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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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11
hal/src/main/native/sim/jni/SpiReadAutoReceiveBufferCallbackStore.cpp
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@@ -39,7 +39,7 @@ void SpiReadAutoReceiveBufferCallbackStore::create(JNIEnv* env, jobject obj) {
}
int32_t SpiReadAutoReceiveBufferCallbackStore::performCallback(
const char* name, unsigned char* buffer, int32_t numToRead) {
const char* name, uint32_t* buffer, int32_t numToRead) {
JNIEnv* env;
JavaVM* vm = sim::GetJVM();
bool didAttachThread = false;
@@ -58,15 +58,14 @@ int32_t SpiReadAutoReceiveBufferCallbackStore::performCallback(
wpi::outs().flush();
}
auto toCallbackArr =
MakeJByteArray(env, wpi::StringRef{reinterpret_cast<const char*>(buffer),
static_cast<size_t>(numToRead)});
auto toCallbackArr = MakeJIntArray(
env, wpi::ArrayRef<uint32_t>{buffer, static_cast<size_t>(numToRead)});
jint ret = env->CallIntMethod(m_call, sim::GetBufferCallback(),
MakeJString(env, name), toCallbackArr,
(jint)numToRead);
jbyte* fromCallbackArr = reinterpret_cast<jbyte*>(
jint* fromCallbackArr = reinterpret_cast<jint*>(
env->GetPrimitiveArrayCritical(toCallbackArr, nullptr));
for (int i = 0; i < ret; i++) {
@@ -106,7 +105,7 @@ SIM_JniHandle sim::AllocateSpiBufferCallback(
callbackStore->create(env, callback);
auto callbackFunc = [](const char* name, void* param, unsigned char* buffer,
auto callbackFunc = [](const char* name, void* param, uint32_t* buffer,
int32_t numToRead, int32_t* outputCount) {
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);