Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-29 02:21:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add DMA support to HAL and WPILibC (#2080)

Browse Source
This commit is contained in:
Thad House
2019-11-14 22:52:34 -08:00
committed by Peter Johnson
parent 8280b7e3af
commit 82b2170feb
22 changed files with 1672 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
hal/src/main/native/sim/AnalogInput.cpp
View File

@@ -165,6 +165,15 @@ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
return SimAnalogInData[port->channel].voltage;
}
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);

124
hal/src/main/native/sim/DMA.cpp Normal file
View File

@@ -0,0 +1,124 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "hal/DMA.h"
extern "C" {
HAL_DMAHandle HAL_InitializeDMA(int32_t* status) { return HAL_kInvalidHandle; }
void HAL_FreeDMA(HAL_DMAHandle handle) {}
void HAL_SetDMAPause(HAL_DMAHandle handle, HAL_Bool pause, int32_t* status) {}
void HAL_SetDMARate(HAL_DMAHandle handle, int32_t cycles, int32_t* status) {}
void HAL_AddDMAEncoder(HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle,
int32_t* status) {}
void HAL_AddDMAEncoderPeriod(HAL_DMAHandle handle,
HAL_EncoderHandle encoderHandle, int32_t* status) {
}
void HAL_AddDMACounter(HAL_DMAHandle handle, HAL_CounterHandle counterHandle,
int32_t* status) {}
void HAL_AddDMACounterPeriod(HAL_DMAHandle handle,
HAL_CounterHandle counterHandle, int32_t* status) {
}
void HAL_AddDMADigitalSource(HAL_DMAHandle handle,
HAL_Handle digitalSourceHandle, int32_t* status) {}
void HAL_AddDMAAnalogInput(HAL_DMAHandle handle,
HAL_AnalogInputHandle aInHandle, int32_t* status) {}
void HAL_AddDMAAveragedAnalogInput(HAL_DMAHandle handle,
HAL_AnalogInputHandle aInHandle,
int32_t* status) {}
void HAL_AddDMAAnalogAccumulator(HAL_DMAHandle handle,
HAL_AnalogInputHandle aInHandle,
int32_t* status) {}
void HAL_AddDMADutyCycle(HAL_DMAHandle handle,
HAL_DutyCycleHandle dutyCycleHandle, int32_t* status) {
}
void HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
HAL_Bool rising, HAL_Bool falling,
int32_t* status) {}
void HAL_StartDMA(HAL_DMAHandle handle, int32_t queueDepth, int32_t* status) {}
void HAL_StopDMA(HAL_DMAHandle handle, int32_t* status) {}
void* HAL_GetDMADirectPointer(HAL_DMAHandle handle) { return nullptr; }
enum HAL_DMAReadStatus HAL_ReadDMADirect(void* dmaPointer,
HAL_DMASample* dmaSample,
int32_t timeoutMs,
int32_t* remainingOut,
int32_t* status) {
return HAL_DMA_ERROR;
}
enum HAL_DMAReadStatus HAL_ReadDMA(HAL_DMAHandle handle,
HAL_DMASample* dmaSample, int32_t timeoutMs,
int32_t* remainingOut, int32_t* status) {
return HAL_DMA_ERROR;
}
// Sampling Code
uint64_t HAL_GetDMASampleTime(const HAL_DMASample* dmaSample, int32_t* status) {
return 0;
}
int32_t HAL_GetDMASampleEncoderRaw(const HAL_DMASample* dmaSample,
HAL_EncoderHandle encoderHandle,
int32_t* status) {
return 0;
}
int32_t HAL_GetDMASampleCounter(const HAL_DMASample* dmaSample,
HAL_CounterHandle counterHandle,
int32_t* status) {
return 0;
}
int32_t HAL_GetDMASampleEncoderPeriodRaw(const HAL_DMASample* dmaSample,
HAL_EncoderHandle encoderHandle,
int32_t* status) {
return 0;
}
int32_t HAL_GetDMASampleCounterPeriod(const HAL_DMASample* dmaSample,
HAL_CounterHandle counterHandle,
int32_t* status) {
return 0;
}
HAL_Bool HAL_GetDMASampleDigitalSource(const HAL_DMASample* dmaSample,
HAL_Handle dSourceHandle,
int32_t* status) {
return 0;
}
int32_t HAL_GetDMASampleAnalogInputRaw(const HAL_DMASample* dmaSample,
HAL_AnalogInputHandle aInHandle,
int32_t* status) {
return 0;
}
int32_t HAL_GetDMASampleAveragedAnalogInputRaw(const HAL_DMASample* dmaSample,
HAL_AnalogInputHandle aInHandle,
int32_t* status) {
return 0;
}
void HAL_GetDMASampleAnalogAccumulator(const HAL_DMASample* dmaSample,
HAL_AnalogInputHandle aInHandle,
int64_t* count, int64_t* value,
int32_t* status) {}
int32_t HAL_GetDMASampleDutyCycleOutputRaw(const HAL_DMASample* dmaSample,
HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
return 0;
}
} // extern "C"

22
hal/src/main/native/sim/HAL.cpp
View File

@@ -222,6 +222,28 @@ int64_t HAL_GetFPGARevision(int32_t* status) {
uint64_t HAL_GetFPGATime(int32_t* status) { return hal::GetFPGATime(); }
uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status) {
// Capture the current FPGA time. This will give us the upper half of the
// clock.
uint64_t fpga_time = HAL_GetFPGATime(status);
if (*status != 0) return 0;
// Now, we need to detect the case where the lower bits rolled over after we
// sampled. In that case, the upper bits will be 1 bigger than they should
// be.
// Break it into lower and upper portions.
uint32_t lower = fpga_time & 0xffffffffull;
uint64_t upper = (fpga_time >> 32) & 0xffffffff;
// The time was sampled *before* the current time, so roll it back.
if (lower < unexpanded_lower) {
--upper;
}
return (upper << 32) + static_cast<uint64_t>(unexpanded_lower);
}
HAL_Bool HAL_GetFPGAButton(int32_t* status) {
return SimRoboRioData[0].fpgaButton;
}