mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
Add support for automatic SPI transfer engine. (#836)
The SPI Accumulator functions have been moved from HAL to wpilib and rewritten to use the automatic transfer engine.
This commit is contained in:
Peter Johnson
@@ -258,189 +258,181 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow(
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiInitAccumulator
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* Signature: (IIIBIIBBZZ)V
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* Method: spiInitAuto
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAccumulator(
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JNIEnv *env, jclass, jint port, jint period, jint cmd, jbyte xferSize,
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jint validMask, jint validValue, jbyte dataShift, jbyte dataSize,
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jboolean isSigned, jboolean bigEndian) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAccumulator";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAuto
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(JNIEnv *env, jclass, jint port, jint bufferSize) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAuto";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "BufferSize = " << bufferSize;
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int32_t status = 0;
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HAL_InitSPIAuto(static_cast<HAL_SPIPort>(port), bufferSize, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiFreeAuto
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAuto
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(JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAuto";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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HAL_FreeSPIAuto(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiStartAutoRate
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoRate
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(JNIEnv *env, jclass, jint port, jdouble period) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoRate";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "Period = " << period;
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SPIJNI_LOG(logDEBUG) << "Cmd = " << cmd;
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SPIJNI_LOG(logDEBUG) << "XferSize = " << (jint)xferSize;
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SPIJNI_LOG(logDEBUG) << "ValidMask = " << validMask;
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SPIJNI_LOG(logDEBUG) << "ValidValue = " << validValue;
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SPIJNI_LOG(logDEBUG) << "DataShift = " << (jint)dataShift;
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SPIJNI_LOG(logDEBUG) << "DataSize = " << (jint)dataSize;
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SPIJNI_LOG(logDEBUG) << "IsSigned = " << (jint)isSigned;
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SPIJNI_LOG(logDEBUG) << "BigEndian = " << (jint)bigEndian;
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int32_t status = 0;
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HAL_InitSPIAccumulator(static_cast<HAL_SPIPort>(port), period, cmd, xferSize, validMask, validValue,
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dataShift, dataSize, isSigned, bigEndian, &status);
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HAL_StartSPIAutoRate(static_cast<HAL_SPIPort>(port), period, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiFreeAccumulator
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* Method: spiStartAutoTrigger
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* Signature: (IIIZZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoTrigger
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(JNIEnv *env, jclass, jint port, jint digitalSourceHandle, jint analogTriggerType, jboolean triggerRising, jboolean triggerFalling) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoTrigger";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "DigitalSourceHandle = " << digitalSourceHandle;
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SPIJNI_LOG(logDEBUG) << "AnalogTriggerType = " << analogTriggerType;
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SPIJNI_LOG(logDEBUG) << "TriggerRising = " << (jint)triggerRising;
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SPIJNI_LOG(logDEBUG) << "TriggerFalling = " << (jint)triggerFalling;
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int32_t status = 0;
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HAL_StartSPIAutoTrigger(static_cast<HAL_SPIPort>(port), digitalSourceHandle,
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static_cast<HAL_AnalogTriggerType>(analogTriggerType), triggerRising,
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triggerFalling, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiStopAuto
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAccumulator(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAccumulator";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStopAuto
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(JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStopAuto";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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HAL_FreeSPIAccumulator(static_cast<HAL_SPIPort>(port), &status);
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HAL_StopSPIAuto(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiResetAccumulator
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* Method: spiSetAutoTransmitData
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* Signature: (I[BI)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAutoTransmitData
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(JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jint zeroSize) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAutoTransmitData";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "ZeroSize = " << zeroSize;
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JByteArrayRef jarr(env, dataToSend);
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int32_t status = 0;
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HAL_SetSPIAutoTransmitData(static_cast<HAL_SPIPort>(port),
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reinterpret_cast<const uint8_t*>(jarr.array().data()),
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jarr.array().size(), zeroSize, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiForceAutoRead
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiResetAccumulator(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiResetAccumulator";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiForceAutoRead
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(JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiForceAutoRead";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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HAL_ResetSPIAccumulator(static_cast<HAL_SPIPort>(port), &status);
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HAL_ForceSPIAutoRead(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetAccumulatorCenter
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* Signature: (II)V
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* Method: spiReadAutoReceivedData
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* Signature: (ILjava/nio/ByteBuffer;ID)I
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorCenter(
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JNIEnv *env, jclass, jint port, jint center) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorCenter";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Center = " << center;
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__ILjava_nio_ByteBuffer_2ID
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(JNIEnv *env, jclass, jint port, jobject buffer, jint numToRead, jdouble timeout) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
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SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
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uint8_t *recvBuf = (uint8_t *)env->GetDirectBufferAddress(buffer);
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int32_t status = 0;
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HAL_SetSPIAccumulatorCenter(static_cast<HAL_SPIPort>(port), center, &status);
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jint retval = HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port), recvBuf, numToRead, timeout, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "Return = " << retval;
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CheckStatus(env, status);
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return retval;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetAccumulatorDeadband
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* Signature: (II)V
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* Method: spiReadAutoReceivedData
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* Signature: (I[BID)I
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorDeadband(
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JNIEnv *env, jclass, jint port, jint deadband) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorDeadband";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Deadband = " << deadband;
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__I_3BID
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(JNIEnv *env, jclass, jint port, jbyteArray buffer, jint numToRead, jdouble timeout) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
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SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
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llvm::SmallVector<uint8_t, 128> recvBuf;
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recvBuf.resize(numToRead);
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int32_t status = 0;
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HAL_SetSPIAccumulatorDeadband(static_cast<HAL_SPIPort>(port), deadband, &status);
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jint retval = HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port), recvBuf.data(), numToRead, timeout, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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SPIJNI_LOG(logDEBUG) << "Return = " << retval;
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if (!CheckStatus(env, status)) return retval;
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if (numToRead > 0) {
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env->SetByteArrayRegion(buffer, 0, numToRead,
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reinterpret_cast<const jbyte *>(recvBuf.data()));
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}
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return retval;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiGetAccumulatorLastValue
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* Method: spiGetAutoDroppedCount
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorLastValue(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorLastValue";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAutoDroppedCount
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(JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAutoDroppedCount";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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jint retVal = HAL_GetSPIAccumulatorLastValue(static_cast<HAL_SPIPort>(port), &status);
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auto retval = HAL_GetSPIAutoDroppedCount(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
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CheckStatus(env, status);
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiGetAccumulatorValue
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* Signature: (I)J
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*/
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JNIEXPORT jlong JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorValue(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorValue";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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jlong retVal = HAL_GetSPIAccumulatorValue(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
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CheckStatus(env, status);
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiGetAccumulatorCount
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorCount(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorCount";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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jint retVal = HAL_GetSPIAccumulatorCount(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
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CheckStatus(env, status);
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiGetAccumulatorAverage
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorAverage(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorAverage";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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jdouble retVal = HAL_GetSPIAccumulatorAverage(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
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CheckStatus(env, status);
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiGetAccumulatorOutput
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* Signature: (ILedu/wpi/first/wpilibj/AccumulatorResult;)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorOutput(
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JNIEnv *env, jclass, jint port, jobject accumulatorResult) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorOutput";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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int64_t value = 0;
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int64_t count = 0;
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HAL_GetSPIAccumulatorOutput(static_cast<HAL_SPIPort>(port), &value, &count, &status);
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SetAccumulatorResultObject(env, accumulatorResult, value, count);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "Value = " << value;
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SPIJNI_LOG(logDEBUG) << "Count = " << count;
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SPIJNI_LOG(logDEBUG) << "Return = " << retval;
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CheckStatus(env, status);
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return retval;
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}
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} // extern "C"
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