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Switches SPI and I2C to use enums in the HAL for ports (#531)

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Closes #397
This commit is contained in:
Thad House
2017-05-09 12:12:46 -07:00
committed by Peter Johnson
parent 67d62ba164
commit b2f3479692
14 changed files with 198 additions and 183 deletions
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14
hal/include/HAL/I2C.h
View File

@@ -9,19 +9,21 @@
#include <stdint.h>
enum HAL_I2CPort : int32_t { HAL_I2C_kOnboard = 0, HAL_I2C_kMXP };
#ifdef __cplusplus
extern "C" {
#endif
void HAL_InitializeI2C(int32_t port, int32_t* status);
int32_t HAL_TransactionI2C(int32_t port, int32_t deviceAddress,
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status);
int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
uint8_t* dataToSend, int32_t sendSize,
uint8_t* dataReceived, int32_t receiveSize);
int32_t HAL_WriteI2C(int32_t port, int32_t deviceAddress, uint8_t* dataToSend,
int32_t sendSize);
int32_t HAL_ReadI2C(int32_t port, int32_t deviceAddress, uint8_t* buffer,
int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
uint8_t* dataToSend, int32_t sendSize);
int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
int32_t count);
void HAL_CloseI2C(int32_t port);
void HAL_CloseI2C(HAL_I2CPort port);
#ifdef __cplusplus
}
#endif

55
hal/include/HAL/SPI.h
View File

@@ -11,40 +11,49 @@
#include "HAL/Types.h"
enum HAL_SPIPort : int32_t {
HAL_SPI_kOnboardCS0 = 0,
HAL_SPI_kOnboardCS1,
HAL_SPI_kOnboardCS2,
HAL_SPI_kOnboardCS3,
HAL_SPI_kMXP
};
#ifdef __cplusplus
extern "C" {
#endif
void HAL_InitializeSPI(int32_t port, int32_t* status);
int32_t HAL_TransactionSPI(int32_t port, uint8_t* dataToSend,
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status);
int32_t HAL_TransactionSPI(HAL_SPIPort port, uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size);
int32_t HAL_WriteSPI(int32_t port, uint8_t* dataToSend, int32_t sendSize);
int32_t HAL_ReadSPI(int32_t port, uint8_t* buffer, int32_t count);
void HAL_CloseSPI(int32_t port);
void HAL_SetSPISpeed(int32_t port, int32_t speed);
void HAL_SetSPIOpts(int32_t port, HAL_Bool msbFirst, HAL_Bool sampleOnTrailing,
HAL_Bool clkIdleHigh);
void HAL_SetSPIChipSelectActiveHigh(int32_t port, int32_t* status);
void HAL_SetSPIChipSelectActiveLow(int32_t port, int32_t* status);
int32_t HAL_GetSPIHandle(int32_t port);
void HAL_SetSPIHandle(int32_t port, int32_t handle);
int32_t HAL_WriteSPI(HAL_SPIPort port, uint8_t* dataToSend, int32_t sendSize);
int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count);
void HAL_CloseSPI(HAL_SPIPort port);
void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed);
void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh);
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);
void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle);
void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
void HAL_InitSPIAccumulator(HAL_SPIPort port, int32_t period, int32_t cmd,
int32_t xferSize, int32_t validMask,
int32_t validValue, int32_t dataShift,
int32_t dataSize, HAL_Bool isSigned,
HAL_Bool bigEndian, int32_t* status);
void HAL_FreeSPIAccumulator(int32_t port, int32_t* status);
void HAL_ResetSPIAccumulator(int32_t port, int32_t* status);
void HAL_SetSPIAccumulatorCenter(int32_t port, int32_t center, int32_t* status);
void HAL_SetSPIAccumulatorDeadband(int32_t port, int32_t deadband,
int32_t* status);
int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status);
int64_t HAL_GetSPIAccumulatorValue(int32_t port, int32_t* status);
int64_t HAL_GetSPIAccumulatorCount(int32_t port, int32_t* status);
double HAL_GetSPIAccumulatorAverage(int32_t port, int32_t* status);
void HAL_GetSPIAccumulatorOutput(int32_t port, int64_t* value, int64_t* count,
void HAL_FreeSPIAccumulator(HAL_SPIPort port, int32_t* status);
void HAL_ResetSPIAccumulator(HAL_SPIPort port, int32_t* status);
void HAL_SetSPIAccumulatorCenter(HAL_SPIPort port, int32_t center,
int32_t* status);
void HAL_SetSPIAccumulatorDeadband(HAL_SPIPort port, int32_t deadband,
int32_t* status);
int32_t HAL_GetSPIAccumulatorLastValue(HAL_SPIPort port, int32_t* status);
int64_t HAL_GetSPIAccumulatorValue(HAL_SPIPort port, int32_t* status);
int64_t HAL_GetSPIAccumulatorCount(HAL_SPIPort port, int32_t* status);
double HAL_GetSPIAccumulatorAverage(HAL_SPIPort port, int32_t* status);
void HAL_GetSPIAccumulatorOutput(HAL_SPIPort port, int64_t* value,
int64_t* count, int32_t* status);
#ifdef __cplusplus
}
#endif

12
hal/lib/athena/I2C.cpp
View File

@@ -31,7 +31,7 @@ extern "C" {
* If opening the MXP port, also sets up the channel functions appropriately
* @param port The port to open, 0 for the on-board, 1 for the MXP.
*/
void HAL_InitializeI2C(int32_t port, int32_t* status) {
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
initializeDigital(status);
if (*status != 0) return;
@@ -80,7 +80,7 @@ void HAL_InitializeI2C(int32_t port, int32_t* status) {
* @param receiveSize Number of bytes to read from the device.
* @return >= 0 on success or -1 on transfer abort.
*/
int32_t HAL_TransactionI2C(int32_t port, int32_t deviceAddress,
int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
uint8_t* dataToSend, int32_t sendSize,
uint8_t* dataReceived, int32_t receiveSize) {
if (port > 1) {
@@ -112,8 +112,8 @@ int32_t HAL_TransactionI2C(int32_t port, int32_t deviceAddress,
* @param data The byte to write to the register on the device.
* @return >= 0 on success or -1 on transfer abort.
*/
int32_t HAL_WriteI2C(int32_t port, int32_t deviceAddress, uint8_t* dataToSend,
int32_t sendSize) {
int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
uint8_t* dataToSend, int32_t sendSize) {
if (port > 1) {
// Set port out of range error here
return -1;
@@ -142,7 +142,7 @@ int32_t HAL_WriteI2C(int32_t port, int32_t deviceAddress, uint8_t* dataToSend,
* device.
* @return >= 0 on success or -1 on transfer abort.
*/
int32_t HAL_ReadI2C(int32_t port, int32_t deviceAddress, uint8_t* buffer,
int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
int32_t count) {
if (port > 1) {
// Set port out of range error here
@@ -159,7 +159,7 @@ int32_t HAL_ReadI2C(int32_t port, int32_t deviceAddress, uint8_t* buffer,
}
}
void HAL_CloseI2C(int32_t port) {
void HAL_CloseI2C(HAL_I2CPort port) {
if (port > 1) {
// Set port out of range error here
return;

61
hal/lib/athena/SPI.cpp
View File

@@ -40,7 +40,7 @@ static HAL_DigitalHandle digitalHandles[9]{HAL_kInvalidHandle};
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @return The semaphore for the SPI port.
*/
static priority_recursive_mutex& spiGetMutex(int32_t port) {
static priority_recursive_mutex& spiGetMutex(HAL_SPIPort port) {
if (port < 4)
return spiOnboardMutex;
else
@@ -68,7 +68,7 @@ struct SPIAccumulator {
int32_t dataMsbMask; // data field MSB mask (for signed)
uint8_t dataShift; // data field shift right amount, in bits
uint8_t xferSize; // SPI transfer size, in bytes (up to 4)
uint8_t port;
HAL_SPIPort port;
bool isSigned; // is data field signed?
bool bigEndian; // is response big endian?
};
@@ -111,14 +111,14 @@ static void CommonSPIPortFree() {
* If opening the MXP port, also sets up the channel functions appropriately
* @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP
*/
void HAL_InitializeSPI(int32_t port, int32_t* status) {
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
if (HAL_GetSPIHandle(port) != 0) return;
switch (port) {
case 0:
CommonSPIPortInit(status);
if (*status != 0) return;
// CS0 is not a DIO port, so nothing to allocate
HAL_SetSPIHandle(0, spilib_open("/dev/spidev0.0"));
HAL_SetSPIHandle(HAL_SPI_kOnboardCS0, spilib_open("/dev/spidev0.0"));
break;
case 1:
CommonSPIPortInit(status);
@@ -131,7 +131,7 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
CommonSPIPortFree();
return;
}
HAL_SetSPIHandle(1, spilib_open("/dev/spidev0.1"));
HAL_SetSPIHandle(HAL_SPI_kOnboardCS1, spilib_open("/dev/spidev0.1"));
break;
case 2:
CommonSPIPortInit(status);
@@ -144,7 +144,7 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
CommonSPIPortFree();
return;
}
HAL_SetSPIHandle(2, spilib_open("/dev/spidev0.2"));
HAL_SetSPIHandle(HAL_SPI_kOnboardCS2, spilib_open("/dev/spidev0.2"));
break;
case 3:
CommonSPIPortInit(status);
@@ -157,7 +157,7 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
CommonSPIPortFree();
return;
}
HAL_SetSPIHandle(3, spilib_open("/dev/spidev0.3"));
HAL_SetSPIHandle(HAL_SPI_kOnboardCS3, spilib_open("/dev/spidev0.3"));
break;
case 4:
initializeDigital(status);
@@ -194,7 +194,7 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
}
digitalSystem->writeEnableMXPSpecialFunction(
digitalSystem->readEnableMXPSpecialFunction(status) | 0x00F0, status);
HAL_SetSPIHandle(4, spilib_open("/dev/spidev1.0"));
HAL_SetSPIHandle(HAL_SPI_kMXP, spilib_open("/dev/spidev1.0"));
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
@@ -215,7 +215,7 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
* @param size Number of bytes to transfer. [0..7]
* @return Number of bytes transferred, -1 for error
*/
int32_t HAL_TransactionSPI(int32_t port, uint8_t* dataToSend,
int32_t HAL_TransactionSPI(HAL_SPIPort port, uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
return spilib_writeread(
@@ -233,7 +233,7 @@ int32_t HAL_TransactionSPI(int32_t port, uint8_t* dataToSend,
* @param sendSize The number of bytes to be written
* @return The number of bytes written. -1 for an error
*/
int32_t HAL_WriteSPI(int32_t port, uint8_t* dataToSend, int32_t sendSize) {
int32_t HAL_WriteSPI(HAL_SPIPort port, uint8_t* dataToSend, int32_t sendSize) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
return spilib_write(HAL_GetSPIHandle(port),
reinterpret_cast<const char*>(dataToSend),
@@ -253,7 +253,7 @@ int32_t HAL_WriteSPI(int32_t port, uint8_t* dataToSend, int32_t sendSize) {
* @param count The number of bytes to read in the transaction. [1..7]
* @return Number of bytes read. -1 for error.
*/
int32_t HAL_ReadSPI(int32_t port, uint8_t* buffer, int32_t count) {
int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
return spilib_read(HAL_GetSPIHandle(port), reinterpret_cast<char*>(buffer),
static_cast<int32_t>(count));
@@ -264,7 +264,7 @@ int32_t HAL_ReadSPI(int32_t port, uint8_t* buffer, int32_t count) {
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_CloseSPI(int32_t port) {
void HAL_CloseSPI(HAL_SPIPort port) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
if (spiAccumulators[port]) {
int32_t status = 0;
@@ -304,7 +304,7 @@ void HAL_CloseSPI(int32_t port) {
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param speed The speed in Hz (0-1MHz)
*/
void HAL_SetSPISpeed(int32_t port, int32_t speed) {
void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
spilib_setspeed(HAL_GetSPIHandle(port), speed);
}
@@ -319,8 +319,8 @@ void HAL_SetSPISpeed(int32_t port, int32_t speed) {
* @param clkIdleHigh True to set the clock to active low, False to set the
* clock active high
*/
void HAL_SetSPIOpts(int32_t port, HAL_Bool msbFirst, HAL_Bool sampleOnTrailing,
HAL_Bool clkIdleHigh) {
void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
spilib_setopts(HAL_GetSPIHandle(port), msbFirst, sampleOnTrailing,
clkIdleHigh);
@@ -331,7 +331,7 @@ void HAL_SetSPIOpts(int32_t port, HAL_Bool msbFirst, HAL_Bool sampleOnTrailing,
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SetSPIChipSelectActiveHigh(int32_t port, int32_t* status) {
void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
@@ -346,7 +346,7 @@ void HAL_SetSPIChipSelectActiveHigh(int32_t port, int32_t* status) {
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SetSPIChipSelectActiveLow(int32_t port, int32_t* status) {
void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
@@ -362,7 +362,7 @@ void HAL_SetSPIChipSelectActiveLow(int32_t port, int32_t* status) {
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @return The stored handle for the SPI port. 0 represents no stored handle.
*/
int32_t HAL_GetSPIHandle(int32_t port) {
int32_t HAL_GetSPIHandle(HAL_SPIPort port) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
switch (port) {
case 0:
@@ -387,7 +387,7 @@ int32_t HAL_GetSPIHandle(int32_t port) {
* MXP.
* @param handle The value of the handle for the port.
*/
void HAL_SetSPIHandle(int32_t port, int32_t handle) {
void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
switch (port) {
case 0:
@@ -482,7 +482,7 @@ static void spiAccumulatorProcess(uint64_t currentTime,
* @param isSigned Is data field signed?
* @param bigEndian Is device big endian?
*/
void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
void HAL_InitSPIAccumulator(HAL_SPIPort port, int32_t period, int32_t cmd,
int32_t xferSize, int32_t validMask,
int32_t validValue, int32_t dataShift,
int32_t dataSize, HAL_Bool isSigned,
@@ -515,6 +515,7 @@ void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
accum->dataMsbMask = (1 << (dataSize - 1));
accum->isSigned = isSigned;
accum->bigEndian = bigEndian;
accum->port = port;
if (!accum->notifier) {
accum->notifier =
HAL_InitializeNotifier(spiAccumulatorProcess, accum, status);
@@ -527,7 +528,7 @@ void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
/**
* Frees a SPI accumulator.
*/
void HAL_FreeSPIAccumulator(int32_t port, int32_t* status) {
void HAL_FreeSPIAccumulator(HAL_SPIPort port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
@@ -542,7 +543,7 @@ void HAL_FreeSPIAccumulator(int32_t port, int32_t* status) {
/**
* Resets the accumulator to zero.
*/
void HAL_ResetSPIAccumulator(int32_t port, int32_t* status) {
void HAL_ResetSPIAccumulator(HAL_SPIPort port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
@@ -563,7 +564,7 @@ void HAL_ResetSPIAccumulator(int32_t port, int32_t* status) {
* integration work
* and to take the device offset into account when integrating.
*/
void HAL_SetSPIAccumulatorCenter(int32_t port, int32_t center,
void HAL_SetSPIAccumulatorCenter(HAL_SPIPort port, int32_t center,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port].get();
@@ -577,7 +578,7 @@ void HAL_SetSPIAccumulatorCenter(int32_t port, int32_t center,
/**
* Set the accumulator's deadband.
*/
void HAL_SetSPIAccumulatorDeadband(int32_t port, int32_t deadband,
void HAL_SetSPIAccumulatorDeadband(HAL_SPIPort port, int32_t deadband,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port].get();
@@ -591,7 +592,7 @@ void HAL_SetSPIAccumulatorDeadband(int32_t port, int32_t deadband,
/**
* Read the last value read by the accumulator engine.
*/
int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status) {
int32_t HAL_GetSPIAccumulatorLastValue(HAL_SPIPort port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
@@ -606,7 +607,7 @@ int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status) {
*
* @return The 64-bit value accumulated since the last Reset().
*/
int64_t HAL_GetSPIAccumulatorValue(int32_t port, int32_t* status) {
int64_t HAL_GetSPIAccumulatorValue(HAL_SPIPort port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
@@ -624,7 +625,7 @@ int64_t HAL_GetSPIAccumulatorValue(int32_t port, int32_t* status) {
*
* @return The number of times samples from the channel were accumulated.
*/
int64_t HAL_GetSPIAccumulatorCount(int32_t port, int32_t* status) {
int64_t HAL_GetSPIAccumulatorCount(HAL_SPIPort port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
@@ -639,7 +640,7 @@ int64_t HAL_GetSPIAccumulatorCount(int32_t port, int32_t* status) {
*
* @return The accumulated average value (value / count).
*/
double HAL_GetSPIAccumulatorAverage(int32_t port, int32_t* status) {
double HAL_GetSPIAccumulatorAverage(HAL_SPIPort port, int32_t* status) {
int64_t value;
int64_t count;
HAL_GetSPIAccumulatorOutput(port, &value, &count, status);
@@ -656,8 +657,8 @@ double HAL_GetSPIAccumulatorAverage(int32_t port, int32_t* status) {
* @param value Pointer to the 64-bit accumulated output.
* @param count Pointer to the number of accumulation cycles.
*/
void HAL_GetSPIAccumulatorOutput(int32_t port, int64_t* value, int64_t* count,
int32_t* status) {
void HAL_GetSPIAccumulatorOutput(HAL_SPIPort port, int64_t* value,
int64_t* count, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {

6
wpilibc/athena/include/I2C.h
View File

@@ -9,6 +9,8 @@
#include "SensorBase.h"
enum HAL_I2CPort : int32_t;
namespace frc {
/**
@@ -20,7 +22,7 @@ namespace frc {
*/
class I2C : SensorBase {
public:
enum Port { kOnboard, kMXP };
enum Port { kOnboard = 0, kMXP };
I2C(Port port, int deviceAddress);
virtual ~I2C();
@@ -39,7 +41,7 @@ class I2C : SensorBase {
bool VerifySensor(int registerAddress, int count, const uint8_t* expected);
private:
Port m_port;
HAL_I2CPort m_port;
int m_deviceAddress;
};

8
wpilibc/athena/include/SPI.h
View File

@@ -9,6 +9,8 @@
#include "SensorBase.h"
enum HAL_SPIPort : int32_t;
namespace frc {
class DigitalOutput;
@@ -23,8 +25,8 @@ class DigitalInput;
*/
class SPI : public SensorBase {
public:
enum Port { kOnboardCS0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
explicit SPI(Port SPIport);
enum Port { kOnboardCS0 = 0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
explicit SPI(Port port);
virtual ~SPI();
SPI(const SPI&) = delete;
@@ -62,7 +64,7 @@ class SPI : public SensorBase {
void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
protected:
int m_port;
HAL_SPIPort m_port;
bool m_msbFirst = false; // default little-endian
bool m_sampleOnTrailing = false; // default data updated on falling edge
bool m_clk_idle_high = false; // default clock active high

2
wpilibc/athena/src/I2C.cpp
View File

@@ -20,7 +20,7 @@ using namespace frc;
* @param deviceAddress The address of the device on the I2C bus.
*/
I2C::I2C(Port port, int deviceAddress)
: m_port(port), m_deviceAddress(deviceAddress) {
: m_port(static_cast<HAL_I2CPort>(port)), m_deviceAddress(deviceAddress) {
int32_t status = 0;
HAL_InitializeI2C(m_port, &status);
// wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));

5
wpilibc/athena/src/SPI.cpp
View File

@@ -19,10 +19,9 @@ using namespace frc;
/**
* Constructor
*
* @param SPIport the physical SPI port
* @param port the physical SPI port
*/
SPI::SPI(Port SPIport) {
m_port = SPIport;
SPI::SPI(Port port) : m_port(static_cast<HAL_SPIPort>(port)) {
int32_t status = 0;
HAL_InitializeSPI(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));

36
wpilibj/src/athena/cpp/lib/I2CJNI.cpp
View File

@@ -30,14 +30,14 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2cInitialize
* Signature: (B)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize(
JNIEnv* env, jclass, jbyte value) {
JNIEnv* env, jclass, jint port) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize";
I2CJNI_LOG(logDEBUG) << "Port: " << (jint)value;
I2CJNI_LOG(logDEBUG) << "Port: " << port;
int32_t status = 0;
HAL_InitializeI2C(value, &status);
HAL_InitializeI2C(static_cast<HAL_I2CPort>(port), &status);
I2CJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatusForceThrow(env, status);
}
@@ -45,13 +45,13 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize(
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CTransaction
* Signature: (BBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;B)I
* Signature: (IBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction(
JNIEnv* env, jclass, jbyte port, jbyte address, jobject dataToSend,
JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
jbyte sendSize, jobject dataReceived, jbyte receiveSize) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransaction";
I2CJNI_LOG(logDEBUG) << "Port = " << (jint)port;
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
@@ -63,7 +63,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction(
(uint8_t*)env->GetDirectBufferAddress(dataReceived);
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
jint returnValue = HAL_TransactionI2C(port, address, dataToSendPtr, sendSize,
jint returnValue = HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr, sendSize,
dataReceivedPtr, receiveSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
@@ -72,13 +72,13 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction(
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CWrite
* Signature: (BBLjava/nio/ByteBuffer;B)I
* Signature: (IBLjava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite(
JNIEnv* env, jclass, jbyte port, jbyte address, jobject dataToSend,
JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
jbyte sendSize) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
I2CJNI_LOG(logDEBUG) << "Port = " << (jint)port;
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
uint8_t* dataToSendPtr = nullptr;
@@ -87,7 +87,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite(
}
I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)dataToSend;
jint returnValue = HAL_WriteI2C(port, address, dataToSendPtr, sendSize);
jint returnValue = HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr, sendSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
return returnValue;
}
@@ -95,10 +95,10 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite(
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CRead
* Signature: (BBLjava/nio/ByteBuffer;B)I
* Signature: (IBLjava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
JNIEnv* env, jclass, jbyte port, jbyte address, jobject dataReceived,
JNIEnv* env, jclass, jint port, jbyte address, jobject dataReceived,
jbyte receiveSize) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
@@ -107,7 +107,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
(uint8_t*)env->GetDirectBufferAddress(dataReceived);
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
jint returnValue = HAL_ReadI2C(port, address, dataReceivedPtr, receiveSize);
jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address, dataReceivedPtr, receiveSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
@@ -115,12 +115,12 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CClose
* Signature: (B)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose(JNIEnv*, jclass, jbyte value) {
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose(JNIEnv*, jclass, jint port) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CClose";
HAL_CloseI2C(value);
HAL_CloseI2C(static_cast<HAL_I2CPort>(port));
}
} // extern "C"

114
wpilibj/src/athena/cpp/lib/SPIJNI.cpp
View File

@@ -30,14 +30,14 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiInitialize
* Signature: (B)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize(
JNIEnv *env, jclass, jbyte port) {
JNIEnv *env, jclass, jint port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_InitializeSPI(port, &status);
HAL_InitializeSPI(static_cast<HAL_SPIPort>(port), &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatusForceThrow(env, status);
}
@@ -45,10 +45,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiTransaction
* Signature: (BLjava/nio/ByteBuffer;Ljava/nio/ByteBuffer;B)I
* Signature: (ILjava/nio/ByteBuffer;Ljava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction(
JNIEnv *env, jclass, jbyte port, jobject dataToSend, jobject dataReceived,
JNIEnv *env, jclass, jint port, jobject dataToSend, jobject dataReceived,
jbyte size) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransaction";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
@@ -61,7 +61,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction(
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
jint retVal = HAL_TransactionSPI(port, dataToSendPtr, dataReceivedPtr, size);
jint retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, dataReceivedPtr, size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -69,10 +69,10 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiWrite
* Signature: (BLjava/nio/ByteBuffer;B)I
* Signature: (ILjava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite(
JNIEnv *env, jclass, jbyte port, jobject dataToSend, jbyte size) {
JNIEnv *env, jclass, jint port, jobject dataToSend, jbyte size) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWrite";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
uint8_t *dataToSendPtr = nullptr;
@@ -81,7 +81,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite(
}
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
jint retVal = HAL_WriteSPI(port, dataToSendPtr, size);
jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -89,17 +89,17 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiRead
* Signature: (BLjava/nio/ByteBuffer;B)I
* Signature: (ILjava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead(
JNIEnv *env, jclass, jbyte port, jobject dataReceived, jbyte size) {
JNIEnv *env, jclass, jint port, jobject dataReceived, jbyte size) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiRead";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
uint8_t *dataReceivedPtr =
(uint8_t *)env->GetDirectBufferAddress(dataReceived);
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
jint retVal = HAL_ReadSPI(port, (uint8_t *)dataReceivedPtr, size);
jint retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port), (uint8_t *)dataReceivedPtr, size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -107,56 +107,56 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiClose
* Signature: (B)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose(JNIEnv *, jclass, jbyte port) {
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose(JNIEnv *, jclass, jint port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
HAL_CloseSPI(port);
HAL_CloseSPI(static_cast<HAL_SPIPort>(port));
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetSpeed
* Signature: (BI)V
* Signature: (II)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed(
JNIEnv *, jclass, jbyte port, jint speed) {
JNIEnv *, jclass, jint port, jint speed) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Speed = " << (jint)speed;
HAL_SetSPISpeed(port, speed);
HAL_SetSPISpeed(static_cast<HAL_SPIPort>(port), speed);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetOpts
* Signature: (BIII)V
* Signature: (IIII)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts(
JNIEnv *, jclass, jbyte port, jint msb_first, jint sample_on_trailing,
JNIEnv *, jclass, jint port, jint msb_first, jint sample_on_trailing,
jint clk_idle_high) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetOpts";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
HAL_SetSPIOpts(port, msb_first, sample_on_trailing, clk_idle_high);
HAL_SetSPIOpts(static_cast<HAL_SPIPort>(port), msb_first, sample_on_trailing, clk_idle_high);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetChipSelectActiveHigh
* Signature: (B)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh(
JNIEnv *env, jclass, jbyte port) {
JNIEnv *env, jclass, jint port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_SetSPIChipSelectActiveHigh(port, &status);
HAL_SetSPIChipSelectActiveHigh(static_cast<HAL_SPIPort>(port), &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -164,15 +164,15 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetChipSelectActiveLow
* Signature: (B)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow(
JNIEnv *env, jclass, jbyte port) {
JNIEnv *env, jclass, jint port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_SetSPIChipSelectActiveLow(port, &status);
HAL_SetSPIChipSelectActiveLow(static_cast<HAL_SPIPort>(port), &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -180,10 +180,10 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiInitAccumulator
* Signature: (BIIBIIBBZZ)V
* Signature: (IIIBIIBBZZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAccumulator(
JNIEnv *env, jclass, jbyte port, jint period, jint cmd, jbyte xferSize,
JNIEnv *env, jclass, jint port, jint period, jint cmd, jbyte xferSize,
jint validMask, jint validValue, jbyte dataShift, jbyte dataSize,
jboolean isSigned, jboolean bigEndian) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAccumulator";
@@ -198,7 +198,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAccumulator(
SPIJNI_LOG(logDEBUG) << "IsSigned = " << (jint)isSigned;
SPIJNI_LOG(logDEBUG) << "BigEndian = " << (jint)bigEndian;
int32_t status = 0;
HAL_InitSPIAccumulator(port, period, cmd, xferSize, validMask, validValue,
HAL_InitSPIAccumulator(static_cast<HAL_SPIPort>(port), period, cmd, xferSize, validMask, validValue,
dataShift, dataSize, isSigned, bigEndian, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -207,14 +207,14 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAccumulator(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiFreeAccumulator
* Signature: (B)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAccumulator(
JNIEnv *env, jclass, jbyte port) {
JNIEnv *env, jclass, jint port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAccumulator";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_FreeSPIAccumulator(port, &status);
HAL_FreeSPIAccumulator(static_cast<HAL_SPIPort>(port), &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -222,15 +222,15 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAccumulator(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiResetAccumulator
* Signature: (B)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiResetAccumulator(
JNIEnv *env, jclass, jbyte port) {
JNIEnv *env, jclass, jint port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiResetAccumulator";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_ResetSPIAccumulator(port, &status);
HAL_ResetSPIAccumulator(static_cast<HAL_SPIPort>(port), &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -238,16 +238,16 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiResetAccumulator(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetAccumulatorCenter
* Signature: (BI)V
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorCenter(
JNIEnv *env, jclass, jbyte port, jint center) {
JNIEnv *env, jclass, jint port, jint center) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorCenter";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Center = " << center;
int32_t status = 0;
HAL_SetSPIAccumulatorCenter(port, center, &status);
HAL_SetSPIAccumulatorCenter(static_cast<HAL_SPIPort>(port), center, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -255,16 +255,16 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorCenter(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetAccumulatorDeadband
* Signature: (BI)V
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorDeadband(
JNIEnv *env, jclass, jbyte port, jint deadband) {
JNIEnv *env, jclass, jint port, jint deadband) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorDeadband";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Deadband = " << deadband;
int32_t status = 0;
HAL_SetSPIAccumulatorDeadband(port, deadband, &status);
HAL_SetSPIAccumulatorDeadband(static_cast<HAL_SPIPort>(port), deadband, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -272,15 +272,15 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorDeadband(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorLastValue
* Signature: (B)I
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorLastValue(
JNIEnv *env, jclass, jbyte port) {
JNIEnv *env, jclass, jint port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorLastValue";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
jint retVal = HAL_GetSPIAccumulatorLastValue(port, &status);
jint retVal = HAL_GetSPIAccumulatorLastValue(static_cast<HAL_SPIPort>(port), &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
@@ -290,15 +290,15 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorLastValue(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorValue
* Signature: (B)J
* Signature: (I)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorValue(
JNIEnv *env, jclass, jbyte port) {
JNIEnv *env, jclass, jint port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorValue";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
jlong retVal = HAL_GetSPIAccumulatorValue(port, &status);
jlong retVal = HAL_GetSPIAccumulatorValue(static_cast<HAL_SPIPort>(port), &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
@@ -308,15 +308,15 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorValue(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorCount
* Signature: (B)I
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorCount(
JNIEnv *env, jclass, jbyte port) {
JNIEnv *env, jclass, jint port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorCount";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
jint retVal = HAL_GetSPIAccumulatorCount(port, &status);
jint retVal = HAL_GetSPIAccumulatorCount(static_cast<HAL_SPIPort>(port), &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
@@ -326,15 +326,15 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorCount(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorAverage
* Signature: (B)D
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorAverage(
JNIEnv *env, jclass, jbyte port) {
JNIEnv *env, jclass, jint port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorAverage";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
jdouble retVal = HAL_GetSPIAccumulatorAverage(port, &status);
jdouble retVal = HAL_GetSPIAccumulatorAverage(static_cast<HAL_SPIPort>(port), &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
@@ -344,11 +344,11 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorAverage(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorOutput
* Signature: (BLjava/nio/LongBuffer;Ljava/nio/LongBuffer;)V
* Signature: (ILjava/nio/LongBuffer;Ljava/nio/LongBuffer;)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorOutput(
JNIEnv *env, jclass, jbyte port, jobject value, jobject count) {
JNIEnv *env, jclass, jint port, jobject value, jobject count) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorOutput";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
@@ -356,7 +356,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorOutput(
jlong *valuePtr = (jlong *)env->GetDirectBufferAddress(value);
jlong *countPtr = (jlong *)env->GetDirectBufferAddress(count);
HAL_GetSPIAccumulatorOutput(port, valuePtr, countPtr, &status);
HAL_GetSPIAccumulatorOutput(static_cast<HAL_SPIPort>(port), valuePtr, countPtr, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "Value = " << *valuePtr;

18
wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java
View File

@@ -32,7 +32,7 @@ public class I2C extends SensorBase {
}
}
private final Port m_port;
private final int m_port;
private final int m_deviceAddress;
/**
@@ -42,7 +42,7 @@ public class I2C extends SensorBase {
* @param deviceAddress The address of the device on the I2C bus.
*/
public I2C(Port port, int deviceAddress) {
m_port = port;
m_port = port.value;
m_deviceAddress = deviceAddress;
I2CJNI.i2CInitialize((byte) port.value);
@@ -78,7 +78,7 @@ public class I2C extends SensorBase {
}
ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(receiveSize);
status = I2CJNI.i2CTransaction((byte) m_port.value, (byte) m_deviceAddress, dataToSendBuffer,
status = I2CJNI.i2CTransaction(m_port, (byte) m_deviceAddress, dataToSendBuffer,
(byte) sendSize, dataReceivedBuffer, (byte) receiveSize);
if (receiveSize > 0 && dataReceived != null) {
dataReceivedBuffer.get(dataReceived);
@@ -116,7 +116,7 @@ public class I2C extends SensorBase {
"dataReceived is too small, must be at least " + receiveSize);
}
return I2CJNI.i2CTransaction((byte) m_port.value, (byte) m_deviceAddress, dataToSend,
return I2CJNI.i2CTransaction(m_port, (byte) m_deviceAddress, dataToSend,
(byte) sendSize, dataReceived, (byte) receiveSize) < 0;
}
@@ -149,7 +149,7 @@ public class I2C extends SensorBase {
ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(2);
dataToSendBuffer.put(buffer);
return I2CJNI.i2CWrite((byte) m_port.value, (byte) m_deviceAddress, dataToSendBuffer,
return I2CJNI.i2CWrite(m_port, (byte) m_deviceAddress, dataToSendBuffer,
(byte) buffer.length) < 0;
}
@@ -165,7 +165,7 @@ public class I2C extends SensorBase {
ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(data.length);
dataToSendBuffer.put(data);
return I2CJNI.i2CWrite((byte) m_port.value, (byte) m_deviceAddress, dataToSendBuffer,
return I2CJNI.i2CWrite(m_port, (byte) m_deviceAddress, dataToSendBuffer,
(byte) data.length) < 0;
}
@@ -186,7 +186,7 @@ public class I2C extends SensorBase {
"buffer is too small, must be at least " + size);
}
return I2CJNI.i2CWrite((byte) m_port.value, (byte) m_deviceAddress, data, (byte) size) < 0;
return I2CJNI.i2CWrite(m_port, (byte) m_deviceAddress, data, (byte) size) < 0;
}
/**
@@ -264,7 +264,7 @@ public class I2C extends SensorBase {
ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(count);
int retVal = I2CJNI.i2CRead((byte) m_port.value, (byte) m_deviceAddress, dataReceivedBuffer,
int retVal = I2CJNI.i2CRead(m_port, (byte) m_deviceAddress, dataReceivedBuffer,
(byte) count);
dataReceivedBuffer.get(buffer);
return retVal < 0;
@@ -293,7 +293,7 @@ public class I2C extends SensorBase {
throw new IllegalArgumentException("buffer is too small, must be at least " + count);
}
return I2CJNI.i2CRead((byte) m_port.value, (byte) m_deviceAddress, buffer, (byte) count)
return I2CJNI.i2CRead(m_port, (byte) m_deviceAddress, buffer, (byte) count)
< 0;
}

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java
View File

@@ -32,7 +32,7 @@ public class SPI extends SensorBase {
private static int devices = 0;
private byte m_port;
private int m_port;
private int m_bitOrder;
private int m_clockPolarity;
private int m_dataOnTrailing;

10
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/I2CJNI.java
View File

@@ -11,15 +11,15 @@ import java.nio.ByteBuffer;
@SuppressWarnings("AbbreviationAsWordInName")
public class I2CJNI extends JNIWrapper {
public static native void i2CInitialize(byte port);
public static native void i2CInitialize(int port);
public static native int i2CTransaction(byte port, byte address, ByteBuffer dataToSend,
public static native int i2CTransaction(int port, byte address, ByteBuffer dataToSend,
byte sendSize, ByteBuffer dataReceived, byte receiveSize);
public static native int i2CWrite(byte port, byte address, ByteBuffer dataToSend, byte sendSize);
public static native int i2CWrite(int port, byte address, ByteBuffer dataToSend, byte sendSize);
public static native int i2CRead(byte port, byte address, ByteBuffer dataRecieved,
public static native int i2CRead(int port, byte address, ByteBuffer dataRecieved,
byte receiveSize);
public static native void i2CClose(byte port);
public static native void i2CClose(int port);
}

38
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/SPIJNI.java
View File

@@ -12,46 +12,46 @@ import java.nio.LongBuffer;
@SuppressWarnings("AbbreviationAsWordInName")
public class SPIJNI extends JNIWrapper {
public static native void spiInitialize(byte port);
public static native void spiInitialize(int port);
public static native int spiTransaction(byte port, ByteBuffer dataToSend,
public static native int spiTransaction(int port, ByteBuffer dataToSend,
ByteBuffer dataReceived, byte size);
public static native int spiWrite(byte port, ByteBuffer dataToSend, byte sendSize);
public static native int spiWrite(int port, ByteBuffer dataToSend, byte sendSize);
public static native int spiRead(byte port, ByteBuffer dataReceived, byte size);
public static native int spiRead(int port, ByteBuffer dataReceived, byte size);
public static native void spiClose(byte port);
public static native void spiClose(int port);
public static native void spiSetSpeed(byte port, int speed);
public static native void spiSetSpeed(int port, int speed);
public static native void spiSetOpts(byte port, int msbFirst, int sampleOnTrailing,
public static native void spiSetOpts(int port, int msbFirst, int sampleOnTrailing,
int clkIdleHigh);
public static native void spiSetChipSelectActiveHigh(byte port);
public static native void spiSetChipSelectActiveHigh(int port);
public static native void spiSetChipSelectActiveLow(byte port);
public static native void spiSetChipSelectActiveLow(int port);
public static native void spiInitAccumulator(byte port, int period, int cmd, byte xferSize,
public static native void spiInitAccumulator(int port, int period, int cmd, byte xferSize,
int validMask, int validValue, byte dataShift,
byte dataSize, boolean isSigned, boolean bigEndian);
public static native void spiFreeAccumulator(byte port);
public static native void spiFreeAccumulator(int port);
public static native void spiResetAccumulator(byte port);
public static native void spiResetAccumulator(int port);
public static native void spiSetAccumulatorCenter(byte port, int center);
public static native void spiSetAccumulatorCenter(int port, int center);
public static native void spiSetAccumulatorDeadband(byte port, int deadband);
public static native void spiSetAccumulatorDeadband(int port, int deadband);
public static native int spiGetAccumulatorLastValue(byte port);
public static native int spiGetAccumulatorLastValue(int port);
public static native long spiGetAccumulatorValue(byte port);
public static native long spiGetAccumulatorValue(int port);
public static native int spiGetAccumulatorCount(byte port);
public static native int spiGetAccumulatorCount(int port);
public static native double spiGetAccumulatorAverage(byte port);
public static native double spiGetAccumulatorAverage(int port);
public static native void spiGetAccumulatorOutput(byte port, LongBuffer value,
public static native void spiGetAccumulatorOutput(int port, LongBuffer value,
LongBuffer count);
}