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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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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;