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Add support for configuring SPI Auto Stall Config (#2193)

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This commit is contained in:
Thad House
2019-12-24 10:52:58 -08:00
committed by Peter Johnson
parent 3259cffc63
commit bdc1cab013
8 changed files with 89 additions and 9 deletions
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4
hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -61,4 +61,6 @@ public class SPIJNI extends JNIWrapper {
double timeout);
public static native int spiGetAutoDroppedCount(int port);
public static native void spiConfigureAutoStall(int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
}

21
hal/src/main/native/athena/SPI.cpp
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@@ -631,12 +631,21 @@ int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status) {
return spiSystem->readTransferSkippedFullCount(status);
}
// These 2 functions are so the new stall functionality
// can be tested. How they're used is not very clear
// but I want them to be testable so we can add an impl.
// We will not be including these in the headers
void* HAL_GetSPIDMAManager() { return spiAutoDMA.get(); }
void HAL_ConfigureSPIAutoStall(HAL_SPIPort port, int32_t csToSclkTicks,
int32_t stallTicks, int32_t pow2BytesPerRead,
int32_t* status) {
std::scoped_lock lock(spiAutoMutex);
// FPGA only has one auto SPI engine
if (port != spiAutoPort) {
*status = INCOMPATIBLE_STATE;
return;
}
void* HAL_GetSPISystem() { return spiSystem.get(); }
tSPI::tStallConfig stallConfig;
stallConfig.CsToSclkTicks = static_cast<uint8_t>(csToSclkTicks);
stallConfig.StallTicks = static_cast<uint16_t>(stallTicks);
stallConfig.Pow2BytesPerRead = static_cast<uint8_t>(pow2BytesPerRead);
spiSystem->writeStallConfig(stallConfig, status);
}
} // extern "C"

16
hal/src/main/native/cpp/jni/SPIJNI.cpp
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@@ -394,4 +394,20 @@ Java_edu_wpi_first_hal_SPIJNI_spiGetAutoDroppedCount
return retval;
}
/*
* Class: edu_wpi_first_hal_SPIJNI
* Method: spiConfigureAutoStall
* Signature: (IIII)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SPIJNI_spiConfigureAutoStall
(JNIEnv* env, jclass, jint port, jint csToSclkTicks, jint stallTicks,
jint pow2BytesPerRead)
{
int32_t status = 0;
HAL_ConfigureSPIAutoStall(static_cast<HAL_SPIPort>(port), csToSclkTicks,
stallTicks, pow2BytesPerRead, &status);
CheckStatus(env, status);
}
} // extern "C"

15
hal/src/main/native/include/hal/SPI.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -244,6 +244,19 @@ int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint32_t* buffer,
*/
int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status);
/**
* Configure the Auto SPI Stall time between reads.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
* MXP.
* @param csToSclkTicks the number of ticks to wait before asserting the cs pin
* @param stallTicks the number of ticks to stall for
* @param pow2BytesPerRead the number of bytes to read before stalling
*/
void HAL_ConfigureSPIAutoStall(HAL_SPIPort port, int32_t csToSclkTicks,
int32_t stallTicks, int32_t pow2BytesPerRead,
int32_t* status);
#ifdef __cplusplus
} // extern "C"
#endif

10
hal/src/main/native/sim/SPI.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,6 +18,8 @@ void InitializeSPI() {}
} // namespace init
} // namespace hal
extern "C" {
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
hal::init::CheckInit();
SimSPIData[port].initialized = true;
@@ -63,3 +65,9 @@ int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint32_t* buffer,
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"

8
wpilibc/src/main/native/cpp/SPI.cpp
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@@ -311,6 +311,14 @@ int SPI::GetAutoDroppedCount() {
return val;
}
void SPI::ConfigureAutoStall(HAL_SPIPort port, int csToSclkTicks,
int stallTicks, int pow2BytesPerRead) {
int32_t status = 0;
HAL_ConfigureSPIAutoStall(m_port, csToSclkTicks, stallTicks, pow2BytesPerRead,
&status);
wpi_setHALError(status);
}
void SPI::InitAccumulator(units::second_t period, int cmd, int xferSize,
int validMask, int validValue, int dataShift,
int dataSize, bool isSigned, bool bigEndian) {

13
wpilibc/src/main/native/include/frc/SPI.h
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@@ -269,6 +269,19 @@ class SPI : public ErrorBase {
*/
int GetAutoDroppedCount();
/**
* Configure the Auto SPI Stall time between reads.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
* MXP.
* @param csToSclkTicks the number of ticks to wait before asserting the cs
* pin
* @param stallTicks the number of ticks to stall for
* @param pow2BytesPerRead the number of bytes to read before stalling
*/
void ConfigureAutoStall(HAL_SPIPort port, int csToSclkTicks, int stallTicks,
int pow2BytesPerRead);
/**
* Initialize the accumulator.
*

11
wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
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@@ -424,6 +424,17 @@ public class SPI implements AutoCloseable {
return SPIJNI.spiGetAutoDroppedCount(m_port);
}
/**
* Configure the Auto SPI Stall time between reads.
*
* @param csToSclkTicks the number of ticks to wait before asserting the cs pin
* @param stallTicks the number of ticks to stall for
* @param pow2BytesPerRead the number of bytes to read before stalling
*/
public void configureAutoStall(int csToSclkTicks, int stallTicks, int pow2BytesPerRead) {
SPIJNI.spiConfigureAutoStall(m_port, csToSclkTicks, stallTicks, pow2BytesPerRead);
}
private static final int kAccumulateDepth = 2048;
@SuppressWarnings("PMD.TooManyFields")