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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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24
hal/src/main/native/sim/Encoder.cpp
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@@ -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;
}