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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");
}