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JNI for java

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Normal vs recursive mutex
HAL delineation
This commit is contained in:
charris
2014-01-06 10:12:21 -05:00
parent b62b606110
commit f7146d4230
134 changed files with 2377 additions and 3358 deletions
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20
hal/Athena/src/main/native/Digital.cpp
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@@ -67,15 +67,15 @@ void initializeDigital(int32_t *status) {
if (digitalSystemsInitialized) return;
// Create a semaphore to protect changes to the digital output values
digitalDIOSemaphore = initializeMutex(SEMAPHORE_Q_PRIORITY | SEMAPHORE_DELETE_SAFE | SEMAPHORE_INVERSION_SAFE);
digitalDIOSemaphore = initializeMutexRecursive();
// Create a semaphore to protect changes to the relay values
digitalRelaySemaphore = initializeMutex(SEMAPHORE_Q_PRIORITY | SEMAPHORE_DELETE_SAFE | SEMAPHORE_INVERSION_SAFE);
digitalRelaySemaphore = initializeMutexRecursive();
// Create a semaphore to protect changes to the DO PWM config
digitalPwmSemaphore = initializeMutex(SEMAPHORE_Q_PRIORITY | SEMAPHORE_DELETE_SAFE | SEMAPHORE_INVERSION_SAFE);
digitalPwmSemaphore = initializeMutexRecursive();
digitalI2CSemaphore = initializeMutex(SEMAPHORE_Q_PRIORITY | SEMAPHORE_DELETE_SAFE | SEMAPHORE_INVERSION_SAFE);
digitalI2CSemaphore = initializeMutexRecursive();
Resource::CreateResourceObject(&DIOChannels, tDIO::kNumSystems * kDigitalPins);
Resource::CreateResourceObject(&DO_PWMGenerators, tDIO::kNumPWMDutyCycleElements);
@@ -420,9 +420,9 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
uint32_t bitToSet = 1 << (remapDigitalChannel(port->port.pin - 1, status));
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
if (input) {
outputEnable.value = outputEnable.value & (~bitToSet); // clear the bit for read
outputEnable.Headers = outputEnable.Headers & (~bitToSet); // clear the bit for read
} else {
outputEnable.value = outputEnable.value | bitToSet; // set the bit for write
outputEnable.Headers = outputEnable.Headers | bitToSet; // set the bit for write
}
digitalSystem->writeOutputEnable(outputEnable, status);
}
@@ -497,7 +497,7 @@ bool getDIODirection(void* digital_port_pointer, int32_t *status) {
//AND it against the currentOutputEnable
//if it == 0, then return false
//else return true
return ((currentOutputEnable.value >> remapDigitalChannel(port->port.pin - 1, status)) & 1) != 0;
return ((currentOutputEnable.Headers >> remapDigitalChannel(port->port.pin - 1, status)) & 1) != 0;
}
/**
@@ -510,7 +510,7 @@ bool getDIODirection(void* digital_port_pointer, int32_t *status) {
void pulse(void* digital_port_pointer, double pulseLength, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
tDIO::tPulse pulse;
pulse.value = 1 << remapDigitalChannel(port->port.pin - 1, status);
pulse.Headers = 1 << remapDigitalChannel(port->port.pin - 1, status);
digitalSystem->writePulseLength((uint8_t)(1.0e9 * pulseLength / (pwmSystem->readLoopTiming(status) * 25)), status);
digitalSystem->writePulse(pulse, status);
}
@@ -524,7 +524,7 @@ bool isPulsing(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
uint16_t mask = 1 << remapDigitalChannel(port->port.pin - 1, status);
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
return (pulseRegister.value & mask) != 0;
return (pulseRegister.Headers & mask) != 0;
}
/**
@@ -543,7 +543,7 @@ bool isAnyPulsing(int32_t *status) {
*/
bool isAnyPulsingWithModule(uint8_t module, int32_t *status) {
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
return pulseRegister.value != 0;
return pulseRegister.Headers != 0;
}