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HAL: Add software-based accumulator for SPI devices.

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Change-Id: I154c4c8f438163edf3ebc2c38f67a976d8cfbfd7
This commit is contained in:
Peter Johnson
2015-11-22 11:50:49 -08:00
committed by Brad Miller (WPI)
parent 530ce310a6
commit de219055f0
7 changed files with 763 additions and 0 deletions
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187
wpilibj/src/athena/cpp/lib/SPIJNI.cpp
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@@ -171,4 +171,191 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectAct
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiInitAccumulator
* Signature: (BIIBIIBBZZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAccumulator
(JNIEnv *env, jclass, jbyte 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";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
SPIJNI_LOG(logDEBUG) << "Period = " << period;
SPIJNI_LOG(logDEBUG) << "Cmd = " << cmd;
SPIJNI_LOG(logDEBUG) << "XferSize = " << (jint) xferSize;
SPIJNI_LOG(logDEBUG) << "ValidMask = " << validMask;
SPIJNI_LOG(logDEBUG) << "ValidValue = " << validValue;
SPIJNI_LOG(logDEBUG) << "DataShift = " << (jint) dataShift;
SPIJNI_LOG(logDEBUG) << "DataSize = " << (jint) dataSize;
SPIJNI_LOG(logDEBUG) << "IsSigned = " << (jint) isSigned;
SPIJNI_LOG(logDEBUG) << "BigEndian = " << (jint) bigEndian;
int32_t status = 0;
spiInitAccumulator(port, period, cmd, xferSize, validMask, validValue,
dataShift, dataSize, isSigned, bigEndian, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiFreeAccumulator
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAccumulator
(JNIEnv *env, jclass, jbyte port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAccumulator";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
spiFreeAccumulator(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiResetAccumulator
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiResetAccumulator
(JNIEnv *env, jclass, jbyte port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiResetAccumulator";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
spiResetAccumulator(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetAccumulatorCenter
* Signature: (BI)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorCenter
(JNIEnv *env, jclass, jbyte port, jint center)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorCenter";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
SPIJNI_LOG(logDEBUG) << "Center = " << center;
int32_t status = 0;
spiSetAccumulatorCenter(port, center, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetAccumulatorDeadband
* Signature: (BI)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorDeadband
(JNIEnv *env, jclass, jbyte port, jint deadband)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorDeadband";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
SPIJNI_LOG(logDEBUG) << "Deadband = " << deadband;
int32_t status = 0;
spiSetAccumulatorDeadband(port, deadband, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorLastValue
* Signature: (B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorLastValue
(JNIEnv *env, jclass, jbyte port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorLastValue";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
jint retVal = spiGetAccumulatorLastValue(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
return retVal;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorValue
* Signature: (B)J
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorValue
(JNIEnv *env, jclass, jbyte port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorValue";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
jlong retVal = spiGetAccumulatorValue(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
return retVal;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorCount
* Signature: (B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorCount
(JNIEnv *env, jclass, jbyte port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorCount";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
jint retVal = spiGetAccumulatorCount(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
return retVal;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorAverage
* Signature: (B)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorAverage
(JNIEnv *env, jclass, jbyte port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorAverage";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
jdouble retVal = spiGetAccumulatorAverage(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
return retVal;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorOutput
* Signature: (BLjava/nio/LongBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorOutput
(JNIEnv *env, jclass, jbyte port, jobject value, jobject count)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorOutput";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
jlong * valuePtr = (jlong*)env->GetDirectBufferAddress(value);
uint32_t * countPtr = (uint32_t*)env->GetDirectBufferAddress(count);
spiGetAccumulatorOutput(port, valuePtr, countPtr, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "Value = " << *valuePtr;
SPIJNI_LOG(logDEBUG) << "Count = " << *countPtr;
CheckStatus(env, status);
}
} // extern "C"