Add DMA support to HAL and WPILibC (#2080)

wpilibc/src/main/native/include/frc/DMA.h

@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <hal/Types.h>
+
+#include "frc/ErrorBase.h"
+
+namespace frc {
+class Encoder;
+class Counter;
+class DigitalSource;
+class DutyCycle;
+class AnalogInput;
+class DMASample;
+
+class DMA : public ErrorBase {
+  friend class DMASample;
+
+ public:
+  DMA();
+  ~DMA() override;
+
+  DMA& operator=(DMA&& other) = default;
+  DMA(DMA&& other) = default;
+
+  void SetPause(bool pause);
+  void SetRate(int cycles);
+
+  void AddEncoder(const Encoder* encoder);
+  void AddEncoderPeriod(const Encoder* encoder);
+
+  void AddCounter(const Counter* counter);
+  void AddCounterPeriod(const Counter* counter);
+
+  void AddDigitalSource(const DigitalSource* digitalSource);
+
+  void AddDutyCycle(const DutyCycle* digitalSource);
+
+  void AddAnalogInput(const AnalogInput* analogInput);
+  void AddAveragedAnalogInput(const AnalogInput* analogInput);
+  void AddAnalogAccumulator(const AnalogInput* analogInput);
+
+  void SetExternalTrigger(DigitalSource* source, bool rising, bool falling);
+
+  void StartDMA(int queueDepth);
+  void StopDMA();
+
+ private:
+  hal::Handle<HAL_DMAHandle> dmaHandle;
+};
+}  // namespace frc