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[hal] Add support for DMA to Java (#3158)

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This commit is contained in:
Thad House
2021-06-14 19:56:42 -07:00
committed by GitHub
parent 85144e47ff
commit 4a36f86c81
39 changed files with 2013 additions and 97 deletions
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27
hal/src/main/native/sim/DMA.cpp
View File

@@ -11,7 +11,10 @@ HAL_DMAHandle HAL_InitializeDMA(int32_t* status) {
void HAL_FreeDMA(HAL_DMAHandle handle) {}
void HAL_SetDMAPause(HAL_DMAHandle handle, HAL_Bool pause, int32_t* status) {}
void HAL_SetDMARate(HAL_DMAHandle handle, int32_t cycles, int32_t* status) {}
void HAL_SetDMATimedTrigger(HAL_DMAHandle handle, double periodSeconds,
int32_t* status) {}
void HAL_SetDMATimedTriggerCycles(HAL_DMAHandle handle, uint32_t cycles,
int32_t* status) {}
void HAL_AddDMAEncoder(HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle,
int32_t* status) {}
@@ -40,11 +43,16 @@ void HAL_AddDMADutyCycle(HAL_DMAHandle handle,
HAL_DutyCycleHandle dutyCycleHandle, int32_t* status) {
}
void HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
HAL_Bool rising, HAL_Bool falling,
int32_t* status) {}
int32_t HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
HAL_Bool rising, HAL_Bool falling,
int32_t* status) {
return 0;
}
void HAL_ClearDMASensors(HAL_DMAHandle handle, int32_t* status) {}
void HAL_ClearDMAExternalTriggers(HAL_DMAHandle handle, int32_t* status) {}
void HAL_StartDMA(HAL_DMAHandle handle, int32_t queueDepth, int32_t* status) {}
void HAL_StopDMA(HAL_DMAHandle handle, int32_t* status) {}
@@ -55,15 +63,16 @@ void* HAL_GetDMADirectPointer(HAL_DMAHandle handle) {
enum HAL_DMAReadStatus HAL_ReadDMADirect(void* dmaPointer,
HAL_DMASample* dmaSample,
int32_t timeoutMs,
double timeoutSeconds,
int32_t* remainingOut,
int32_t* status) {
return HAL_DMA_ERROR;
}
enum HAL_DMAReadStatus HAL_ReadDMA(HAL_DMAHandle handle,
HAL_DMASample* dmaSample, int32_t timeoutMs,
int32_t* remainingOut, int32_t* status) {
HAL_DMASample* dmaSample,
double timeoutSeconds, int32_t* remainingOut,
int32_t* status) {
return HAL_DMA_ERROR;
}

24
hal/src/main/native/sim/Encoder.cpp
View File

@@ -18,6 +18,8 @@ using namespace hal;
namespace {
struct Encoder {
HAL_Handle nativeHandle;
HAL_FPGAEncoderHandle fpgaHandle;
HAL_CounterHandle counterHandle;
HAL_EncoderEncodingType encodingType;
double distancePerPulse;
uint8_t index;
@@ -46,6 +48,21 @@ void InitializeEncoder() {
}
} // namespace hal::init
namespace hal {
bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
HAL_FPGAEncoderHandle* fpgaHandle,
HAL_CounterHandle* counterHandle) {
auto encoder = encoderHandles->Get(handle);
if (!handle) {
return false;
}
*fpgaHandle = encoder->fpgaHandle;
*counterHandle = encoder->counterHandle;
return true;
}
} // namespace hal
extern "C" {
HAL_EncoderHandle HAL_InitializeEncoder(
HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
@@ -86,6 +103,13 @@ HAL_EncoderHandle HAL_InitializeEncoder(
encoder->nativeHandle = nativeHandle;
encoder->encodingType = encodingType;
encoder->distancePerPulse = 1.0;
if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
encoder->fpgaHandle = nativeHandle;
encoder->counterHandle = HAL_kInvalidHandle;
} else {
encoder->fpgaHandle = HAL_kInvalidHandle;
encoder->counterHandle = nativeHandle;
}
return handle;
}