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[hal,wpilib] Remove a ton of things related to the FPGA (#7846)

Browse Source 
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
This commit is contained in:
Thad House
2026-04-17 19:38:25 -07:00
committed by GitHub
parent fdb454a6b1
commit 6cb6903780
73 changed files with 69 additions and 1834 deletions
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153
hal/src/main/native/cpp/jni/AnalogInputJNI.cpp
View File

@@ -86,95 +86,6 @@ Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogInputSimDevice
(HAL_SimDeviceHandle)device);
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: setAnalogSampleRate
* Signature: (D)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogSampleRate
(JNIEnv* env, jclass, jdouble value)
{
int32_t status = 0;
HAL_SetAnalogSampleRate(value, &status);
CheckStatus(env, status);
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: getAnalogSampleRate
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogSampleRate
(JNIEnv* env, jclass)
{
int32_t status = 0;
double returnValue = HAL_GetAnalogSampleRate(&status);
CheckStatus(env, status);
return returnValue;
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: setAnalogAverageBits
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogAverageBits
(JNIEnv* env, jclass, jint id, jint value)
{
int32_t status = 0;
HAL_SetAnalogAverageBits((HAL_AnalogInputHandle)id, value, &status);
CheckStatus(env, status);
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: getAnalogAverageBits
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageBits
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jint returnValue =
HAL_GetAnalogAverageBits((HAL_AnalogInputHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: setAnalogOversampleBits
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogOversampleBits
(JNIEnv* env, jclass, jint id, jint value)
{
int32_t status = 0;
HAL_SetAnalogOversampleBits((HAL_AnalogInputHandle)id, value, &status);
CheckStatus(env, status);
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: getAnalogOversampleBits
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogOversampleBits
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jint returnValue =
HAL_GetAnalogOversampleBits((HAL_AnalogInputHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: getAnalogValue
@@ -190,22 +101,6 @@ Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogValue
return returnValue;
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: getAnalogAverageValue
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageValue
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jint returnValue =
HAL_GetAnalogAverageValue((HAL_AnalogInputHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: getAnalogVoltsToValue
@@ -254,52 +149,4 @@ Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogVoltage
return returnValue;
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: getAnalogAverageVoltage
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageVoltage
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jdouble returnValue =
HAL_GetAnalogAverageVoltage((HAL_AnalogInputHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: getAnalogLSBWeight
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogLSBWeight
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jint returnValue = HAL_GetAnalogLSBWeight((HAL_AnalogInputHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
/*
* Class: org_wpilib_hardware_hal_AnalogInputJNI
* Method: getAnalogOffset
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogOffset
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jint returnValue = HAL_GetAnalogOffset((HAL_AnalogInputHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
} // extern "C"

28
hal/src/main/native/cpp/jni/ConstantsJNI.cpp
View File

@@ -1,28 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <jni.h>
#include <cassert>
#include "HALUtil.hpp"
#include "org_wpilib_hardware_hal_ConstantsJNI.h"
#include "wpi/hal/Constants.h"
using namespace wpi::hal;
extern "C" {
/*
* Class: org_wpilib_hardware_hal_ConstantsJNI
* Method: getSystemClockTicksPerMicrosecond
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_ConstantsJNI_getSystemClockTicksPerMicrosecond
(JNIEnv* env, jclass)
{
jint value = HAL_GetSystemClockTicksPerMicrosecond();
return value;
}
} // extern "C"

4
hal/src/main/native/cpp/jni/HALUtil.cpp
View File

@@ -24,10 +24,6 @@
using namespace wpi::util::java;
static_assert(org_wpilib_hardware_hal_HALUtil_RUNTIME_ROBORIO ==
HAL_RUNTIME_ROBORIO);
static_assert(org_wpilib_hardware_hal_HALUtil_RUNTIME_ROBORIO_2 ==
HAL_RUNTIME_ROBORIO_2);
static_assert(org_wpilib_hardware_hal_HALUtil_RUNTIME_SIMULATION ==
HAL_RUNTIME_SIMULATION);
static_assert(org_wpilib_hardware_hal_HALUtil_RUNTIME_SYSTEMCORE ==

84
hal/src/main/native/cpp/jni/PortsJNI.cpp
View File

@@ -28,92 +28,14 @@ Java_org_wpilib_hardware_hal_PortsJNI_getNumCanBuses
/*
* Class: org_wpilib_hardware_hal_PortsJNI
* Method: getNumAnalogInputs
* Method: getNumSmartIo
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_PortsJNI_getNumAnalogInputs
Java_org_wpilib_hardware_hal_PortsJNI_getNumSmartIo
(JNIEnv* env, jclass)
{
jint value = HAL_GetNumAnalogInputs();
return value;
}
/*
* Class: org_wpilib_hardware_hal_PortsJNI
* Method: getNumCounters
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_PortsJNI_getNumCounters
(JNIEnv* env, jclass)
{
jint value = HAL_GetNumCounters();
return value;
}
/*
* Class: org_wpilib_hardware_hal_PortsJNI
* Method: getNumDigitalChannels
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_PortsJNI_getNumDigitalChannels
(JNIEnv* env, jclass)
{
jint value = HAL_GetNumDigitalChannels();
return value;
}
/*
* Class: org_wpilib_hardware_hal_PortsJNI
* Method: getNumPWMChannels
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_PortsJNI_getNumPWMChannels
(JNIEnv* env, jclass)
{
jint value = HAL_GetNumPWMChannels();
return value;
}
/*
* Class: org_wpilib_hardware_hal_PortsJNI
* Method: getNumDigitalPWMOutputs
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_PortsJNI_getNumDigitalPWMOutputs
(JNIEnv* env, jclass)
{
jint value = HAL_GetNumDigitalPWMOutputs();
return value;
}
/*
* Class: org_wpilib_hardware_hal_PortsJNI
* Method: getNumEncoders
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_PortsJNI_getNumEncoders
(JNIEnv* env, jclass)
{
jint value = HAL_GetNumEncoders();
return value;
}
/*
* Class: org_wpilib_hardware_hal_PortsJNI
* Method: getNumInterrupts
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_PortsJNI_getNumInterrupts
(JNIEnv* env, jclass)
{
jint value = HAL_GetNumInterrupts();
jint value = HAL_GetNumSmartIo();
return value;
}

100
hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp
View File

@@ -62,106 +62,6 @@ Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_setInitialized
HALSIM_SetAnalogInInitialized(index, value);
}
/*
* Class: org_wpilib_hardware_hal_simulation_AnalogInDataJNI
* Method: registerAverageBitsCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_registerAverageBitsCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAnalogInAverageBitsCallback);
}
/*
* Class: org_wpilib_hardware_hal_simulation_AnalogInDataJNI
* Method: cancelAverageBitsCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_cancelAverageBitsCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAnalogInAverageBitsCallback);
}
/*
* Class: org_wpilib_hardware_hal_simulation_AnalogInDataJNI
* Method: getAverageBits
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_getAverageBits
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAnalogInAverageBits(index);
}
/*
* Class: org_wpilib_hardware_hal_simulation_AnalogInDataJNI
* Method: setAverageBits
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_setAverageBits
(JNIEnv*, jclass, jint index, jint value)
{
HALSIM_SetAnalogInAverageBits(index, value);
}
/*
* Class: org_wpilib_hardware_hal_simulation_AnalogInDataJNI
* Method: registerOversampleBitsCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_registerOversampleBitsCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAnalogInOversampleBitsCallback);
}
/*
* Class: org_wpilib_hardware_hal_simulation_AnalogInDataJNI
* Method: cancelOversampleBitsCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_cancelOversampleBitsCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAnalogInOversampleBitsCallback);
}
/*
* Class: org_wpilib_hardware_hal_simulation_AnalogInDataJNI
* Method: getOversampleBits
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_getOversampleBits
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAnalogInOversampleBits(index);
}
/*
* Class: org_wpilib_hardware_hal_simulation_AnalogInDataJNI
* Method: setOversampleBits
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_setOversampleBits
(JNIEnv*, jclass, jint index, jint value)
{
HALSIM_SetAnalogInOversampleBits(index, value);
}
/*
* Class: org_wpilib_hardware_hal_simulation_AnalogInDataJNI
* Method: registerVoltageCallback

143
hal/src/main/native/include/wpi/hal/AnalogInput.h
View File

@@ -64,83 +64,6 @@ HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel);
void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
HAL_SimDeviceHandle device);
/**
* Sets the sample rate.
*
* This is a global setting for the Athena and effects all channels.
*
* @param[in] samplesPerSecond The number of samples per channel per second.
* @param[out] status the error code, or 0 for success
*/
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status);
/**
* Gets the current sample rate.
*
* This assumes one entry in the scan list.
* This is a global setting for the Athena and effects all channels.
*
* @param[out] status the error code, or 0 for success
* @return Sample rate.
*/
double HAL_GetAnalogSampleRate(int32_t* status);
/**
* Sets the number of averaging bits.
*
* This sets the number of averaging bits. The actual number of averaged samples
* is 2**bits. Use averaging to improve the stability of your measurement at the
* expense of sampling rate. The averaging is done automatically in the FPGA.
*
* @param[in] analogPortHandle Handle to the analog port to configure.
* @param[in] bits Number of bits to average.
* @param[out] status the error code, or 0 for success
*/
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status);
/**
* Gets the number of averaging bits.
*
* This gets the number of averaging bits from the FPGA. The actual number of
* averaged samples is 2**bits. The averaging is done automatically in the FPGA.
*
* @param[in] analogPortHandle Handle to the analog port to use.
* @param[out] status the error code, or 0 for success
* @return Bits to average.
*/
int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Sets the number of oversample bits.
*
* This sets the number of oversample bits. The actual number of oversampled
* values is 2**bits. Use oversampling to improve the resolution of your
* measurements at the expense of sampling rate. The oversampling is done
* automatically in the FPGA.
*
* @param[in] analogPortHandle Handle to the analog port to use.
* @param[in] bits Number of bits to oversample.
* @param[out] status the error code, or 0 for success
*/
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status);
/**
* Gets the number of oversample bits.
*
* This gets the number of oversample bits from the FPGA. The actual number of
* oversampled values is 2**bits. The oversampling is done automatically in the
* FPGA.
*
* @param[in] analogPortHandle Handle to the analog port to use.
* @param[out] status the error code, or 0 for success
* @return Bits to oversample.
*/
int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Gets a sample straight from the channel on this module.
*
@@ -155,24 +78,6 @@ int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Gets a sample from the output of the oversample and average engine for the
* channel.
*
* The sample is 12-bit + the value configured in SetOversampleBits().
* The value configured in SetAverageBits() will cause this value to be averaged
* 2**bits number of samples. This is not a sliding window. The sample will not
* change until 2**(OversampleBits + AverageBits) samples have been acquired
* from the module on this channel. Use GetAverageVoltage() to get the analog
* value in calibrated units.
*
* @param[in] analogPortHandle Handle to the analog port to use.
* @param[out] status the error code, or 0 for success
* @return A sample from the oversample and average engine for the channel.
*/
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Converts a voltage to a raw value for a specified channel.
*
@@ -192,8 +97,7 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
/**
* Gets a scaled sample straight from the channel on this module.
*
* The value is scaled to units of Volts using the calibrated scaling data from
* GetLSBWeight() and GetOffset().
* The value is scaled to units of Volts.
*
* @param[in] analogPortHandle Handle to the analog port to use.
* @param[out] status the error code, or 0 for success
@@ -202,51 +106,6 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Gets a scaled sample from the output of the oversample and average engine for
* the channel.
*
* The value is scaled to units of Volts using the calibrated scaling data from
* GetLSBWeight() and GetOffset(). Using oversampling will cause this value to
* be higher resolution, but it will update more slowly. Using averaging will
* cause this value to be more stable, but it will update more slowly.
*
* @param[in] analogPortHandle Handle to the analog port to use.
* @param[out] status the error code, or 0 for success
* @return A scaled sample from the output of the oversample and average engine
* for the channel.
*/
double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Gets the factory scaling least significant bit weight constant.
* The least significant bit weight constant for the channel that was calibrated
* in manufacturing and stored in an eeprom in the module.
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
* @param[in] analogPortHandle Handle to the analog port to use.
* @param[out] status the error code, or 0 for success
* @return Least significant bit weight.
*/
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Gets the factory scaling offset constant.
* The offset constant for the channel that was calibrated in manufacturing and
* stored in an eeprom in the module.
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
* @param[in] analogPortHandle Handle to the analog port to use.
* @param[out] status Error status variable. 0 on success.
* @return Offset constant.
*/
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Get the analog voltage from a raw value.
*

28
hal/src/main/native/include/wpi/hal/Constants.h
View File

@@ -1,28 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <stdint.h>
/**
* @defgroup hal_constants Constants Functions
* @ingroup hal_capi
* @{
*/
#ifdef __cplusplus
extern "C" {
#endif
/**
* Gets the number of FPGA system clock ticks per microsecond.
*
* @return the number of clock ticks per microsecond
*/
int32_t HAL_GetSystemClockTicksPerMicrosecond(void);
#ifdef __cplusplus
} // extern "C"
#endif
/** @} */

10
hal/src/main/native/include/wpi/hal/HAL.h
View File

@@ -25,14 +25,10 @@
* Runtime type.
*/
HAL_ENUM(HAL_RuntimeType) {
/** roboRIO 1.0 */
HAL_RUNTIME_ROBORIO,
/** roboRIO 2.0 */
HAL_RUNTIME_ROBORIO_2,
/** Simulation runtime */
HAL_RUNTIME_SIMULATION,
/** Systemcore */
/** Systemcore runtime */
HAL_RUNTIME_SYSTEMCORE,
/** Simulation runtime */
HAL_RUNTIME_SIMULATION
};
#ifdef __cplusplus

7
hal/src/main/native/include/wpi/hal/Ports.h
View File

@@ -23,6 +23,13 @@ extern "C" {
*/
int32_t HAL_GetNumCanBuses(void);
/**
* Gets the number of smart IO channels in the current system.
*
* @return the number of SmartIO
*/
int32_t HAL_GetNumSmartIo(void);
/**
* Gets the number of analog inputs in the current system.
*

15
hal/src/main/native/include/wpi/hal/simulation/AnalogInData.h
View File

@@ -22,21 +22,6 @@ void HALSIM_SetAnalogInInitialized(int32_t index, HAL_Bool initialized);
HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index);
int32_t HALSIM_RegisterAnalogInAverageBitsCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelAnalogInAverageBitsCallback(int32_t index, int32_t uid);
int32_t HALSIM_GetAnalogInAverageBits(int32_t index);
void HALSIM_SetAnalogInAverageBits(int32_t index, int32_t averageBits);
int32_t HALSIM_RegisterAnalogInOversampleBitsCallback(
int32_t index, HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void HALSIM_CancelAnalogInOversampleBitsCallback(int32_t index, int32_t uid);
int32_t HALSIM_GetAnalogInOversampleBits(int32_t index);
void HALSIM_SetAnalogInOversampleBits(int32_t index, int32_t oversampleBits);
int32_t HALSIM_RegisterAnalogInVoltageCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,

7
hal/src/main/native/include/wpi/hal/simulation/RoboRioData.h
View File

@@ -18,13 +18,6 @@ extern "C" {
#endif
void HALSIM_ResetRoboRioData(void);
int32_t HALSIM_RegisterRoboRioFPGAButtonCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelRoboRioFPGAButtonCallback(int32_t uid);
HAL_Bool HALSIM_GetRoboRioFPGAButton(void);
void HALSIM_SetRoboRioFPGAButton(HAL_Bool fPGAButton);
int32_t HALSIM_RegisterRoboRioVInVoltageCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);

93
hal/src/main/native/sim/AnalogInput.cpp
View File

@@ -43,7 +43,6 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
}
analog_port->channel = static_cast<uint8_t>(channel);
analog_port->isAccumulator = false;
SimAnalogInData[channel].initialized = true;
SimAnalogInData[channel].simDevice = 0;
@@ -80,52 +79,6 @@ void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
SimAnalogInData[port->channel].simDevice = device;
}
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
// No op
}
double HAL_GetAnalogSampleRate(int32_t* status) {
return kDefaultSampleRate;
}
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimAnalogInData[port->channel].averageBits = bits;
}
int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return SimAnalogInData[port->channel].averageBits;
}
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimAnalogInData[port->channel].oversampleBits = bits;
}
int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return SimAnalogInData[port->channel].oversampleBits;
}
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -137,27 +90,12 @@ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
double voltage = SimAnalogInData[port->channel].voltage;
return HAL_GetAnalogVoltsToValue(analogPortHandle, voltage, status);
}
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
// No averaging supported
return HAL_GetAnalogValue(analogPortHandle, status);
}
int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
double voltage, int32_t* status) {
if (voltage > 5.0) {
voltage = 5.0;
*status = VOLTAGE_OUT_OF_RANGE;
}
if (voltage < 0.0) {
voltage = 0.0;
*status = VOLTAGE_OUT_OF_RANGE;
}
int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
int32_t value =
static_cast<int32_t>((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
return value;
return static_cast<int32_t>(voltage * 4095.0 / 3.3);
}
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -171,29 +109,6 @@ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
double HAL_GetAnalogValueToVolts(HAL_AnalogInputHandle analogPortHandle,
int32_t rawValue, int32_t* status) {
int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
double voltage = LSBWeight * 1.0e-9 * rawValue - offset * 1.0e-9;
return voltage;
}
double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
}
// No averaging supported
return SimAnalogInData[port->channel].voltage;
}
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
return 1220703;
}
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
return 0;
return rawValue / 4095.0 * 3.3;
}
} // extern "C"

6
hal/src/main/native/sim/AnalogInternal.hpp
View File

@@ -13,15 +13,9 @@
#include "wpi/hal/handles/IndexedHandleResource.hpp"
namespace wpi::hal {
constexpr int32_t kTimebase = 40000000; ///< 40 MHz clock
constexpr int32_t kDefaultOversampleBits = 0;
constexpr int32_t kDefaultAverageBits = 7;
constexpr double kDefaultSampleRate = 50000.0;
static constexpr uint32_t kAccumulatorChannels[] = {0, 1};
struct AnalogPort {
uint8_t channel;
bool isAccumulator;
std::string previousAllocation;
};

19
hal/src/main/native/sim/Constants.cpp
View File

@@ -1,19 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "wpi/hal/Constants.h"
#include "ConstantsInternal.hpp"
using namespace wpi::hal;
namespace wpi::hal::init {
void InitializeConstants() {}
} // namespace wpi::hal::init
extern "C" {
int32_t HAL_GetSystemClockTicksPerMicrosecond(void) {
return kSystemClockTicksPerMicrosecond;
}
} // extern "C"

11
hal/src/main/native/sim/ConstantsInternal.hpp
View File

@@ -1,11 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <stdint.h>
namespace wpi::hal {
constexpr int32_t kSystemClockTicksPerMicrosecond = 40;
} // namespace wpi::hal

1
hal/src/main/native/sim/HAL.cpp
View File

@@ -86,7 +86,6 @@ void InitializeHAL() {
InitializeAnalogInput();
InitializeAnalogInternal();
InitializeCAN();
InitializeConstants();
InitializeCounter();
InitializeDigitalInternal();
InitializeDIO();

1
hal/src/main/native/sim/HALInitializer.hpp
View File

@@ -38,7 +38,6 @@ extern void InitializeAlert();
extern void InitializeAnalogInput();
extern void InitializeAnalogInternal();
extern void InitializeCAN();
extern void InitializeConstants();
extern void InitializeCounter();
extern void InitializeDigitalInternal();
extern void InitializeDIO();

1
hal/src/main/native/sim/MockHooks.cpp
View File

@@ -7,7 +7,6 @@
#include <algorithm>
#include <atomic>
#include <chrono>
#include <cstdio>
#include <thread>
#include "MockHooksInternal.hpp"

2
hal/src/main/native/sim/PWM.cpp
View File

@@ -4,8 +4,6 @@
#include "wpi/hal/PWM.h"
#include <cmath>
#include "DigitalInternal.hpp"
#include "HALInitializer.hpp"
#include "HALInternal.hpp"

3
hal/src/main/native/sim/Ports.cpp
View File

@@ -16,6 +16,9 @@ extern "C" {
int32_t HAL_GetNumCanBuses(void) {
return kNumCanBuses;
}
int32_t HAL_GetNumSmartIo(void) {
return kNumSmartIo;
}
int32_t HAL_GetNumAnalogInputs(void) {
return kNumAnalogInputs;
}

1
hal/src/main/native/sim/PortsInternal.hpp
View File

@@ -9,6 +9,7 @@
namespace wpi::hal {
constexpr int32_t kNumCanBuses = 5;
constexpr int32_t kAccelerometers = 1;
constexpr int32_t kNumSmartIo = 6;
constexpr int32_t kNumAccumulators = 2;
constexpr int32_t kNumAnalogInputs = 8;
constexpr int32_t kNumAnalogOutputs = 2;

6
hal/src/main/native/sim/mockdata/AnalogInData.cpp
View File

@@ -18,8 +18,6 @@ AnalogInData* wpi::hal::SimAnalogInData;
void AnalogInData::ResetData() {
initialized.Reset(false);
simDevice = 0;
averageBits.Reset(7);
oversampleBits.Reset(0);
voltage.Reset(0.0);
}
@@ -37,8 +35,6 @@ HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index) {
SimAnalogInData, LOWERNAME)
DEFINE_CAPI(HAL_Bool, Initialized, initialized)
DEFINE_CAPI(int32_t, AverageBits, averageBits)
DEFINE_CAPI(int32_t, OversampleBits, oversampleBits)
DEFINE_CAPI(double, Voltage, voltage)
#define REGISTER(NAME) \
@@ -48,8 +44,6 @@ void HALSIM_RegisterAnalogInAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify) {
REGISTER(initialized);
REGISTER(averageBits);
REGISTER(oversampleBits);
REGISTER(voltage);
}
} // extern "C"

4
hal/src/main/native/sim/mockdata/AnalogInDataInternal.hpp
View File

@@ -11,16 +11,12 @@
namespace wpi::hal {
class AnalogInData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
HAL_SIMDATAVALUE_DEFINE_NAME(AverageBits)
HAL_SIMDATAVALUE_DEFINE_NAME(OversampleBits)
HAL_SIMDATAVALUE_DEFINE_NAME(Voltage)
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
false};
std::atomic<HAL_SimDeviceHandle> simDevice;
SimDataValue<int32_t, HAL_MakeInt, GetAverageBitsName> averageBits{7};
SimDataValue<int32_t, HAL_MakeInt, GetOversampleBitsName> oversampleBits{0};
SimDataValue<double, HAL_MakeDouble, GetVoltageName> voltage{0.0};
virtual void ResetData();

64
hal/src/main/native/systemcore/AnalogInput.cpp
View File

@@ -96,40 +96,6 @@ HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) {
void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
HAL_SimDeviceHandle device) {}
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
double HAL_GetAnalogSampleRate(int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port =
@@ -144,16 +110,9 @@ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
return ret;
}
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
double voltage, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
return static_cast<int32_t>(voltage * 4095.0 / 3.3);
}
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
@@ -173,26 +132,7 @@ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
double HAL_GetAnalogValueToVolts(HAL_AnalogInputHandle analogPortHandle,
int32_t rawValue, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
return rawValue / 4095.0 * 3.3;
}
} // extern "C"

19
hal/src/main/native/systemcore/Constants.cpp
View File

@@ -1,19 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "wpi/hal/Constants.h"
#include "ConstantsInternal.hpp"
using namespace wpi::hal;
namespace wpi::hal::init {
void InitializeConstants() {}
} // namespace wpi::hal::init
extern "C" {
int32_t HAL_GetSystemClockTicksPerMicrosecond(void) {
return kSystemClockTicksPerMicrosecond;
}
} // extern "C"

11
hal/src/main/native/systemcore/ConstantsInternal.hpp
View File

@@ -1,11 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <stdint.h>
namespace wpi::hal {
constexpr int32_t kSystemClockTicksPerMicrosecond = 40;
} // namespace wpi::hal

1
hal/src/main/native/systemcore/HAL.cpp
View File

@@ -42,7 +42,6 @@ void InitializeHAL() {
InitializeAnalogInput();
InitializeCAN();
InitializeCANAPI();
InitializeConstants();
InitializeCounter();
InitializeDIO();
InitializeDutyCycle();

1
hal/src/main/native/systemcore/HALInitializer.hpp
View File

@@ -23,7 +23,6 @@ extern void InitializeAnalogInput();
extern void InitializeAnalogInternal();
extern void InitializeCAN();
extern void InitializeCANAPI();
extern void InitializeConstants();
extern void InitializeCounter();
extern void InitializeDigitalInternal();
extern void InitializeDIO();

3
hal/src/main/native/systemcore/Ports.cpp
View File

@@ -16,6 +16,9 @@ extern "C" {
int32_t HAL_GetNumCanBuses(void) {
return kNumCanBuses;
}
int32_t HAL_GetNumSmartIo(void) {
return kNumSmartIo;
}
int32_t HAL_GetNumAnalogInputs(void) {
return kNumAnalogInputs;
}

2
hal/src/main/native/systemcore/mockdata/AnalogInData.cpp
View File

@@ -17,8 +17,6 @@ HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index) {
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, AnalogIn##CAPINAME, RETURN)
DEFINE_CAPI(HAL_Bool, Initialized, false)
DEFINE_CAPI(int32_t, AverageBits, 0)
DEFINE_CAPI(int32_t, OversampleBits, 0)
DEFINE_CAPI(double, Voltage, 0)
void HALSIM_RegisterAnalogInAllCallbacks(int32_t index,