mirror of
https://github.com/wpilibsuite/allwpilib
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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
367
wpilibj/src/main/native/cpp/SPIJNI.cpp
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367
wpilibj/src/main/native/cpp/SPIJNI.cpp
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@@ -0,0 +1,367 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <assert.h>
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#include <jni.h>
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#include "HAL/cpp/Log.h"
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#include "edu_wpi_first_wpilibj_hal_SPIJNI.h"
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#include "HAL/SPI.h"
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#include "HALUtil.h"
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using namespace frc;
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// set the logging level
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TLogLevel spiJNILogLevel = logWARNING;
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#define SPIJNI_LOG(level) \
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if (level > spiJNILogLevel) \
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; \
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else \
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Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiInitialize
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_InitializeSPI(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatusForceThrow(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiTransaction
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* Signature: (ILjava/nio/ByteBuffer;Ljava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction(
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JNIEnv *env, jclass, jint port, jobject dataToSend, jobject dataReceived,
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jbyte size) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransaction";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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uint8_t *dataToSendPtr = nullptr;
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if (dataToSend != 0) {
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dataToSendPtr = (uint8_t *)env->GetDirectBufferAddress(dataToSend);
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}
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uint8_t *dataReceivedPtr =
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(uint8_t *)env->GetDirectBufferAddress(dataReceived);
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
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jint retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, dataReceivedPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiWrite
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* Signature: (ILjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite(
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JNIEnv *env, jclass, jint port, jobject dataToSend, jbyte size) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWrite";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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uint8_t *dataToSendPtr = nullptr;
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if (dataToSend != 0) {
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dataToSendPtr = (uint8_t *)env->GetDirectBufferAddress(dataToSend);
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}
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
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jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiRead
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* Signature: (ILjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead(
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JNIEnv *env, jclass, jint port, jobject dataReceived, jbyte size) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiRead";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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uint8_t *dataReceivedPtr =
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(uint8_t *)env->GetDirectBufferAddress(dataReceived);
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
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jint retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port), (uint8_t *)dataReceivedPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiClose
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose(JNIEnv *, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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HAL_CloseSPI(static_cast<HAL_SPIPort>(port));
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetSpeed
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed(
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JNIEnv *, jclass, jint port, jint speed) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Speed = " << (jint)speed;
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HAL_SetSPISpeed(static_cast<HAL_SPIPort>(port), speed);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetOpts
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* Signature: (IIII)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts(
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JNIEnv *, jclass, jint port, jint msb_first, jint sample_on_trailing,
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jint clk_idle_high) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetOpts";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
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SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
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SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
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HAL_SetSPIOpts(static_cast<HAL_SPIPort>(port), msb_first, sample_on_trailing, clk_idle_high);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetChipSelectActiveHigh
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_SetSPIChipSelectActiveHigh(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetChipSelectActiveLow
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_SetSPIChipSelectActiveLow(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiInitAccumulator
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* Signature: (IIIBIIBBZZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAccumulator(
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JNIEnv *env, jclass, jint port, jint period, jint cmd, jbyte xferSize,
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jint validMask, jint validValue, jbyte dataShift, jbyte dataSize,
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jboolean isSigned, jboolean bigEndian) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAccumulator";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Period = " << period;
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SPIJNI_LOG(logDEBUG) << "Cmd = " << cmd;
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SPIJNI_LOG(logDEBUG) << "XferSize = " << (jint)xferSize;
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SPIJNI_LOG(logDEBUG) << "ValidMask = " << validMask;
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SPIJNI_LOG(logDEBUG) << "ValidValue = " << validValue;
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SPIJNI_LOG(logDEBUG) << "DataShift = " << (jint)dataShift;
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SPIJNI_LOG(logDEBUG) << "DataSize = " << (jint)dataSize;
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SPIJNI_LOG(logDEBUG) << "IsSigned = " << (jint)isSigned;
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SPIJNI_LOG(logDEBUG) << "BigEndian = " << (jint)bigEndian;
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int32_t status = 0;
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HAL_InitSPIAccumulator(static_cast<HAL_SPIPort>(port), period, cmd, xferSize, validMask, validValue,
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dataShift, dataSize, isSigned, bigEndian, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiFreeAccumulator
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAccumulator(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAccumulator";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_FreeSPIAccumulator(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiResetAccumulator
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiResetAccumulator(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiResetAccumulator";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_ResetSPIAccumulator(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetAccumulatorCenter
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorCenter(
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JNIEnv *env, jclass, jint port, jint center) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorCenter";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Center = " << center;
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int32_t status = 0;
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HAL_SetSPIAccumulatorCenter(static_cast<HAL_SPIPort>(port), center, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetAccumulatorDeadband
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorDeadband(
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JNIEnv *env, jclass, jint port, jint deadband) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorDeadband";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Deadband = " << deadband;
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int32_t status = 0;
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HAL_SetSPIAccumulatorDeadband(static_cast<HAL_SPIPort>(port), deadband, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiGetAccumulatorLastValue
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorLastValue(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorLastValue";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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jint retVal = HAL_GetSPIAccumulatorLastValue(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
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CheckStatus(env, status);
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiGetAccumulatorValue
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* Signature: (I)J
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*/
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JNIEXPORT jlong JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorValue(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorValue";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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jlong retVal = HAL_GetSPIAccumulatorValue(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
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CheckStatus(env, status);
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return retVal;
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}
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|
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/*
|
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: spiGetAccumulatorCount
|
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorCount(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorCount";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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jint retVal = HAL_GetSPIAccumulatorCount(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
|
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CheckStatus(env, status);
|
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return retVal;
|
||||
}
|
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|
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: spiGetAccumulatorAverage
|
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* Signature: (I)D
|
||||
*/
|
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorAverage(
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JNIEnv *env, jclass, jint port) {
|
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorAverage";
|
||||
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
|
||||
int32_t status = 0;
|
||||
jdouble retVal = HAL_GetSPIAccumulatorAverage(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
|
||||
CheckStatus(env, status);
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||||
return retVal;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: spiGetAccumulatorOutput
|
||||
* Signature: (ILjava/nio/LongBuffer;Ljava/nio/LongBuffer;)V
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||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorOutput(
|
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JNIEnv *env, jclass, jint port, jobject value, jobject count) {
|
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorOutput";
|
||||
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
|
||||
|
||||
jlong *valuePtr = (jlong *)env->GetDirectBufferAddress(value);
|
||||
jlong *countPtr = (jlong *)env->GetDirectBufferAddress(count);
|
||||
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||||
HAL_GetSPIAccumulatorOutput(static_cast<HAL_SPIPort>(port), valuePtr, countPtr, &status);
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||||
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||||
SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "Value = " << *valuePtr;
|
||||
SPIJNI_LOG(logDEBUG) << "Count = " << *countPtr;
|
||||
CheckStatus(env, status);
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
Reference in New Issue
Block a user