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[hal, wpilib] Remove SPI support (#7678)

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This commit is contained in:
Thad House
2025-01-17 00:22:29 -08:00
committed by GitHub
parent dc335ddedb
commit 92f0a3c961
84 changed files with 12 additions and 12763 deletions
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3
hal/src/main/native/sim/HAL.cpp
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@@ -85,8 +85,6 @@ void InitializeHAL() {
InitializePWMData();
InitializeRoboRioData();
InitializeSimDeviceData();
InitializeSPIAccelerometerData();
InitializeSPIData();
InitializeAccelerometer();
InitializeAddressableLED();
InitializeAnalogAccumulator();
@@ -116,7 +114,6 @@ void InitializeHAL() {
InitializePWM();
InitializeSerialPort();
InitializeSimDevice();
InitializeSPI();
InitializeThreads();
}
} // namespace hal::init

3
hal/src/main/native/sim/HALInitializer.h
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@@ -36,8 +36,6 @@ extern void InitializePowerDistributionData();
extern void InitializePWMData();
extern void InitializeRoboRioData();
extern void InitializeSimDeviceData();
extern void InitializeSPIAccelerometerData();
extern void InitializeSPIData();
extern void InitializeAccelerometer();
extern void InitializeAddressableLED();
extern void InitializeAnalogAccumulator();
@@ -67,7 +65,6 @@ extern void InitializeREVPH();
extern void InitializePWM();
extern void InitializeSerialPort();
extern void InitializeSimDevice();
extern void InitializeSPI();
extern void InitializeThreads();
} // namespace hal::init

74
hal/src/main/native/sim/SPI.cpp
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@@ -1,74 +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 "hal/SPI.h"
#include "HALInitializer.h"
#include "mockdata/SPIDataInternal.h"
using namespace hal;
namespace hal::init {
void InitializeSPI() {}
} // namespace hal::init
extern "C" {
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
hal::init::CheckInit();
SimSPIData[port].initialized = true;
}
int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size) {
return SimSPIData[port].Transaction(dataToSend, dataReceived, size);
}
int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend,
int32_t sendSize) {
return SimSPIData[port].Write(dataToSend, sendSize);
}
int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) {
return SimSPIData[port].Read(buffer, count);
}
void HAL_CloseSPI(HAL_SPIPort port) {
SimSPIData[port].initialized = false;
}
void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) {}
void HAL_SetSPIMode(HAL_SPIPort port, HAL_SPIMode mode) {}
HAL_SPIMode HAL_GetSPIMode(HAL_SPIPort port) {
return HAL_SPI_kMode0;
}
void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {}
void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {}
int32_t HAL_GetSPIHandle(HAL_SPIPort port) {
return 0;
}
void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) {}
void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status) {}
void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status) {}
void HAL_StartSPIAutoRate(HAL_SPIPort port, double period, int32_t* status) {}
void HAL_StartSPIAutoTrigger(HAL_SPIPort port, HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
HAL_Bool triggerRising, HAL_Bool triggerFalling,
int32_t* status) {}
void HAL_StopSPIAuto(HAL_SPIPort port, int32_t* status) {}
void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
int32_t dataSize, int32_t zeroSize,
int32_t* status) {}
void HAL_ForceSPIAutoRead(HAL_SPIPort port, int32_t* status) {}
int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint32_t* buffer,
int32_t numToRead, double timeout,
int32_t* status) {
return SimSPIData[port].ReadAutoReceivedData(buffer, numToRead, timeout,
status);
}
int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status) {
return 0;
}
void HAL_ConfigureSPIAutoStall(HAL_SPIPort port, int32_t csToSclkTicks,
int32_t stallTicks, int32_t pow2BytesPerRead,
int32_t* status) {}
} // extern "C"

10
hal/src/main/native/sim/mockdata/Reset.cpp
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@@ -19,8 +19,6 @@
#include <hal/simulation/PowerDistributionData.h>
#include <hal/simulation/REVPHData.h>
#include <hal/simulation/RoboRioData.h>
#include <hal/simulation/SPIAccelerometerData.h>
#include <hal/simulation/SPIData.h>
#include <hal/simulation/SimDeviceData.h>
#include "../PortsInternal.h"
@@ -88,12 +86,4 @@ extern "C" void HALSIM_ResetAllSimData(void) {
HALSIM_ResetRoboRioData();
HALSIM_ResetSimDeviceData();
for (int32_t i = 0; i < hal::kSPIAccelerometers; i++) {
HALSIM_ResetSPIAccelerometerData(i);
}
for (int32_t i = 0; i < hal::kSPIPorts; i++) {
HALSIM_ResetSPIData(i);
}
}

55
hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp
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@@ -1,55 +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 "../PortsInternal.h"
#include "SPIAccelerometerDataInternal.h"
using namespace hal;
namespace hal::init {
void InitializeSPIAccelerometerData() {
static SPIAccelerometerData ssad[kSPIAccelerometers];
::hal::SimSPIAccelerometerData = ssad;
}
} // namespace hal::init
SPIAccelerometerData* hal::SimSPIAccelerometerData;
void SPIAccelerometerData::ResetData() {
active.Reset(false);
range.Reset(0);
x.Reset(0.0);
y.Reset(0.0);
z.Reset(0.0);
}
extern "C" {
void HALSIM_ResetSPIAccelerometerData(int32_t index) {
SimSPIAccelerometerData[index].ResetData();
}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, SPIAccelerometer##CAPINAME, \
SimSPIAccelerometerData, LOWERNAME)
DEFINE_CAPI(HAL_Bool, Active, active)
DEFINE_CAPI(int32_t, Range, range)
DEFINE_CAPI(double, X, x)
DEFINE_CAPI(double, Y, y)
DEFINE_CAPI(double, Z, z)
#define REGISTER(NAME) \
SimSPIAccelerometerData[index].NAME.RegisterCallback(callback, param, \
initialNotify)
void HALSIM_RegisterSPIAccelerometerAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify) {
REGISTER(active);
REGISTER(range);
REGISTER(x);
REGISTER(y);
REGISTER(z);
}
} // extern "C"

28
hal/src/main/native/sim/mockdata/SPIAccelerometerDataInternal.h
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@@ -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 "hal/simulation/SPIAccelerometerData.h"
#include "hal/simulation/SimDataValue.h"
namespace hal {
class SPIAccelerometerData {
HAL_SIMDATAVALUE_DEFINE_NAME(Active)
HAL_SIMDATAVALUE_DEFINE_NAME(Range)
HAL_SIMDATAVALUE_DEFINE_NAME(X)
HAL_SIMDATAVALUE_DEFINE_NAME(Y)
HAL_SIMDATAVALUE_DEFINE_NAME(Z)
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetActiveName> active{false};
SimDataValue<int32_t, HAL_MakeInt, GetRangeName> range{0};
SimDataValue<double, HAL_MakeDouble, GetXName> x{0.0};
SimDataValue<double, HAL_MakeDouble, GetYName> y{0.0};
SimDataValue<double, HAL_MakeDouble, GetZName> z{0.0};
virtual void ResetData();
};
extern SPIAccelerometerData* SimSPIAccelerometerData;
} // namespace hal

70
hal/src/main/native/sim/mockdata/SPIData.cpp
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@@ -1,70 +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 "../PortsInternal.h"
#include "SPIDataInternal.h"
using namespace hal;
namespace hal::init {
void InitializeSPIData() {
static SPIData ssd[kSPIPorts];
::hal::SimSPIData = ssd;
}
} // namespace hal::init
SPIData* hal::SimSPIData;
void SPIData::ResetData() {
initialized.Reset(false);
read.Reset();
write.Reset();
autoReceivedData.Reset();
}
int32_t SPIData::Read(uint8_t* buffer, int32_t count) {
read(buffer, count);
return count;
}
int32_t SPIData::Write(const uint8_t* dataToSend, int32_t sendSize) {
write(dataToSend, sendSize);
return sendSize;
}
int32_t SPIData::Transaction(const uint8_t* dataToSend, uint8_t* dataReceived,
int32_t size) {
write(dataToSend, size);
read(dataReceived, size);
return size;
}
int32_t SPIData::ReadAutoReceivedData(uint32_t* buffer, int32_t numToRead,
double timeout, int32_t* status) {
int32_t outputCount = 0;
autoReceivedData(buffer, numToRead, &outputCount);
return outputCount;
}
extern "C" {
void HALSIM_ResetSPIData(int32_t index) {
SimSPIData[index].ResetData();
}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, SPI##CAPINAME, SimSPIData, \
LOWERNAME)
DEFINE_CAPI(HAL_Bool, Initialized, initialized)
#undef DEFINE_CAPI
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMCALLBACKREGISTRY_DEFINE_CAPI(TYPE, HALSIM, SPI##CAPINAME, SimSPIData, \
LOWERNAME)
DEFINE_CAPI(HAL_BufferCallback, Read, read)
DEFINE_CAPI(HAL_ConstBufferCallback, Write, write)
DEFINE_CAPI(HAL_SpiReadAutoReceiveBufferCallback, ReadAutoReceivedData,
autoReceivedData)
} // extern "C"

37
hal/src/main/native/sim/mockdata/SPIDataInternal.h
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@@ -1,37 +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 "hal/simulation/SPIData.h"
#include "hal/simulation/SimCallbackRegistry.h"
#include "hal/simulation/SimDataValue.h"
namespace hal {
class SPIData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(Read)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(Write)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(AutoReceive)
public:
int32_t Read(uint8_t* buffer, int32_t count);
int32_t Write(const uint8_t* dataToSend, int32_t sendSize);
int32_t Transaction(const uint8_t* dataToSend, uint8_t* dataReceived,
int32_t size);
int32_t ReadAutoReceivedData(uint32_t* buffer, int32_t numToRead,
double timeout, int32_t* status);
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
false};
SimCallbackRegistry<HAL_BufferCallback, GetReadName> read;
SimCallbackRegistry<HAL_ConstBufferCallback, GetWriteName> write;
SimCallbackRegistry<HAL_SpiReadAutoReceiveBufferCallback, GetAutoReceiveName>
autoReceivedData;
void ResetData();
};
extern SPIData* SimSPIData;
} // namespace hal