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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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55
hal/src/main/native/athena/InterruptManager.cpp
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@@ -6,34 +6,11 @@
#include <fmt/format.h>
#include "FPGACalls.h"
#include "HALInternal.h"
#include "dlfcn.h"
#include "hal/Errors.h"
// Low level FPGA calls
using HAL_NiFpga_ReserveIrqContextFunc =
NiFpga_Status (*)(NiFpga_Session session, NiFpga_IrqContext* context);
static HAL_NiFpga_ReserveIrqContextFunc HAL_NiFpga_ReserveIrqContext;
using HAL_NiFpga_UnreserveIrqContextFunc =
NiFpga_Status (*)(NiFpga_Session session, NiFpga_IrqContext context);
static HAL_NiFpga_UnreserveIrqContextFunc HAL_NiFpga_UnreserveIrqContext;
using HAL_NiFpga_WaitOnIrqsFunc = NiFpga_Status (*)(
NiFpga_Session session, NiFpga_IrqContext context, uint32_t irqs,
uint32_t timeout, uint32_t* irqsAsserted, NiFpga_Bool* timedOut);
static HAL_NiFpga_WaitOnIrqsFunc HAL_NiFpga_WaitOnIrqs;
using HAL_NiFpga_AcknowledgeIrqsFunc = NiFpga_Status (*)(NiFpga_Session session,
uint32_t irqs);
static HAL_NiFpga_AcknowledgeIrqsFunc HAL_NiFpga_AcknowledgeIrqs;
static void* NiFpgaLibrary = nullptr;
using namespace hal;
InterruptManager& InterruptManager::GetInstance() {
@@ -41,37 +18,9 @@ InterruptManager& InterruptManager::GetInstance() {
return manager;
}
int32_t InterruptManager::Initialize(tSystemInterface* baseSystem) {
void InterruptManager::Initialize(tSystemInterface* baseSystem) {
auto& manager = GetInstance();
manager.fpgaSession = baseSystem->getHandle();
NiFpgaLibrary = dlopen("libNiFpga.so", RTLD_LAZY);
if (!NiFpgaLibrary) {
return errno;
}
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
HAL_NiFpga_ReserveIrqContext =
reinterpret_cast<HAL_NiFpga_ReserveIrqContextFunc>(
dlsym(NiFpgaLibrary, "NiFpgaDll_ReserveIrqContext"));
HAL_NiFpga_UnreserveIrqContext =
reinterpret_cast<HAL_NiFpga_UnreserveIrqContextFunc>(
dlsym(NiFpgaLibrary, "NiFpgaDll_UnreserveIrqContext"));
HAL_NiFpga_WaitOnIrqs = reinterpret_cast<HAL_NiFpga_WaitOnIrqsFunc>(
dlsym(NiFpgaLibrary, "NiFpgaDll_WaitOnIrqs"));
HAL_NiFpga_AcknowledgeIrqs = reinterpret_cast<HAL_NiFpga_AcknowledgeIrqsFunc>(
dlsym(NiFpgaLibrary, "NiFpgaDll_AcknowledgeIrqs"));
#pragma GCC diagnostic pop
if (HAL_NiFpga_ReserveIrqContext == nullptr ||
HAL_NiFpga_UnreserveIrqContext == nullptr ||
HAL_NiFpga_WaitOnIrqs == nullptr ||
HAL_NiFpga_AcknowledgeIrqs == nullptr) {
return NO_AVAILABLE_RESOURCES;
}
return HAL_SUCCESS;
}
NiFpga_IrqContext InterruptManager::GetContext() noexcept {