mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
[hal, wpilib] Add initial systemcore counter implementation (#7723)
This commit is contained in:
Thad House
@@ -6,23 +6,13 @@
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#include <cassert>
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#include <wpi/jni_util.h>
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#include "HALUtil.h"
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#include "edu_wpi_first_hal_CounterJNI.h"
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#include "hal/Counter.h"
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#include "hal/Errors.h"
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static_assert(HAL_Counter_Mode::HAL_Counter_kTwoPulse ==
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edu_wpi_first_hal_CounterJNI_TWO_PULSE);
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static_assert(HAL_Counter_Mode::HAL_Counter_kSemiperiod ==
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edu_wpi_first_hal_CounterJNI_SEMI_PERIOD);
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static_assert(HAL_Counter_Mode::HAL_Counter_kPulseLength ==
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edu_wpi_first_hal_CounterJNI_PULSE_LENGTH);
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static_assert(HAL_Counter_Mode::HAL_Counter_kExternalDirection ==
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edu_wpi_first_hal_CounterJNI_EXTERNAL_DIRECTION);
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using namespace hal;
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extern "C" {
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@@ -30,16 +20,16 @@ extern "C" {
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: initializeCounter
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* Signature: (ILjava/lang/Object;)I
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* Signature: (IZ)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_CounterJNI_initializeCounter
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(JNIEnv* env, jclass, jint mode, jobject index)
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(JNIEnv* env, jclass, jint channel, jboolean risingEdge)
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{
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jint* indexPtr = reinterpret_cast<jint*>(env->GetDirectBufferAddress(index));
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int32_t status = 0;
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auto counter = HAL_InitializeCounter(
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(HAL_Counter_Mode)mode, reinterpret_cast<int32_t*>(indexPtr), &status);
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auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
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auto counter =
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HAL_InitializeCounter(channel, risingEdge, stack.c_str(), &status);
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CheckStatusForceThrow(env, status);
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return (jint)counter;
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}
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@@ -60,192 +50,15 @@ Java_edu_wpi_first_hal_CounterJNI_freeCounter
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterAverageSize
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterAverageSize
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(JNIEnv* env, jclass, jint id, jint value)
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{
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int32_t status = 0;
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HAL_SetCounterAverageSize((HAL_CounterHandle)id, value, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterUpSource
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* Signature: (III)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterUpSource
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(JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
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jint analogTriggerType)
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{
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int32_t status = 0;
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HAL_SetCounterUpSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle,
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(HAL_AnalogTriggerType)analogTriggerType, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterUpSourceEdge
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* Signature: (IZZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterUpSourceEdge
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(JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall)
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{
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int32_t status = 0;
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HAL_SetCounterUpSourceEdge((HAL_CounterHandle)id, valueRise, valueFall,
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&status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: clearCounterUpSource
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_clearCounterUpSource
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(JNIEnv* env, jclass, jint id)
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{
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int32_t status = 0;
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HAL_ClearCounterUpSource((HAL_CounterHandle)id, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterDownSource
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* Signature: (III)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterDownSource
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(JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
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jint analogTriggerType)
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{
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int32_t status = 0;
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HAL_SetCounterDownSource((HAL_CounterHandle)id,
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(HAL_Handle)digitalSourceHandle,
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(HAL_AnalogTriggerType)analogTriggerType, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterDownSourceEdge
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* Signature: (IZZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterDownSourceEdge
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(JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall)
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{
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int32_t status = 0;
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HAL_SetCounterDownSourceEdge((HAL_CounterHandle)id, valueRise, valueFall,
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&status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: clearCounterDownSource
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_clearCounterDownSource
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(JNIEnv* env, jclass, jint id)
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{
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int32_t status = 0;
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HAL_ClearCounterDownSource((HAL_CounterHandle)id, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterUpDownMode
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterUpDownMode
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(JNIEnv* env, jclass, jint id)
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{
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int32_t status = 0;
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HAL_SetCounterUpDownMode((HAL_CounterHandle)id, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterExternalDirectionMode
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterExternalDirectionMode
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(JNIEnv* env, jclass, jint id)
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{
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int32_t status = 0;
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HAL_SetCounterExternalDirectionMode((HAL_CounterHandle)id, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterSemiPeriodMode
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* Method: setCounterEdgeConfiguration
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterSemiPeriodMode
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(JNIEnv* env, jclass, jint id, jboolean value)
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Java_edu_wpi_first_hal_CounterJNI_setCounterEdgeConfiguration
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(JNIEnv* env, jclass, jint id, jboolean valueRise)
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{
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int32_t status = 0;
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HAL_SetCounterSemiPeriodMode((HAL_CounterHandle)id, value, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterPulseLengthMode
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterPulseLengthMode
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(JNIEnv* env, jclass, jint id, jdouble value)
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{
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int32_t status = 0;
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HAL_SetCounterPulseLengthMode((HAL_CounterHandle)id, value, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: getCounterSamplesToAverage
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_CounterJNI_getCounterSamplesToAverage
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(JNIEnv* env, jclass, jint id)
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{
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int32_t status = 0;
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jint returnValue =
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HAL_GetCounterSamplesToAverage((HAL_CounterHandle)id, &status);
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterSamplesToAverage
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterSamplesToAverage
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(JNIEnv* env, jclass, jint id, jint value)
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{
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int32_t status = 0;
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HAL_SetCounterSamplesToAverage((HAL_CounterHandle)id, value, &status);
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HAL_SetCounterEdgeConfiguration((HAL_CounterHandle)id, valueRise, &status);
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CheckStatus(env, status);
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}
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@@ -307,20 +120,6 @@ Java_edu_wpi_first_hal_CounterJNI_setCounterMaxPeriod
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterUpdateWhenEmpty
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterUpdateWhenEmpty
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(JNIEnv* env, jclass, jint id, jboolean value)
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{
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int32_t status = 0;
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HAL_SetCounterUpdateWhenEmpty((HAL_CounterHandle)id, value, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: getCounterStopped
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@@ -336,34 +135,4 @@ Java_edu_wpi_first_hal_CounterJNI_getCounterStopped
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: getCounterDirection
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_CounterJNI_getCounterDirection
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(JNIEnv* env, jclass, jint id)
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{
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int32_t status = 0;
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jboolean returnValue =
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HAL_GetCounterDirection((HAL_CounterHandle)id, &status);
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_hal_CounterJNI
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* Method: setCounterReverseDirection
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_CounterJNI_setCounterReverseDirection
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(JNIEnv* env, jclass, jint id, jboolean value)
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{
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int32_t status = 0;
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HAL_SetCounterReverseDirection((HAL_CounterHandle)id, value, &status);
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CheckStatus(env, status);
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}
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} // extern "C"
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