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https://github.com/wpilibsuite/allwpilib
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JNI implementation for Java
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charris
244
wpilibj/wpilibJavaJNI/src/main/native/PWMJNI.cpp
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244
wpilibj/wpilibJavaJNI/src/main/native/PWMJNI.cpp
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#include <jni.h>
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#include <assert.h>
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#include "log.h"
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#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
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#include "HAL/Digital.h"
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// set the logging level
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TLogLevel pwmJNILogLevel = logERROR;
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#define PWMJNI_LOG(level) \
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if (level > pwmJNILogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWM
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* Signature: (Ljava/nio/ByteBuffer;SLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM
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(JNIEnv * env, jclass, jobject id, jshort value, jobject status)
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
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PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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setPWM( *javaId, value, statusPtr );
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: getPWM
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
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*/
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JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jshort returnValue = getPWM( *javaId, statusPtr );
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMPeriodScale
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* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale
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(JNIEnv * env, jclass, jobject id, jint value, jobject status )
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
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PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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setPWMPeriodScale( *javaId, value, statusPtr );
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: allocatePWM
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* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWM
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(JNIEnv * env, jclass, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWM";
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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void** pwmPtr = (void**)new unsigned char[4];
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*pwmPtr = allocatePWM(statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
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return env->NewDirectByteBuffer( pwmPtr, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: allocatePWMWithModule
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* Signature: (BLjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWMWithModule
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(JNIEnv * env, jclass, jbyte module, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWMWithModule";
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PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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void** pwmPtr = (void**)new unsigned char[4];
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*pwmPtr = allocatePWMWithModule(module, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
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return env->NewDirectByteBuffer( pwmPtr, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: freePWM
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWM
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWM";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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freePWM(*javaId, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: freePWMWithModule
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* Signature: (BLjava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMWithModule
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(JNIEnv * env, jclass, jbyte module, jobject id, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMWithModule";
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PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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freePWMWithModule(module, *javaId, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMRate
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* Signature: (DLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRate
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(JNIEnv * env, jclass, jdouble value, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRate";
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PWMJNI_LOG(logDEBUG) << "Rate= " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setPWMRate(value, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMRateWithModule
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* Signature: (BDLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRateWithModule
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(JNIEnv * env, jclass, jbyte module, jdouble value, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRateWithModule";
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PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
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PWMJNI_LOG(logDEBUG) << "Rate= " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setPWMRateWithModule(module, value, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMDutyCycle
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* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycle
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(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycle";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setPWMDutyCycle(*javaId, value, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMDutyCycleWithModule
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* Signature: (BLjava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycleWithModule
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(JNIEnv * env, jclass, jbyte module, jobject id, jdouble value, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycleWithModule";
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PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setPWMDutyCycleWithModule( module, *javaId, value, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMOutputChannel
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* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannel
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(JNIEnv * env, jclass, jobject id, jint value, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannel";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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PWMJNI_LOG(logDEBUG) << "Pin= " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setPWMOutputChannel(*javaId, (uint32_t) value, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMOutputChannelWithModule
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* Signature: (BLjava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannelWithModule
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(JNIEnv * env, jclass, jbyte module, jobject id, jint value, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannelWithModule";
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PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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PWMJNI_LOG(logDEBUG) << "Pin= " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setPWMOutputChannelWithModule( module, *javaId, (uint32_t) value, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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