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[hal] Use new HMB api for addressable LED (#4479)

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Theres is now a built in HMB api, but you have to dlopen it to access it. Moved our existing infrastructure for this to its own class, added the new functions, then updated interrupts and LEDs to use it.
This commit is contained in:
Thad House
2022-10-24 18:26:07 -07:00
committed by GitHub
parent ba850bac3b
commit ad53fb19b4
6 changed files with 133 additions and 107 deletions
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59
hal/src/main/native/athena/AddressableLED.cpp
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@@ -6,11 +6,11 @@
#include <cstring>
#include <FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga_HMB.h>
#include <fmt/format.h>
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "FPGACalls.h"
#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
@@ -21,51 +21,6 @@
using namespace hal;
extern "C" {
NiFpga_Status NiFpga_ClientFunctionCall(NiFpga_Session session, uint32_t group,
uint32_t functionId,
const void* inBuffer,
size_t inBufferSize, void* outBuffer,
size_t outBufferSize);
} // extern "C"
// Shim for broken ChipObject function
static const uint32_t clientFeature_hostMemoryBuffer = 0;
static const uint32_t hostMemoryBufferFunction_open = 2;
// Input arguments for HMB open
struct AtomicHMBOpenInputs {
const char* memoryName;
};
// Output arguments for HMB open
struct AtomicHMBOpenOutputs {
size_t size;
void* virtualAddress;
};
static NiFpga_Status OpenHostMemoryBuffer(NiFpga_Session session,
const char* memoryName,
void** virtualAddress, size_t* size) {
struct AtomicHMBOpenOutputs outputs;
struct AtomicHMBOpenInputs inputs;
inputs.memoryName = memoryName;
NiFpga_Status retval = NiFpga_ClientFunctionCall(
session, clientFeature_hostMemoryBuffer, hostMemoryBufferFunction_open,
&inputs, sizeof(struct AtomicHMBOpenInputs), &outputs,
sizeof(struct AtomicHMBOpenOutputs));
if (NiFpga_IsError(retval)) {
return retval;
}
*virtualAddress = outputs.virtualAddress;
if (size) {
*size = outputs.size;
}
return retval;
}
namespace {
struct AddressableLED {
std::unique_ptr<tLED> led;
@@ -89,6 +44,8 @@ void InitializeAddressableLED() {
}
} // namespace hal::init
static constexpr const char* HmbName = "HMB_0_LED";
extern "C" {
HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
@@ -146,8 +103,8 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
uint32_t session = led->led->getSystemInterface()->getHandle();
*status = OpenHostMemoryBuffer(session, "HMB_0_LED", &led->ledBuffer,
&led->ledBufferSize);
*status = hal::HAL_NiFpga_OpenHmb(session, HmbName, &led->ledBufferSize,
&led->ledBuffer);
if (*status != 0) {
addressableLEDHandles->Free(handle);
@@ -158,6 +115,12 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
}
void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {
auto led = addressableLEDHandles->Get(handle);
if (!led) {
return;
}
uint32_t session = led->led->getSystemInterface()->getHandle();
hal::HAL_NiFpga_CloseHmb(session, HmbName);
addressableLEDHandles->Free(handle);
}