Add DMA support to HAL and WPILibC (#2080)

2026-06-20 00:51:42 +00:00 · 2019-11-14 22:52:34 -08:00
parent 8280b7e3af
commit 82b2170feb
22 changed files with 1672 additions and 2 deletions
--- a/hal/src/main/native/sim/DMA.cpp
+++ b/hal/src/main/native/sim/DMA.cpp
@@ -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"