode(port, mode, &status);
HAL_SetSerialWriteMode(port, mode, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -132,7 +132,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetFlowControl(
SERIALJNI_LOG(logDEBUG) << "Setting Serial Flow Control";
SERIALJNI_LOG(logDEBUG) << "Flow Control: " << flow;
int32_t status = 0;
HAL_SerialSetFlowControl(port, flow, &status);
HAL_SetSerialFlowControl(port, flow, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -148,7 +148,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetTimeout(
SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout";
SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout;
int32_t status = 0;
HAL_SerialSetTimeout(port, timeout, &status);
HAL_SetSerialTimeout(port, timeout, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -164,7 +164,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialEnableTermination(
SERIALJNI_LOG(logDEBUG) << "Setting Serial Enable Termination";
SERIALJNI_LOG(logDEBUG) << "Terminator: " << terminator;
int32_t status = 0;
HAL_SerialEnableTermination(port, terminator, &status);
HAL_EnableSerialTermination(port, terminator, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -179,7 +179,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialDisableTermination(
JNIEnv* env, jclass, jbyte port) {
SERIALJNI_LOG(logDEBUG) << "Setting Serial Disable termination";
int32_t status = 0;
HAL_SerialDisableTermination(port, &status);
HAL_DisableSerialTermination(port, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -195,7 +195,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetReadBufferSize(
SERIALJNI_LOG(logDEBUG) << "Setting Serial Read Buffer Size";
SERIALJNI_LOG(logDEBUG) << "Size: " << size;
int32_t status = 0;
HAL_SerialSetReadBufferSize(port, size, &status);
HAL_SetSerialReadBufferSize(port, size, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -211,7 +211,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteBufferSize(
SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Buffer Size";
SERIALJNI_LOG(logDEBUG) << "Size: " << size;
int32_t status = 0;
HAL_SerialSetWriteBufferSize(port, size, &status);
HAL_SetSerialWriteBufferSize(port, size, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -226,7 +226,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialGetBytesRecieved(
JNIEnv* env, jclass, jbyte port) {
SERIALJNI_LOG(logDEBUG) << "Serial Get Bytes Received";
int32_t status = 0;
jint retVal = HAL_SerialGetBytesReceived(port, &status);
jint retVal = HAL_GetSerialBytesReceived(port, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
return retVal;
@@ -243,7 +243,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialRead(
jbyte* dataReceivedPtr = nullptr;
dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
int32_t status = 0;
jint retVal = HAL_SerialRead(port, (char*)dataReceivedPtr, size, &status);
jint retVal = HAL_ReadSerial(port, (char*)dataReceivedPtr, size, &status);
SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -263,7 +263,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialWrite(
dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
}
int32_t status = 0;
jint retVal = HAL_SerialWrite(port, (const char*)dataToSendPtr, size, &status);
jint retVal = HAL_WriteSerial(port, (const char*)dataToSendPtr, size, &status);
SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -279,7 +279,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialFlush(
JNIEnv* env, jclass, jbyte port) {
SERIALJNI_LOG(logDEBUG) << "Serial Flush";
int32_t status = 0;
HAL_SerialFlush(port, &status);
HAL_FlushSerial(port, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -293,7 +293,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClear(
JNIEnv* env, jclass, jbyte port) {
SERIALJNI_LOG(logDEBUG) << "Serial Clear";
int32_t status = 0;
HAL_SerialClear(port, &status);
HAL_ClearSerial(port, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -307,7 +307,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClose(
JNIEnv* env, jclass, jbyte port) {
SERIALJNI_LOG(logDEBUG) << "Serial Close";
int32_t status = 0;
HAL_SerialClose(port, &status);
HAL_CloseSerial(port, &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}

2
wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp
View File

@@ -153,7 +153,7 @@ JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_clearAllPCMStickyFaults(
JNIEnv *env, jclass, jbyte module) {
int32_t status = 0;
HAL_ClearAllPCMStickyFaults_sol(module, &status);
HAL_ClearAllPCMStickyFaults(module, &status);
CheckStatus(env, status);
}

10
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Compressor.java
View File

@@ -22,6 +22,7 @@ import edu.wpi.first.wpilibj.tables.ITable;
*/
public class Compressor extends SensorBase implements LiveWindowSendable {
private int m_compressorHandle;
private byte m_module;
/**
* Constructor.
@@ -33,6 +34,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
*/
public Compressor(int module) {
m_table = null;
m_module = (byte)module;
m_compressorHandle = CompressorJNI.initializeCompressor((byte) module);
}
@@ -79,7 +81,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
* @return true if the pressure is low by reading the pressure switch that is plugged into the PCM
*/
public boolean getPressureSwitchValue() {
return CompressorJNI.getPressureSwitch(m_compressorHandle);
return CompressorJNI.getCompressorPressureSwitch(m_compressorHandle);
}
/**
@@ -98,7 +100,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
* operation of the compressor is disabled.
*/
public void setClosedLoopControl(boolean on) {
CompressorJNI.setClosedLoopControl(m_compressorHandle, on);
CompressorJNI.setCompressorClosedLoopControl(m_compressorHandle, on);
}
/**
@@ -107,7 +109,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
* @return true if compressor is operating on closed-loop mode, otherwise return false.
*/
public boolean getClosedLoopControl() {
return CompressorJNI.getClosedLoopControl(m_compressorHandle);
return CompressorJNI.getCompressorClosedLoopControl(m_compressorHandle);
}
/**
@@ -174,7 +176,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
* <p>If no sticky faults are set then this call will have no effect.
*/
public void clearAllPCMStickyFaults() {
CompressorJNI.clearAllPCMStickyFaults(m_compressorHandle);
CompressorJNI.clearAllPCMStickyFaults(m_module);
}
@Override

4
wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
View File

@@ -205,7 +205,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
if (m_interrupt == 0) {
throw new IllegalStateException("The interrupt is not allocated.");
}
return InterruptJNI.readRisingTimestamp(m_interrupt);
return InterruptJNI.readInterruptRisingTimestamp(m_interrupt);
}
/**
@@ -219,7 +219,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
if (m_interrupt == 0) {
throw new IllegalStateException("The interrupt is not allocated.");
}
return InterruptJNI.readFallingTimestamp(m_interrupt);
return InterruptJNI.readInterruptFallingTimestamp(m_interrupt);
}
/**

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/CompressorJNI.java
View File

@@ -14,11 +14,11 @@ public class CompressorJNI extends JNIWrapper {
public static native boolean getCompressor(int compressorHandle);
public static native void setClosedLoopControl(int compressorHandle, boolean value);
public static native void setCompressorClosedLoopControl(int compressorHandle, boolean value);
public static native boolean getClosedLoopControl(int compressorHandle);
public static native boolean getCompressorClosedLoopControl(int compressorHandle);
public static native boolean getPressureSwitch(int compressorHandle);
public static native boolean getCompressorPressureSwitch(int compressorHandle);
public static native float getCompressorCurrent(int compressorHandle);
@@ -34,5 +34,5 @@ public class CompressorJNI extends JNIWrapper {
public static native boolean getCompressorNotConnectedFault(int compressorHandle);
public static native void clearAllPCMStickyFaults(int compressorHandle);
public static native void clearAllPCMStickyFaults(byte compressorModule);
}

4
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java
View File

@@ -25,9 +25,9 @@ public class InterruptJNI extends JNIWrapper {
public static native void disableInterrupts(int interruptHandle);
public static native double readRisingTimestamp(int interruptHandle);
public static native double readInterruptRisingTimestamp(int interruptHandle);
public static native double readFallingTimestamp(int interruptHandle);
public static native double readInterruptFallingTimestamp(int interruptHandle);
public static native void requestInterrupts(int interruptHandle, int digitalSourceHandle,
int analogTriggerType);