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Update auto SPI for timestamp changes (#1457)

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The 2019 FPGA image switched the output of auto SPI from plain bytes to a
sequence of 32-bit words (timestamp, then words with the byte values in the
least significant byte of each word).

In addition to changing the HAL and simulators to reflect this, add piecewise
integration support to wpilibc/wpilibj SPI to take advantage of the timestamps
and use it in the ADXRS450 gyro.
This commit is contained in:
Peter Johnson
2018-12-06 22:29:20 -08:00
committed by GitHub
parent 7e1ec28839
commit dcbf02a1ec
19 changed files with 271 additions and 88 deletions
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16
hal/src/main/native/cpp/jni/SPIJNI.cpp
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@@ -436,8 +436,8 @@ Java_edu_wpi_first_hal_SPIJNI_spiReadAutoReceivedData__ILjava_nio_ByteBuffer_2ID
SPIJNI_LOG(logDEBUG) << "Port = " << port;
SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
uint8_t* recvBuf =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(buffer));
uint32_t* recvBuf =
reinterpret_cast<uint32_t*>(env->GetDirectBufferAddress(buffer));
int32_t status = 0;
jint retval = HAL_ReadSPIAutoReceivedData(
static_cast<HAL_SPIPort>(port), recvBuf, numToRead, timeout, &status);
@@ -450,18 +450,18 @@ Java_edu_wpi_first_hal_SPIJNI_spiReadAutoReceivedData__ILjava_nio_ByteBuffer_2ID
/*
* Class: edu_wpi_first_hal_SPIJNI
* Method: spiReadAutoReceivedData
* Signature: (I[BID)I
* Signature: (I[IID)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SPIJNI_spiReadAutoReceivedData__I_3BID
(JNIEnv* env, jclass, jint port, jbyteArray buffer, jint numToRead,
Java_edu_wpi_first_hal_SPIJNI_spiReadAutoReceivedData__I_3IID
(JNIEnv* env, jclass, jint port, jintArray buffer, jint numToRead,
jdouble timeout)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
wpi::SmallVector<uint8_t, 128> recvBuf;
wpi::SmallVector<uint32_t, 128> recvBuf;
recvBuf.resize(numToRead);
int32_t status = 0;
jint retval =
@@ -471,8 +471,8 @@ Java_edu_wpi_first_hal_SPIJNI_spiReadAutoReceivedData__I_3BID
SPIJNI_LOG(logDEBUG) << "Return = " << retval;
if (!CheckStatus(env, status)) return retval;
if (numToRead > 0) {
env->SetByteArrayRegion(buffer, 0, numToRead,
reinterpret_cast<const jbyte*>(recvBuf.data()));
env->SetIntArrayRegion(buffer, 0, numToRead,
reinterpret_cast<const jint*>(recvBuf.data()));
}
return retval;
}