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* Add WriteBulk and ReadOnly to C++ I2C

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Change-Id: If6082f6b92b4be5e328278ba536d5a7681082c9f (+4 squashed commit)

Squashed commit:

[86b4ae7] * Port I2C to roboRIO in JNI and Java. Left read method as a transaction and added readOnly. Left write as a single byte and added writeBulk. Need to go back to C++ and update to match.

Change-Id: I290d84211a4b7bb942d785730c0e6929449cf69f

[7d37419] * Remove HiTechnic sensors from Java. May be added back later as examples

Change-Id: Ie93e23a70fd953c99c03d50d9529220f86d32e03

[e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++

Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915

[1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later

Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282 (+2 squashed commit)

Squashed commit:

[e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++

Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915

[1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later

Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282
This commit is contained in:
Kevin O'Connor
2014-06-18 15:38:02 -04:00
parent 0f8c83f693
commit 605148456e
21 changed files with 430 additions and 1392 deletions
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96
wpilibj/wpilibJavaJNI/lib/I2CJNI.cpp
View File

@@ -4,6 +4,7 @@
#include "edu_wpi_first_wpilibj_hal_I2CJNI.h"
#include "HAL/Digital.hpp"
// set the logging level
TLogLevel i2cJNILogLevel = logWARNING;
@@ -14,22 +15,97 @@ TLogLevel i2cJNILogLevel = logWARNING;
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: doI2CTransaction
* Signature: (BBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
* Method: i2cInitialize
* Signature: (BLjava/nio/IntBuffer;)V
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_doI2CTransaction
(JNIEnv *, jclass, jbyte, jbyte, jobject, jbyte, jobject, jbyte, jobject)
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize
(JNIEnv * env, jclass, jbyte value, jobject status)
{
assert(false);
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize";
I2CJNI_LOG(logDEBUG) << "Port: " << (jint) value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
i2CInitialize(value, statusPtr);
I2CJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: doI2CTransactionWithModule
* Signature: (BBBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
* Method: i2CTransaction
* Signature: (BBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;B)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_doI2CTransactionWithModule
(JNIEnv *, jclass, jbyte, jbyte, jbyte, jobject, jbyte, jobject, jbyte, jobject)
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction
(JNIEnv * env, jclass, jbyte port, jbyte address, jobject dataToSend, jbyte sendSize, jobject dataReceived, jbyte receiveSize)
{
assert(false);
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransaction";
I2CJNI_LOG(logDEBUG) << "Port = " << (jint)port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
jbyte * dataToSendPtr = NULL;
jbyte * dataReceivedPtr = NULL;
if(dataToSend !=0){
dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
}
I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
jbyte returnValue = i2CTransaction(port, address, (uint8_t*)dataToSendPtr, sendSize, (uint8_t*) dataReceivedPtr, receiveSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CWrite
* Signature: (BBLjava/nio/ByteBuffer;B)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite
(JNIEnv * env, jclass, jbyte port, jbyte address, jobject dataToSend, jbyte sendSize)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
I2CJNI_LOG(logDEBUG) << "Port = " << (jint)port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
jbyte * dataToSendPtr = NULL;
if(dataToSend !=0){
dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
}
I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)dataToSend;
jbyte returnValue = i2CWrite(port, address, (uint8_t*)dataToSendPtr, sendSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CRead
* Signature: (BBLjava/nio/ByteBuffer;B)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead
(JNIEnv * env, jclass, jbyte port, jbyte address, jobject dataReceived, jbyte receiveSize)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << address;
jbyte * dataReceivedPtr = NULL;
dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
jbyte returnValue = i2CRead(port, address, (uint8_t*) dataReceivedPtr, receiveSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CClose
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose
(JNIEnv *, jclass, jbyte value)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2cClose";
i2CClose(value);
}