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SPI: Provide byte[] JNI interfaces.

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This avoids a direct byte buffer allocation on every read/write/transaction
for the byte[] variants.

Also change spiGetAccumulatorOutput() to directly set the AccumulatorResult
object, avoiding a ByteBuffer allocation.

Changes HAL SPI interfaces to use const for dataToSend.

Fixes #733.
This commit is contained in:
Peter Johnson
2017-11-14 00:00:45 -08:00
parent df7c1389de
commit 6307d41002
11 changed files with 168 additions and 73 deletions
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5
hal/src/main/native/athena/SPI.cpp
View File

@@ -260,7 +260,7 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
* @param size Number of bytes to transfer. [0..7]
* @return Number of bytes transferred, -1 for error
*/
int32_t HAL_TransactionSPI(HAL_SPIPort port, uint8_t* dataToSend,
int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size) {
if (port < 0 || port >= kSpiMaxHandles) {
return -1;
@@ -286,7 +286,8 @@ int32_t HAL_TransactionSPI(HAL_SPIPort port, uint8_t* dataToSend,
* @param sendSize The number of bytes to be written
* @return The number of bytes written. -1 for an error
*/
int32_t HAL_WriteSPI(HAL_SPIPort port, uint8_t* dataToSend, int32_t sendSize) {
int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend,
int32_t sendSize) {
if (port < 0 || port >= kSpiMaxHandles) {
return -1;
}

5
hal/src/main/native/include/HAL/SPI.h
View File

@@ -24,9 +24,10 @@ extern "C" {
#endif
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status);
int32_t HAL_TransactionSPI(HAL_SPIPort port, uint8_t* dataToSend,
int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size);
int32_t HAL_WriteSPI(HAL_SPIPort port, uint8_t* dataToSend, int32_t sendSize);
int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend,
int32_t sendSize);
int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count);
void HAL_CloseSPI(HAL_SPIPort port);
void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed);

7
hal/src/main/native/sim/MockData/SPIData.cpp
View File

@@ -167,14 +167,15 @@ int32_t SPIData::Read(uint8_t* buffer, int32_t count) {
return count;
}
int32_t SPIData::Write(uint8_t* dataToSend, int32_t sendSize) {
int32_t SPIData::Write(const uint8_t* dataToSend, int32_t sendSize) {
std::lock_guard<wpi::mutex> lock(m_dataMutex);
InvokeCallback(m_writeCallbacks, "Write", dataToSend, sendSize);
InvokeCallback(m_writeCallbacks, "Write", const_cast<uint8_t*>(dataToSend),
sendSize);
return sendSize;
}
int32_t SPIData::Transaction(uint8_t* dataToSend, uint8_t* dataReceived,
int32_t SPIData::Transaction(const uint8_t* dataToSend, uint8_t* dataReceived,
int32_t size) {
std::lock_guard<wpi::mutex> lock(m_dataMutex);
return size;

5
hal/src/main/native/sim/MockData/SPIDataInternal.h
View File

@@ -47,8 +47,9 @@ class SPIData {
int64_t GetAccumulatorValue();
int32_t Read(uint8_t* buffer, int32_t count);
int32_t Write(uint8_t* dataToSend, int32_t sendSize);
int32_t Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int32_t size);
int32_t Write(const uint8_t* dataToSend, int32_t sendSize);
int32_t Transaction(const uint8_t* dataToSend, uint8_t* dataReceived,
int32_t size);
void ResetAccumulator();
void ResetData();

5
hal/src/main/native/sim/SPI.cpp
View File

@@ -14,11 +14,12 @@ using namespace hal;
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
SimSPIData[port].SetInitialized(true);
}
int32_t HAL_TransactionSPI(HAL_SPIPort port, uint8_t* dataToSend,
int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size) {
return SimSPIData[port].Transaction(dataToSend, dataReceived, size);
}
int32_t HAL_WriteSPI(HAL_SPIPort port, uint8_t* dataToSend, int32_t sendSize) {
int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend,
int32_t sendSize) {
return SimSPIData[port].Write(dataToSend, sendSize);
}
int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) {