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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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71
wpilibc/src/main/native/cpp/DMA.cpp
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@@ -4,6 +4,14 @@
#include "frc/DMA.h"
#include <frc/AnalogInput.h>
#include <frc/Counter.h>
#include <frc/DigitalSource.h>
#include <frc/DutyCycle.h>
#include <frc/Encoder.h>
#include <frc/PWM.h>
#include <frc/motorcontrol/PWMMotorController.h>
#include <hal/DMA.h>
#include <hal/HALBase.h>
@@ -32,10 +40,16 @@ void DMA::SetPause(bool pause) {
FRC_CheckErrorStatus(status, "{}", "SetPause");
}
void DMA::SetRate(int cycles) {
void DMA::SetTimedTrigger(units::second_t seconds) {
int32_t status = 0;
HAL_SetDMARate(dmaHandle, cycles, &status);
FRC_CheckErrorStatus(status, "{}", "SetRate");
HAL_SetDMATimedTrigger(dmaHandle, seconds.to<double>(), &status);
FRC_CheckErrorStatus(status, "{}", "SetTimedTrigger");
}
void DMA::SetTimedTriggerCycles(int cycles) {
int32_t status = 0;
HAL_SetDMATimedTriggerCycles(dmaHandle, cycles, &status);
FRC_CheckErrorStatus(status, "{}", "SetTimedTriggerCycles");
}
void DMA::AddEncoder(const Encoder* encoder) {
@@ -93,23 +107,56 @@ void DMA::AddAnalogAccumulator(const AnalogInput* analogInput) {
FRC_CheckErrorStatus(status, "{}", "AddAnalogAccumulator");
}
void DMA::SetExternalTrigger(DigitalSource* source, bool rising, bool falling) {
int DMA::SetExternalTrigger(DigitalSource* source, bool rising, bool falling) {
int32_t status = 0;
HAL_SetDMAExternalTrigger(dmaHandle, source->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
source->GetAnalogTriggerTypeForRouting()),
rising, falling, &status);
int32_t idx =
HAL_SetDMAExternalTrigger(dmaHandle, source->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
source->GetAnalogTriggerTypeForRouting()),
rising, falling, &status);
FRC_CheckErrorStatus(status, "{}", "SetExternalTrigger");
return idx;
}
void DMA::StartDMA(int queueDepth) {
int DMA::SetPwmEdgeTrigger(PWMMotorController* source, bool rising,
bool falling) {
int32_t status = 0;
int32_t idx = HAL_SetDMAExternalTrigger(
dmaHandle, source->GetPwm()->m_handle,
HAL_AnalogTriggerType::HAL_Trigger_kInWindow, rising, falling, &status);
FRC_CheckErrorStatus(status, "{}", "SetPWmEdgeTrigger");
return idx;
}
int DMA::SetPwmEdgeTrigger(PWM* source, bool rising, bool falling) {
int32_t status = 0;
int32_t idx = HAL_SetDMAExternalTrigger(
dmaHandle, source->m_handle, HAL_AnalogTriggerType::HAL_Trigger_kInWindow,
rising, falling, &status);
FRC_CheckErrorStatus(status, "{}", "SetPWmEdgeTrigger");
return idx;
}
void DMA::ClearSensors() {
int32_t status = 0;
HAL_ClearDMASensors(dmaHandle, &status);
FRC_CheckErrorStatus(status, "{}", "ClearSensors");
}
void DMA::ClearExternalTriggers() {
int32_t status = 0;
HAL_ClearDMAExternalTriggers(dmaHandle, &status);
FRC_CheckErrorStatus(status, "{}", "ClearExternalTriggers");
}
void DMA::Start(int queueDepth) {
int32_t status = 0;
HAL_StartDMA(dmaHandle, queueDepth, &status);
FRC_CheckErrorStatus(status, "{}", "StartDMA");
FRC_CheckErrorStatus(status, "{}", "Start");
}
void DMA::StopDMA() {
void DMA::Stop() {
int32_t status = 0;
HAL_StopDMA(dmaHandle, &status);
FRC_CheckErrorStatus(status, "{}", "StopDMA");
FRC_CheckErrorStatus(status, "{}", "Stop");
}

17
wpilibc/src/main/native/include/frc/DMA.h
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@@ -5,6 +5,7 @@
#pragma once
#include <hal/Types.h>
#include <units/time.h>
namespace frc {
class Encoder;
@@ -13,6 +14,8 @@ class DigitalSource;
class DutyCycle;
class AnalogInput;
class DMASample;
class PWM;
class PWMMotorController;
class DMA {
friend class DMASample;
@@ -25,7 +28,8 @@ class DMA {
DMA(DMA&& other) = default;
void SetPause(bool pause);
void SetRate(int cycles);
void SetTimedTrigger(units::second_t seconds);
void SetTimedTriggerCycles(int cycles);
void AddEncoder(const Encoder* encoder);
void AddEncoderPeriod(const Encoder* encoder);
@@ -41,10 +45,15 @@ class DMA {
void AddAveragedAnalogInput(const AnalogInput* analogInput);
void AddAnalogAccumulator(const AnalogInput* analogInput);
void SetExternalTrigger(DigitalSource* source, bool rising, bool falling);
int SetExternalTrigger(DigitalSource* source, bool rising, bool falling);
int SetPwmEdgeTrigger(PWM* pwm, bool rising, bool falling);
int SetPwmEdgeTrigger(PWMMotorController* pwm, bool rising, bool falling);
void StartDMA(int queueDepth);
void StopDMA();
void ClearSensors();
void ClearExternalTriggers();
void Start(int queueDepth);
void Stop();
private:
hal::Handle<HAL_DMAHandle> dmaHandle;

15
wpilibc/src/main/native/include/frc/DMASample.h
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@@ -19,11 +19,16 @@
namespace frc {
class DMASample : public HAL_DMASample {
public:
HAL_DMAReadStatus Update(const DMA* dma, units::second_t timeout,
int32_t* remaining, int32_t* status) {
units::millisecond_t ms = timeout;
auto timeoutMs = ms.to<int32_t>();
return HAL_ReadDMA(dma->dmaHandle, this, timeoutMs, remaining, status);
enum class DMAReadStatus {
kOk = HAL_DMA_OK,
kTimeout = HAL_DMA_TIMEOUT,
kError = HAL_DMA_ERROR
};
DMAReadStatus Update(const DMA* dma, units::second_t timeout,
int32_t* remaining, int32_t* status) {
return static_cast<DMAReadStatus>(HAL_ReadDMA(
dma->dmaHandle, this, timeout.to<double>(), remaining, status));
}
uint64_t GetTime() const { return timeStamp; }

2
wpilibc/src/main/native/include/frc/PWM.h
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@@ -12,6 +12,7 @@
namespace frc {
class AddressableLED;
class DMA;
/**
* Class implements the PWM generation in the FPGA.
@@ -33,6 +34,7 @@ class AddressableLED;
class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
public:
friend class AddressableLED;
friend class DMA;
/**
* Represents the amount to multiply the minimum servo-pulse pwm period by.
*/

5
wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
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@@ -15,6 +15,7 @@
#include "frc/motorcontrol/MotorController.h"
namespace frc {
class DMA;
/**
* Common base class for all PWM Motor Controllers.
@@ -24,6 +25,8 @@ class PWMMotorController : public MotorController,
public wpi::Sendable,
public wpi::SendableHelper<PWMMotorController> {
public:
friend class DMA;
PWMMotorController(PWMMotorController&&) = default;
PWMMotorController& operator=(PWMMotorController&&) = default;
@@ -74,6 +77,8 @@ class PWMMotorController : public MotorController,
private:
bool m_isInverted = false;
PWM* GetPwm() { return &m_pwm; }
};
} // namespace frc