Fixes incorrectly changed Java enums (#360)

Some enums need a specific value when they get passed to JNI

.gitreview

@@ -1,5 +0,0 @@
-[gerrit]
-host=usfirst.collab.net
-port=29418
-project=allwpilib
-defaultbranch=master

.styleguide

@@ -15,7 +15,6 @@ otherExtensions {
 }
 
 genFolderExclude {
-  \.vscode
   FRC_FPGA_ChipObject
   NetworkCommunication
   ctre
@@ -38,15 +37,11 @@ genFileExclude {
 
 modifiableFolderExclude {
   \.git
-  \.gradle
-  __pycache__
-  build
   wpilibj/src/athena/cpp/include
   wpilibj/src/athena/cpp/lib
 }
 
 modifiableFileExclude {
-  \.jar$
   \.patch$
   \.png$
   \.py$

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id 'net.ltgt.errorprone' version '0.0.8'
-    id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '1.2'
+    id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '1.4'
 }
 
 def enableSimulation = hasProperty('enableSimulation')
@@ -47,6 +47,8 @@ subprojects {
 
 apply from: 'cppSettings.gradle'
 
+apply from: 'ni-libraries/ni-libraries.gradle'
+
 task wrapper(type: Wrapper) {
     gradleVersion = '3.0'
 }

cppSettings.gradle

@@ -1,5 +1,5 @@
 // These add the nilibraries shared library to the linker args
-def niLibraryPath = file('ni-libraries').path
+def niLibraryPath = file('ni-libraries/lib').path
 def niLibrary = niLibraryPath + "/libnilibraries.so"
 
 task downloadArmNetworkTables() {
@@ -133,6 +133,43 @@ task unzipWpiUtil(type: Copy) {
     into wpiUtilUnzipLocation
 }
 
+task downloadArmCsCore() {
+    description = 'Downloads the C++ ARM CsCore Uberzip maven dependency.'
+    group = 'WPILib'
+    def depFolder = "$buildDir/dependencies"
+    def csZip = file("$depFolder/cscore-arm.zip")
+    outputs.file(csZip)
+    def armCsCore
+
+    doFirst {
+        def armCsDependency = project.dependencies.create('edu.wpi.cscore.cpp:cscore:+:athena-uberzip@zip')
+        def armConfig = project.configurations.detachedConfiguration(armCsDependency)
+        armConfig.setTransitive(false)
+        armCsCore = armConfig.files[0].canonicalFile
+    }
+
+    doLast {
+        copy {
+            from armCsCore
+            rename 'cscore(.+)', 'cscore-arm.zip'
+            into depFolder
+        }
+    }
+}
+
+def csCoreUnzipLocation = "$buildDir/cscore"
+
+// Create a task that will unzip the cscore files into a temporary build directory
+task unzipCsCore(type: Copy) {
+    description = 'Unzips the cscore maven dependency so that the include files and libraries can be used'
+    group = 'WPILib'
+    dependsOn downloadArmCsCore
+
+    from zipTree(downloadArmCsCore.outputs.files.singleFile)
+    into csCoreUnzipLocation
+}
+
+
 task clean(type: Delete) {
     description = "Deletes the build directory"
     group = "Build"
@@ -198,6 +235,26 @@ subprojects {
             addStaticWpiUtilLibraryLinks(compileTask, linker, targetPlatform)
         }
     }
+
+    // This defines a project property that projects depending on cscore can use to setup that dependency.
+    ext.defineCsCoreProperties = {
+        ext.csCore = csCoreUnzipLocation
+        ext.csCoreInclude = "$csCoreUnzipLocation/include"
+        ext.csLibArmLocation = "$csCoreUnzipLocation/lib"
+        ext.csSharedLib = "$csLibArmLocation/libcscore.so"
+        ext.cvSharedLib = "$csLibArmLocation/libopencv.so"
+
+        ext.addCsCoreLibraryLinks = { compileTask, linker, targetPlatform ->
+            compileTask.dependsOn project(':').unzipCsCore
+            String architecture = targetPlatform.architecture
+            if (architecture.contains('arm')) {
+                linker.args << '-L' + csLibArmLocation
+                linker.args csSharedLib
+                linker.args cvSharedLib
+            }
+        }
+    }
+
     plugins.withType(CppPlugin).whenPluginAdded {
         // We use a custom-built cross compiler with the prefix arm-frc-linux-gnueabi-<util name>
         // If this ever changes, the prefix will need to be changed here
@@ -268,6 +325,9 @@ subprojects {
             }
         }
 
+        ext.niLibraryHeadersRoot = "${rootDir}/ni-libraries/include"
+        ext.niLibraryHeadersChipObject = "${rootDir}/ni-libraries/include/FRC_FPGA_ChipObject"
+
         // This task adds the appropriate linker flags for the NI libraries
         ext.addNiLibraryLinks = { linker, targetPlatform ->
             String architecture = targetPlatform.architecture

hal/build.gradle

@@ -24,11 +24,11 @@ model {
             sources {
                 cpp {
                     source {
-                        srcDirs = ["lib/athena", "lib/athena/FRC_FPGA_ChipObject", "lib/shared"]
+                        srcDirs = ["lib/athena", niLibraryHeadersRoot, "lib/shared"]
                         includes = ["**/*.cpp"]
                     }
                     exportedHeaders {
-                        srcDirs = ["include", "lib/athena/FRC_FPGA_ChipObject", wpiUtilInclude]
+                        srcDirs = ["include", niLibraryHeadersRoot, wpiUtilInclude]
                     }
                 }
             }
@@ -70,6 +70,7 @@ task halZip(type: Zip) {
                 spec.headerDirs.each {
                     def normalizedIt = it.toString().replace('/', '\\')
                     def normalizedWPIUtil = wpiUtilInclude.toString().replace('/', '\\')
+                    // exclude the wpiUtil library, and any NI libraries (NI libraries grabbed later)
                     if (normalizedIt != normalizedWPIUtil) {
                         from(it) {
                             into 'include'
@@ -89,9 +90,10 @@ task halZip(type: Zip) {
     }
 
     // Finally, include all of the shared library objects from the ni directory
-    from(project.file('../ni-libraries')) {
+    from(project.file('../ni-libraries/lib')) {
         into 'lib'
         exclude 'genlinks'
+        exclude 'genlinks.bat'
         exclude 'libwpi.so'
     }
 
@@ -132,6 +134,7 @@ task athenaRuntimeZip(type: Zip) {
     }
 
     defineNetworkTablesProperties()
+    dependsOn project(':').unzipNetworkTables
 
     from(project.file(netTablesInclude)) {
         into 'include'

hal/include/FRC_NetworkCommunication/CANSessionMux.h

@@ -1,66 +0,0 @@
-// CANSessionMux.h
-//
-//  Defines the API for building a CAN Interface Plugin to support
-//    PWM-cable-free CAN motor control on FRC robots.  This allows you
-//    to connect any CAN interface to the secure Jaguar CAN driver.
-//
-
-#ifndef __CANSessionMux_h__
-#define __CANSessionMux_h__
-
-#if defined(__vxworks)
-#include <vxWorks.h>
-#else
-#include <stdint.h>
-#endif
-
-#define CAN_SEND_PERIOD_NO_REPEAT 0
-#define CAN_SEND_PERIOD_STOP_REPEATING -1
-
-/* Flags in the upper bits of the messageID */
-#define CAN_IS_FRAME_REMOTE 0x80000000
-#define CAN_IS_FRAME_11BIT  0x40000000
-
-#define ERR_CANSessionMux_InvalidBuffer   -44086
-#define ERR_CANSessionMux_MessageNotFound -44087
-#define WARN_CANSessionMux_NoToken         44087
-#define ERR_CANSessionMux_NotAllowed      -44088
-#define ERR_CANSessionMux_NotInitialized  -44089
-#define ERR_CANSessionMux_SessionOverrun   44050
-
-struct tCANStreamMessage{
-	uint32_t messageID;
-	uint32_t timeStamp;
-	uint8_t data[8];
-	uint8_t dataSize;
-};
-
-#ifdef __cplusplus
-namespace nCANSessionMux
-{
-	void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
-	void receiveMessage_wrapper(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
-	void openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
-	void closeStreamSession(uint32_t sessionHandle);
-	void readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
-	void getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
-}
-#endif
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-	void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_receiveMessage(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(uint32_t sessionHandle);
-	void FRC_NetworkCommunication_CANSessionMux_readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __CANSessionMux_h__

hal/include/FRC_NetworkCommunication/FRCComm.h

@@ -1,163 +0,0 @@
-/*************************************************************
- * 					NOTICE
- * 
- * 	These are the only externally exposed functions to the
- *   NetworkCommunication library
- * 
- * This is an implementation of FRC Spec for Comm Protocol
- * Revision 4.5, June 30, 2008
- *
- * Copyright (c) National Instruments 2008.  All Rights Reserved.
- * 
- *************************************************************/
-
-#ifndef __FRC_COMM_H__
-#define __FRC_COMM_H__
-
-#ifdef WIN32
-# include <vxWorks_compat.h>
-#ifdef USE_THRIFT
-#  define EXPORT_FUNC
-# else
-#  define EXPORT_FUNC __declspec(dllexport) __cdecl
-# endif
-#elif defined(__vxworks)
-# include <vxWorks.h>
-# define EXPORT_FUNC
-#elif defined(__linux)
-# include <stdint.h>
-# include <pthread.h>
-# define EXPORT_FUNC
-#endif
-
-#define ERR_FRCSystem_NetCommNotResponding -44049
-#define ERR_FRCSystem_NoDSConnection -44018
-
-#ifdef WIN32
-# define __DEPRECATED__ __declspec(deprecated)
-#else
-# define __DEPRECATED__ __attribute__((__deprecated__))
-#endif
-
-enum AllianceStationID_t {
-	kAllianceStationID_red1,
-	kAllianceStationID_red2,
-	kAllianceStationID_red3,
-	kAllianceStationID_blue1,
-	kAllianceStationID_blue2,
-	kAllianceStationID_blue3,
-};
-
-enum MatchType_t {
-	kMatchType_none,
-	kMatchType_practice,
-	kMatchType_qualification,
-	kMatchType_elimination,
-};
-
-struct ControlWord_t {
-#ifndef __vxworks
-	uint32_t enabled : 1;
-	uint32_t autonomous : 1;
-	uint32_t test :1;
-	uint32_t eStop : 1;
-	uint32_t fmsAttached:1;
-	uint32_t dsAttached:1;
-	uint32_t control_reserved : 26;
-#else
-	uint32_t control_reserved : 26;
-	uint32_t dsAttached:1;
-	uint32_t fmsAttached:1;
-	uint32_t eStop : 1;
-	uint32_t test :1;
-	uint32_t autonomous : 1;
-	uint32_t enabled : 1;
-#endif
-};
-
-struct JoystickAxes_t {
-	uint16_t count;
-	int16_t axes[1];
-};
-
-struct JoystickPOV_t {
-	uint16_t count;
-	int16_t povs[1];
-};
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-	int EXPORT_FUNC FRC_NetworkCommunication_Reserve(void *instance);
-#ifndef SIMULATION
-	void EXPORT_FUNC getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
-#endif
-	/**
-	 * Safely copy data into the status packet to be sent back to the driver station.
-	 * @deprecated battery is the only parameter to this function that is still used, and only on cRIO / simulation.
-	 */
-	__DEPRECATED__ int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-			const char *userDataHigh, int userDataHighLength,
-			const char *userDataLow, int userDataLowLength, int wait_ms);
-	/**
-	 * Send error data to the DS
-	 * @deprecated This old method is hard to parse on the DS side. It will be removed soon. Use FRC_NetworkCommunication_sendError instead.
-	 * @param errorData is a cstr of the error message
-	 * @param errorDataLength is the length of the errorData
-	 * @param wait_ms is ignored (included for binary compatibility)
-	 * @return 0 on success, 1 on no DS connection
-	 */
-	__DEPRECATED__ int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
-
-	/**
-	 * Send a console output line to the Driver Station
-	 * @param line a null-terminated string
-	 * @return 0 on success, other on failure
-	 */
-	int EXPORT_FUNC FRC_NetworkCommunication_sendConsoleLine(const char *line);
-
-	/**
-	 * Send an error to the Driver Station
-	 * @param isError true if error, false if warning
-	 * @param errorCode value of error condition
-	 * @param isLVCode true if error code is defined in errors.txt, false if not (i.e. made up for C++)
-	 * @param details error description that contains details such as which resource number caused the failure
-	 * @param location Source file, function, and line number that the error was generated - optional
-	 * @param callStack The details about what functions were called through before the error was reported - optional
-	 * @return 0 on success, other on failure
-	 */
-	int EXPORT_FUNC FRC_NetworkCommunication_sendError(int isError, int32_t errorCode, int isLVCode,
-		const char *details, const char *location, const char *callStack);
-
-#ifdef WIN32
-	void EXPORT_FUNC setNewDataSem(HANDLE);
-#elif defined (__vxworks)
-	void EXPORT_FUNC setNewDataSem(SEM_ID);
-#else
-	void EXPORT_FUNC setNewDataSem(pthread_cond_t *);
-#endif
-
-	// this uint32_t is really a LVRefNum
-	int EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
-
-	int EXPORT_FUNC FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
-	int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
-	int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
-	int EXPORT_FUNC FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum, uint32_t hidOutputs, uint16_t leftRumble, uint16_t rightRumble);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox, uint8_t *type, char *name,
-		uint8_t *axisCount, uint8_t *axisTypes, uint8_t *buttonCount, uint8_t *povCount);
-
-	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
-	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
-#ifdef __cplusplus
-}
-#endif
-
-#endif

hal/include/FRC_NetworkCommunication/LoadOut.h

@@ -1,58 +0,0 @@
-
-#ifndef __LoadOut_h__
-#define __LoadOut_h__
-
-#ifdef WIN32
-#include <vxWorks_compat.h>
-#define EXPORT_FUNC __declspec(dllexport) __cdecl
-#elif defined (__vxworks)
-#include <vxWorks.h>
-#define EXPORT_FUNC
-#else
-#include <stdint.h>
-#define EXPORT_FUNC
-#endif
-
-#define kMaxModuleNumber 2
-namespace nLoadOut
-{
-#if defined(__vxworks) || defined(SIMULATION)
-    typedef enum {
-        kModuleType_Unknown = 0x00,
-        kModuleType_Analog = 0x01,
-        kModuleType_Digital = 0x02,
-        kModuleType_Solenoid = 0x03,
-    } tModuleType;
-    bool EXPORT_FUNC getModulePresence(tModuleType moduleType, uint8_t moduleNumber);
-#endif
-    typedef enum {
-        kTargetClass_Unknown = 0x00,
-        kTargetClass_FRC1 = 0x10,
-        kTargetClass_FRC2 = 0x20,
-        kTargetClass_FRC3 = 0x30,
-        kTargetClass_RoboRIO = 0x40,
-#if defined(__vxworks) || defined(SIMULATION)
-        kTargetClass_FRC2_Analog = kTargetClass_FRC2 | kModuleType_Analog,
-        kTargetClass_FRC2_Digital = kTargetClass_FRC2 | kModuleType_Digital,
-        kTargetClass_FRC2_Solenoid = kTargetClass_FRC2 | kModuleType_Solenoid,
-#endif
-        kTargetClass_FamilyMask = 0xF0,
-        kTargetClass_ModuleMask = 0x0F,
-    } tTargetClass;
-    tTargetClass EXPORT_FUNC getTargetClass();
-}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if defined(__vxworks) || defined(SIMULATION)
-    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getModulePresence(uint32_t moduleType, uint8_t moduleNumber);
-#endif
-    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getTargetClass();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __LoadOut_h__

hal/include/FRC_NetworkCommunication/UsageReporting.h

@@ -1,149 +0,0 @@
-
-#ifndef __UsageReporting_h__
-#define __UsageReporting_h__
-
-#ifdef WIN32
-#include <vxWorks_compat.h>
-#define EXPORT_FUNC __declspec(dllexport) __cdecl
-#elif defined (__vxworks)
-#include <vxWorks.h>
-#define EXPORT_FUNC
-#else
-#include <stdint.h>
-#include <stdlib.h>
-#define EXPORT_FUNC
-#endif
-
-#define kUsageReporting_version 1
-
-namespace nUsageReporting
-{
-    typedef enum
-    {
-        kResourceType_Controller,
-        kResourceType_Module,
-        kResourceType_Language,
-        kResourceType_CANPlugin,
-        kResourceType_Accelerometer,
-        kResourceType_ADXL345,
-        kResourceType_AnalogChannel,
-        kResourceType_AnalogTrigger,
-        kResourceType_AnalogTriggerOutput,
-        kResourceType_CANJaguar,
-        kResourceType_Compressor,
-        kResourceType_Counter,
-        kResourceType_Dashboard,
-        kResourceType_DigitalInput,
-        kResourceType_DigitalOutput,
-        kResourceType_DriverStationCIO,
-        kResourceType_DriverStationEIO,
-        kResourceType_DriverStationLCD,
-        kResourceType_Encoder,
-        kResourceType_GearTooth,
-        kResourceType_Gyro,
-        kResourceType_I2C,
-        kResourceType_Framework,
-        kResourceType_Jaguar,
-        kResourceType_Joystick,
-        kResourceType_Kinect,
-        kResourceType_KinectStick,
-        kResourceType_PIDController,
-        kResourceType_Preferences,
-        kResourceType_PWM,
-        kResourceType_Relay,
-        kResourceType_RobotDrive,
-        kResourceType_SerialPort,
-        kResourceType_Servo,
-        kResourceType_Solenoid,
-        kResourceType_SPI,
-        kResourceType_Task,
-        kResourceType_Ultrasonic,
-        kResourceType_Victor,
-        kResourceType_Button,
-        kResourceType_Command,
-        kResourceType_AxisCamera,
-        kResourceType_PCVideoServer,
-        kResourceType_SmartDashboard,
-        kResourceType_Talon,
-        kResourceType_HiTechnicColorSensor,
-        kResourceType_HiTechnicAccel,
-        kResourceType_HiTechnicCompass,
-        kResourceType_SRF08,
-        kResourceType_AnalogOutput,
-        kResourceType_VictorSP,
-        kResourceType_TalonSRX,
-        kResourceType_CANTalonSRX,
-        kResourceType_ADXL362,
-        kResourceType_ADXRS450,
-        kResourceType_RevSPARK,
-        kResourceType_MindsensorsSD540,
-        kResourceType_DigitalFilter,
-    } tResourceType;
-
-    typedef enum
-    {
-        kLanguage_LabVIEW = 1,
-        kLanguage_CPlusPlus = 2,
-        kLanguage_Java = 3,
-        kLanguage_Python = 4,
-
-        kCANPlugin_BlackJagBridge = 1,
-        kCANPlugin_2CAN = 2,
-
-        kFramework_Iterative = 1,
-        kFramework_Simple = 2,
-        kFramework_CommandControl = 3,
-
-        kRobotDrive_ArcadeStandard = 1,
-        kRobotDrive_ArcadeButtonSpin = 2,
-        kRobotDrive_ArcadeRatioCurve = 3,
-        kRobotDrive_Tank = 4,
-        kRobotDrive_MecanumPolar = 5,
-        kRobotDrive_MecanumCartesian = 6,
-
-        kDriverStationCIO_Analog = 1,
-        kDriverStationCIO_DigitalIn = 2,
-        kDriverStationCIO_DigitalOut = 3,
-
-        kDriverStationEIO_Acceleration = 1,
-        kDriverStationEIO_AnalogIn = 2,
-        kDriverStationEIO_AnalogOut = 3,
-        kDriverStationEIO_Button = 4,
-        kDriverStationEIO_LED = 5,
-        kDriverStationEIO_DigitalIn = 6,
-        kDriverStationEIO_DigitalOut = 7,
-        kDriverStationEIO_FixedDigitalOut = 8,
-        kDriverStationEIO_PWM = 9,
-        kDriverStationEIO_Encoder = 10,
-        kDriverStationEIO_TouchSlider = 11,
-
-        kADXL345_SPI = 1,
-        kADXL345_I2C = 2,
-
-        kCommand_Scheduler = 1,
-
-        kSmartDashboard_Instance = 1,
-    } tInstances;
-
-    /**
-     * Report the usage of a resource of interest.
-     * 
-     * @param resource one of the values in the tResourceType above (max value 51).
-     * @param instanceNumber an index that identifies the resource instance.
-     * @param context an optional additional context number for some cases (such as module number).  Set to 0 to omit.
-     * @param feature a string to be included describing features in use on a specific resource.  Setting the same resource more than once allows you to change the feature string.
-     */
-    uint32_t EXPORT_FUNC report(tResourceType resource, uint8_t instanceNumber, uint8_t context = 0, const char *feature = NULL);
-}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nUsageReporting_report(uint8_t resource, uint8_t instanceNumber, uint8_t context, const char *feature);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __UsageReporting_h__

hal/include/HAL/ChipObject.h

@@ -10,12 +10,6 @@
 #pragma GCC diagnostic ignored "-Wpedantic"
 #pragma GCC diagnostic ignored "-Wignored-qualifiers"
 
-#include "FRC_FPGA_ChipObject/tDMAChannelDescriptor.h"  // NOLINT
-#include "FRC_FPGA_ChipObject/tDMAManager.h"            // NOLINT
-#include "FRC_FPGA_ChipObject/tInterruptManager.h"      // NOLINT
-#include "FRC_FPGA_ChipObject/tSystem.h"                // NOLINT
-#include "FRC_FPGA_ChipObject/tSystemInterface.h"       // NOLINT
-
 #include <stdint.h>
 
 #include "FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
@@ -38,8 +32,15 @@
 #include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h"
 #include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h"
 #include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h"
+#include "FRC_FPGA_ChipObject/tDMAChannelDescriptor.h"
+#include "FRC_FPGA_ChipObject/tDMAManager.h"
+#include "FRC_FPGA_ChipObject/tInterruptManager.h"
+#include "FRC_FPGA_ChipObject/tSystem.h"
+#include "FRC_FPGA_ChipObject/tSystemInterface.h"
 
-// FIXME: these should not be here!
+namespace hal {
 using namespace nFPGA;
 using namespace nRoboRIO_FPGANamespace;
+}  // namespace hal
+
 #pragma GCC diagnostic pop

hal/include/HAL/HAL.h

@@ -33,7 +33,6 @@
 #include "HAL/SPI.h"
 #include "HAL/SerialPort.h"
 #include "HAL/Solenoid.h"
-#include "HAL/Task.h"
 #include "HAL/Types.h"
 
 namespace HALUsageReporting = nUsageReporting;

hal/include/HAL/Ports.h

@@ -31,7 +31,6 @@ int32_t HAL_GetNumPCMModules(void);
 int32_t HAL_GetNumSolenoidChannels(void);
 int32_t HAL_GetNumPDPModules(void);
 int32_t HAL_GetNumPDPChannels(void);
-int32_t HAL_GetNumCanTalons(void);
 #ifdef __cplusplus
 }
 #endif

hal/include/HAL/Task.h

@@ -1,43 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <pthread.h>
-#include <stdint.h>
-
-#ifndef _STATUS_DEFINED
-#define _STATUS_DEFINED
-typedef int32_t STATUS;
-#endif /* _STATUS_DEFINED */
-
-#ifndef OK
-#define OK 0
-#endif /* OK */
-#ifndef ERROR
-#define ERROR (-1)
-#endif /* ERROR */
-
-typedef pthread_t* TASK;
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-// Note: These constants used to be declared extern and were defined in
-// Task.cpp. This caused issues with the JNI bindings for java, and so the
-// instantiations were moved here.
-const int32_t HAL_TaskLib_ILLEGAL_PRIORITY = 22;  // 22 is EINVAL
-
-STATUS HAL_VerifyTaskID(TASK task);
-
-// valid priority [1..99]
-STATUS HAL_SetTaskPriority(TASK task, int32_t priority);
-
-STATUS HAL_GetTaskPriority(TASK task, int32_t* priority);
-#ifdef __cplusplus
-}
-#endif

hal/include/HAL/Types.h

@@ -15,32 +15,32 @@ typedef int32_t HAL_Handle;
 
 typedef HAL_Handle HAL_PortHandle;
 
-typedef HAL_Handle HAL_InterruptHandle;
-
-typedef HAL_Handle HAL_NotifierHandle;
+typedef HAL_Handle HAL_AnalogInputHandle;
 
 typedef HAL_Handle HAL_AnalogOutputHandle;
 
-typedef HAL_Handle HAL_AnalogInputHandle;
-
 typedef HAL_Handle HAL_AnalogTriggerHandle;
 
-typedef HAL_Handle HAL_RelayHandle;
+typedef HAL_Handle HAL_CompressorHandle;
+
+typedef HAL_Handle HAL_CounterHandle;
 
 typedef HAL_Handle HAL_DigitalHandle;
 
 typedef HAL_Handle HAL_DigitalPWMHandle;
 
-typedef HAL_Handle HAL_CounterHandle;
-
-typedef HAL_Handle HAL_CompressorHandle;
-
-typedef HAL_Handle HAL_SolenoidHandle;
+typedef HAL_Handle HAL_EncoderHandle;
 
 typedef HAL_Handle HAL_FPGAEncoderHandle;
 
-typedef HAL_Handle HAL_EncoderHandle;
-
 typedef HAL_Handle HAL_GyroHandle;
 
+typedef HAL_Handle HAL_InterruptHandle;
+
+typedef HAL_Handle HAL_NotifierHandle;
+
+typedef HAL_Handle HAL_RelayHandle;
+
+typedef HAL_Handle HAL_SolenoidHandle;
+
 typedef int32_t HAL_Bool;

hal/include/HAL/cpp/Semaphore.h

@@ -12,8 +12,11 @@
 #include <condition_variable>
 
 #include "HAL/cpp/priority_mutex.h"
+#include "support/deprecated.h"
 
-class Semaphore {
+class WPI_DEPRECATED(
+    "Semaphore scheduled for removal in 2018. Recommended to replace with a "
+    "std::mutex and std::condition_variable") Semaphore {
  public:
   explicit Semaphore(int32_t count = 0);
   Semaphore(Semaphore&&);

hal/include/HAL/handles/HandlesInternal.h

@@ -84,7 +84,15 @@ static inline int16_t getPortHandleModule(HAL_PortHandle handle) {
   return static_cast<uint8_t>((handle >> 8) & 0xff);
 }
 
+// using a 16 bit value so we can store 0-255 and still report error
+static inline int16_t getPortHandleSPIEnable(HAL_PortHandle handle) {
+  if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
+  return static_cast<uint8_t>((handle >> 16) & 0xff);
+}
+
 HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module);
 
+HAL_PortHandle createPortHandleForSPI(uint8_t channel);
+
 HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType);
 }  // namespace hal

hal/lib/athena/Accelerometer.cpp

@@ -13,9 +13,11 @@
 #include <cstdio>
 #include <memory>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 #include "HAL/HAL.h"
 
+using namespace hal;
+
 // The 7-bit I2C address with a 0 "send" bit
 static const uint8_t kSendAddress = (0x1c << 1) | 0;
 

hal/lib/athena/AnalogGyro.cpp

@@ -87,13 +87,13 @@ void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
   if (*status != 0) return;
   HAL_SetAnalogOversampleBits(gyro->handle, kOversampleBits, status);
   if (*status != 0) return;
-  float sampleRate =
+  double sampleRate =
       kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
   HAL_SetAnalogSampleRate(sampleRate, status);
   if (*status != 0) return;
   Wait(0.1);
 
-  HAL_SetAnalogGyroDeadband(handle, 0.0f, status);
+  HAL_SetAnalogGyroDeadband(handle, 0.0, status);
   if (*status != 0) return;
 }
 

hal/lib/athena/AnalogInput.cpp

@@ -99,7 +99,7 @@ HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) {
  */
 void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
   // TODO: This will change when variable size scan lists are implemented.
-  // TODO: Need float comparison with epsilon.
+  // TODO: Need double comparison with epsilon.
   // wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond);
   initializeAnalog(status);
   if (*status != 0) return;

hal/lib/athena/AnalogInternal.cpp

@@ -9,8 +9,8 @@
 
 #include <atomic>
 
-#include "ChipObject.h"
 #include "HAL/AnalogInput.h"
+#include "HAL/ChipObject.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "PortsInternal.h"
 
@@ -80,7 +80,7 @@ int32_t getAnalogNumChannelsToActivate(int32_t* status) {
  */
 void setAnalogSampleRate(double samplesPerSecond, int32_t* status) {
   // TODO: This will change when variable size scan lists are implemented.
-  // TODO: Need float comparison with epsilon.
+  // TODO: Need double comparison with epsilon.
   // wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond);
   analogSampleRateSet = true;
 

hal/lib/athena/AnalogInternal.h

@@ -11,7 +11,7 @@
 
 #include <memory>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Ports.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "HAL/handles/IndexedHandleResource.h"

hal/lib/athena/DIO.cpp

@@ -58,7 +58,24 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
 
   tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
 
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    if (!getPortHandleSPIEnable(portHandle)) {
+      // if this flag is not set, we actually want DIO.
+      uint32_t bitToSet = 1u << remapSPIChannel(port->channel);
+
+      uint16_t specialFunctions = spiSystem->readEnableDIO(status);
+      // Set the field to enable SPI DIO
+      spiSystem->writeEnableDIO(specialFunctions | bitToSet, status);
+
+      if (input) {
+        outputEnable.SPIPort =
+            outputEnable.SPIPort & (~bitToSet);  // clear the field for read
+      } else {
+        outputEnable.SPIPort =
+            outputEnable.SPIPort | bitToSet;  // set the bits for write
+      }
+    }
+  } else if (port->channel < kNumDigitalHeaders) {
     uint32_t bitToSet = 1u << port->channel;
     if (input) {
       outputEnable.Headers =
@@ -93,8 +110,26 @@ HAL_Bool HAL_CheckDIOChannel(int32_t channel) {
 }
 
 void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
+  auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
   // no status, so no need to check for a proper free.
   digitalChannelHandles.Free(dioPortHandle, HAL_HandleEnum::DIO);
+  if (port == nullptr) return;
+  int32_t status = 0;
+  std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    // Unset the SPI flag
+    int32_t bitToUnset = 1 << remapSPIChannel(port->channel);
+    uint16_t specialFunctions = spiSystem->readEnableDIO(&status);
+    spiSystem->writeEnableDIO(specialFunctions & ~bitToUnset, &status);
+  } else if (port->channel >= kNumDigitalHeaders) {
+    // Unset the MXP flag
+    uint32_t bitToUnset = 1u << remapMXPChannel(port->channel);
+
+    uint16_t specialFunctions =
+        digitalSystem->readEnableMXPSpecialFunction(&status);
+    digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToUnset,
+                                                 &status);
+  }
 }
 
 /**
@@ -200,7 +235,9 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
     return;
   }
   int32_t id = *port;
-  if (channel >= kNumDigitalHeaders) {  // If it is on the MXP
+  if (channel >= kNumDigitalHeaders &&
+      channel <
+          kNumDigitalHeaders + kNumDigitalMXPChannels) {  // If it is on the MXP
     /* Then to write as a digital PWM channel an offset is needed to write on
      * the correct channel
      */
@@ -231,7 +268,15 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
     std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
     tDIO::tDO currentDIO = digitalSystem->readDO(status);
 
-    if (port->channel < kNumDigitalHeaders) {
+    if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+      if (value == 0) {
+        currentDIO.SPIPort =
+            currentDIO.SPIPort & ~(1u << remapSPIChannel(port->channel));
+      } else if (value == 1) {
+        currentDIO.SPIPort =
+            currentDIO.SPIPort | (1u << remapSPIChannel(port->channel));
+      }
+    } else if (port->channel < kNumDigitalHeaders) {
       if (value == 0) {
         currentDIO.Headers = currentDIO.Headers & ~(1u << port->channel);
       } else if (value == 1) {
@@ -245,12 +290,6 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
         currentDIO.MXP =
             currentDIO.MXP | (1u << remapMXPChannel(port->channel));
       }
-
-      int32_t bitToSet = 1 << remapMXPChannel(port->channel);
-      uint16_t specialFunctions =
-          digitalSystem->readEnableMXPSpecialFunction(status);
-      digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
-                                                   status);
     }
     digitalSystem->writeDO(currentDIO, status);
   }
@@ -275,16 +314,11 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   // if it == 0, then return false
   // else return true
 
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    return ((currentDIO.SPIPort >> remapSPIChannel(port->channel)) & 1) != 0;
+  } else if (port->channel < kNumDigitalHeaders) {
     return ((currentDIO.Headers >> port->channel) & 1) != 0;
   } else {
-    // Disable special functions
-    int32_t bitToSet = 1 << remapMXPChannel(port->channel);
-    uint16_t specialFunctions =
-        digitalSystem->readEnableMXPSpecialFunction(status);
-    digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
-                                                 status);
-
     return ((currentDIO.MXP >> remapMXPChannel(port->channel)) & 1) != 0;
   }
 }
@@ -309,7 +343,10 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   // if it == 0, then return false
   // else return true
 
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    return ((currentOutputEnable.SPIPort >> remapSPIChannel(port->channel)) &
+            1) != 0;
+  } else if (port->channel < kNumDigitalHeaders) {
     return ((currentOutputEnable.Headers >> port->channel) & 1) != 0;
   } else {
     return ((currentOutputEnable.MXP >> remapMXPChannel(port->channel)) & 1) !=
@@ -334,7 +371,9 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
   }
   tDIO::tPulse pulse;
 
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    pulse.SPIPort = 1u << remapSPIChannel(port->channel);
+  } else if (port->channel < kNumDigitalHeaders) {
     pulse.Headers = 1u << port->channel;
   } else {
     pulse.MXP = 1u << remapMXPChannel(port->channel);
@@ -360,7 +399,9 @@ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   }
   tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
 
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    return (pulseRegister.SPIPort & (1 << remapSPIChannel(port->channel))) != 0;
+  } else if (port->channel < kNumDigitalHeaders) {
     return (pulseRegister.Headers & (1 << port->channel)) != 0;
   } else {
     return (pulseRegister.MXP & (1 << remapMXPChannel(port->channel))) != 0;
@@ -376,7 +417,8 @@ HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
   initializeDigital(status);
   if (*status != 0) return false;
   tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
-  return pulseRegister.Headers != 0 && pulseRegister.MXP != 0;
+  return pulseRegister.Headers != 0 && pulseRegister.MXP != 0 &&
+         pulseRegister.SPIPort != 0;
 }
 
 /**
@@ -396,7 +438,11 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
   }
 
   std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    // Channels 10-15 are SPI channels, so subtract our MXP channels
+    digitalSystem->writeFilterSelectHdr(port->channel - kNumDigitalMXPChannels,
+                                        filterIndex, status);
+  } else if (port->channel < kNumDigitalHeaders) {
     digitalSystem->writeFilterSelectHdr(port->channel, filterIndex, status);
   } else {
     digitalSystem->writeFilterSelectMXP(remapMXPChannel(port->channel),
@@ -420,7 +466,11 @@ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   }
 
   std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    // Channels 10-15 are SPI channels, so subtract our MXP channels
+    return digitalSystem->readFilterSelectHdr(
+        port->channel - kNumDigitalMXPChannels, status);
+  } else if (port->channel < kNumDigitalHeaders) {
     return digitalSystem->readFilterSelectHdr(port->channel, status);
   } else {
     return digitalSystem->readFilterSelectMXP(remapMXPChannel(port->channel),

hal/lib/athena/DigitalInternal.cpp

@@ -11,10 +11,10 @@
 #include <mutex>
 #include <thread>
 
-#include "ChipObject.h"
 #include "ConstantsInternal.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
 #include "HAL/AnalogTrigger.h"
+#include "HAL/ChipObject.h"
 #include "HAL/HAL.h"
 #include "HAL/Ports.h"
 #include "HAL/cpp/priority_mutex.h"
@@ -27,6 +27,7 @@ priority_recursive_mutex digitalPwmMutex;
 std::unique_ptr<tDIO> digitalSystem;
 std::unique_ptr<tRelay> relaySystem;
 std::unique_ptr<tPWM> pwmSystem;
+std::unique_ptr<tSPI> spiSystem;
 
 static std::atomic<bool> digitalSystemsInitialized{false};
 static priority_mutex initializeMutex;
@@ -94,9 +95,18 @@ void initializeDigital(int32_t* status) {
     }
   }
 
+  // SPI setup
+  spiSystem.reset(tSPI::create(status));
+
   digitalSystemsInitialized = true;
 }
 
+/**
+ * Map SPI channel numbers from their physical number (27 to 31) to their
+ * position in the bit field.
+ */
+int32_t remapSPIChannel(int32_t channel) { return channel - 26; }
+
 /**
  * Map DIO channel numbers from their physical number (10 to 26) to their
  * position in the bit field.
@@ -130,7 +140,11 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle,
     return true;
   } else if (isHandleType(digitalSourceHandle, HAL_HandleEnum::DIO)) {
     int32_t index = getHandleIndex(digitalSourceHandle);
-    if (index >= kNumDigitalHeaders) {
+    if (index > kNumDigitalHeaders + kNumDigitalMXPChannels) {
+      // channels 10-15, so need to add headers to remap index
+      channel = remapSPIChannel(index) + kNumDigitalHeaders;
+      module = 0;
+    } else if (index >= kNumDigitalHeaders) {
       channel = remapMXPChannel(index);
       module = 1;
     } else {

hal/lib/athena/DigitalInternal.h

@@ -11,8 +11,8 @@
 
 #include <memory>
 
-#include "ChipObject.h"
 #include "HAL/AnalogTrigger.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Ports.h"
 #include "HAL/Types.h"
 #include "HAL/handles/DigitalHandleResource.h"
@@ -45,11 +45,11 @@ constexpr int32_t kExpectedLoopTiming = 40;
  * scaling is implemented as an output squelch to get longer periods for old
  * devices.
  */
-constexpr float kDefaultPwmPeriod = 5.05;
+constexpr double kDefaultPwmPeriod = 5.05;
 /**
  * kDefaultPwmCenter is the PWM range center in ms
  */
-constexpr float kDefaultPwmCenter = 1.5;
+constexpr double kDefaultPwmCenter = 1.5;
 /**
  * kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
  */
@@ -62,6 +62,7 @@ extern priority_recursive_mutex digitalPwmMutex;
 extern std::unique_ptr<tDIO> digitalSystem;
 extern std::unique_ptr<tRelay> relaySystem;
 extern std::unique_ptr<tPWM> pwmSystem;
+extern std::unique_ptr<tSPI> spiSystem;
 
 struct DigitalPort {
   uint8_t channel;
@@ -82,6 +83,7 @@ void initializeDigital(int32_t* status);
 bool remapDigitalSource(HAL_Handle digitalSourceHandle,
                         HAL_AnalogTriggerType analogTriggerType,
                         uint8_t& channel, uint8_t& module, bool& analogTrigger);
+int32_t remapSPIChannel(int32_t channel);
 int32_t remapMXPPWMChannel(int32_t channel);
 int32_t remapMXPChannel(int32_t channel);
 }  // namespace hal

hal/lib/athena/Encoder.cpp

@@ -7,9 +7,9 @@
 
 #include "HAL/Encoder.h"
 
-#include "ChipObject.h"
 #include "EncoderInternal.h"
 #include "FPGAEncoder.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Counter.h"
 #include "HAL/Errors.h"
 #include "HAL/handles/LimitedClassedHandleResource.h"

hal/lib/athena/FRCDriverStation.cpp

@@ -100,16 +100,16 @@ int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
       joystickNum, reinterpret_cast<JoystickAxes_t*>(&axesInt),
       HAL_kMaxJoystickAxes);
 
-  // copy integer values to float values
+  // copy integer values to double values
   axes->count = axesInt.count;
   // current scaling is -128 to 127, can easily be patched in the future by
   // changing this function.
   for (int32_t i = 0; i < axesInt.count; i++) {
     int8_t value = axesInt.axes[i];
     if (value < 0) {
-      axes->axes[i] = value / 128.0f;
+      axes->axes[i] = value / 128.0;
     } else {
-      axes->axes[i] = value / 127.0f;
+      axes->axes[i] = value / 127.0;
     }
   }
 

hal/lib/athena/HAL.cpp

@@ -17,16 +17,18 @@
 #include <mutex>
 #include <thread>
 
-#include "ChipObject.h"
 #include "FRC_NetworkCommunication/CANSessionMux.h"
 #include "FRC_NetworkCommunication/FRCComm.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Errors.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "HAL/handles/HandlesInternal.h"
 #include "ctre/ctre.h"
 #include "visa/visa.h"
 
+using namespace hal;
+
 static std::unique_ptr<tGlobal> global;
 static std::unique_ptr<tSysWatchdog> watchdog;
 

hal/lib/athena/Interrupts.cpp

@@ -9,8 +9,8 @@
 
 #include <memory>
 
-#include "ChipObject.h"
 #include "DigitalInternal.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Errors.h"
 #include "HAL/cpp/make_unique.h"
 #include "HAL/handles/HandlesInternal.h"

hal/lib/athena/Notifier.cpp

@@ -14,13 +14,15 @@
 #include <memory>
 #include <mutex>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 #include "HAL/HAL.h"
 #include "HAL/cpp/make_unique.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "HAL/handles/UnlimitedHandleResource.h"
 #include "support/SafeThread.h"
 
+using namespace hal;
+
 static const int32_t kTimerInterruptNumber = 28;
 
 static priority_mutex notifierInterruptMutex;

hal/lib/athena/Ports.cpp

@@ -30,5 +30,4 @@ int32_t HAL_GetNumPCMModules(void) { return kNumPCMModules; }
 int32_t HAL_GetNumSolenoidChannels(void) { return kNumSolenoidChannels; }
 int32_t HAL_GetNumPDPModules(void) { return kNumPDPModules; }
 int32_t HAL_GetNumPDPChannels(void) { return kNumPDPChannels; }
-int32_t HAL_GetNumCanTalons(void) { return kNumCanTalons; }
 }

hal/lib/athena/PortsInternal.h

@@ -9,7 +9,7 @@
 
 #include <stdint.h>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 
 namespace hal {
 constexpr int32_t kNumAccumulators = tAccumulator::kNumSystems;
@@ -18,8 +18,11 @@ constexpr int32_t kNumAnalogInputs = 8;
 constexpr int32_t kNumAnalogOutputs = tAO::kNumMXPRegisters;
 constexpr int32_t kNumCounters = tCounter::kNumSystems;
 constexpr int32_t kNumDigitalHeaders = 10;
+constexpr int32_t kNumDigitalMXPChannels = 16;
+constexpr int32_t kNumDigitalSPIPortChannels = 5;
 constexpr int32_t kNumPWMHeaders = tPWM::kNumHdrRegisters;
-constexpr int32_t kNumDigitalChannels = 26;
+constexpr int32_t kNumDigitalChannels =
+    kNumDigitalHeaders + kNumDigitalMXPChannels + kNumDigitalSPIPortChannels;
 constexpr int32_t kNumPWMChannels = tPWM::kNumMXPRegisters + kNumPWMHeaders;
 constexpr int32_t kNumDigitalPWMOutputs =
     tDIO::kNumPWMDutyCycleAElements + tDIO::kNumPWMDutyCycleBElements;
@@ -31,5 +34,4 @@ constexpr int32_t kNumPCMModules = 63;
 constexpr int32_t kNumSolenoidChannels = 8;
 constexpr int32_t kNumPDPModules = 63;
 constexpr int32_t kNumPDPChannels = 16;
-constexpr int32_t kNumCanTalons = 63;
 }  // namespace hal

hal/lib/athena/Power.cpp

@@ -9,7 +9,9 @@
 
 #include <memory>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
+
+using namespace hal;
 
 static std::unique_ptr<tPower> power;
 

hal/lib/athena/SPI.cpp

@@ -15,6 +15,7 @@
 #include "HAL/HAL.h"
 #include "HAL/cpp/make_unique.h"
 #include "HAL/cpp/priority_mutex.h"
+#include "HAL/handles/HandlesInternal.h"
 #include "spilib/spi-lib.h"
 
 using namespace hal;
@@ -26,12 +27,11 @@ static int32_t m_spiCS3Handle = 0;
 static int32_t m_spiMXPHandle = 0;
 static priority_recursive_mutex spiOnboardMutex;
 static priority_recursive_mutex spiMXPMutex;
-static tSPI* spiSystem;
 
-static HAL_DigitalHandle spiMXPDigitalHandle1 = HAL_kInvalidHandle;
-static HAL_DigitalHandle spiMXPDigitalHandle2 = HAL_kInvalidHandle;
-static HAL_DigitalHandle spiMXPDigitalHandle3 = HAL_kInvalidHandle;
-static HAL_DigitalHandle spiMXPDigitalHandle4 = HAL_kInvalidHandle;
+// MXP SPI does not count towards this
+std::atomic<int32_t> spiPortCount{0};
+
+static HAL_DigitalHandle digitalHandles[9]{HAL_kInvalidHandle};
 
 /**
  * Get the semaphore for a SPI port
@@ -73,56 +73,115 @@ struct SPIAccumulator {
 };
 std::unique_ptr<SPIAccumulator> spiAccumulators[5];
 
+static void CommonSPIPortInit(int32_t* status) {
+  // All false cases will set
+  if (spiPortCount.fetch_add(1) == 0) {
+    // Have not been initialized yet
+    initializeDigital(status);
+    if (*status != 0) return;
+    // MISO
+    if ((digitalHandles[3] = HAL_InitializeDIOPort(createPortHandleForSPI(29),
+                                                   false, status)) ==
+        HAL_kInvalidHandle) {
+      std::printf("Failed to allocate DIO 29 (MISO)\n");
+      return;
+    }
+    // MOSI
+    if ((digitalHandles[4] = HAL_InitializeDIOPort(createPortHandleForSPI(30),
+                                                   false, status)) ==
+        HAL_kInvalidHandle) {
+      std::printf("Failed to allocate DIO 30 (MOSI)\n");
+      HAL_FreeDIOPort(digitalHandles[3]);  // free the first port allocated
+      return;
+    }
+  }
+}
+
+static void CommonSPIPortFree() {
+  if (spiPortCount.fetch_sub(1) == 1) {
+    // Clean up SPI Handles
+    HAL_FreeDIOPort(digitalHandles[3]);
+    HAL_FreeDIOPort(digitalHandles[4]);
+  }
+}
+
 /*
  * Initialize the spi port. Opens the port if necessary and saves the handle.
  * If opening the MXP port, also sets up the channel functions appropriately
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+ * @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP
  */
 void HAL_InitializeSPI(int32_t port, int32_t* status) {
-  if (spiSystem == nullptr) spiSystem = tSPI::create(status);
   if (HAL_GetSPIHandle(port) != 0) return;
   switch (port) {
     case 0:
+      CommonSPIPortInit(status);
+      if (*status != 0) return;
+      // CS0 is not a DIO port, so nothing to allocate
       HAL_SetSPIHandle(0, spilib_open("/dev/spidev0.0"));
       break;
     case 1:
+      CommonSPIPortInit(status);
+      if (*status != 0) return;
+      // CS1, Allocate
+      if ((digitalHandles[0] = HAL_InitializeDIOPort(
+               HAL_GetPort(26), false, status)) == HAL_kInvalidHandle) {
+        std::printf("Failed to allocate DIO 26 (CS1)\n");
+        CommonSPIPortFree();
+        return;
+      }
       HAL_SetSPIHandle(1, spilib_open("/dev/spidev0.1"));
       break;
     case 2:
+      CommonSPIPortInit(status);
+      if (*status != 0) return;
+      // CS2, Allocate
+      if ((digitalHandles[1] = HAL_InitializeDIOPort(
+               HAL_GetPort(27), false, status)) == HAL_kInvalidHandle) {
+        std::printf("Failed to allocate DIO 27 (CS2)\n");
+        CommonSPIPortFree();
+        return;
+      }
       HAL_SetSPIHandle(2, spilib_open("/dev/spidev0.2"));
       break;
     case 3:
+      CommonSPIPortInit(status);
+      if (*status != 0) return;
+      // CS3, Allocate
+      if ((digitalHandles[2] = HAL_InitializeDIOPort(
+               HAL_GetPort(28), false, status)) == HAL_kInvalidHandle) {
+        std::printf("Failed to allocate DIO 28 (CS3)\n");
+        CommonSPIPortFree();
+        return;
+      }
       HAL_SetSPIHandle(3, spilib_open("/dev/spidev0.3"));
       break;
     case 4:
       initializeDigital(status);
       if (*status != 0) return;
-      if ((spiMXPDigitalHandle1 = HAL_InitializeDIOPort(
+      if ((digitalHandles[5] = HAL_InitializeDIOPort(
                HAL_GetPort(14), false, status)) == HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 14\n");
         return;
       }
-      if ((spiMXPDigitalHandle2 = HAL_InitializeDIOPort(
+      if ((digitalHandles[6] = HAL_InitializeDIOPort(
                HAL_GetPort(15), false, status)) == HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 15\n");
-        HAL_FreeDIOPort(spiMXPDigitalHandle1);  // free the first port allocated
+        HAL_FreeDIOPort(digitalHandles[5]);  // free the first port allocated
         return;
       }
-      if ((spiMXPDigitalHandle3 = HAL_InitializeDIOPort(
+      if ((digitalHandles[7] = HAL_InitializeDIOPort(
                HAL_GetPort(16), false, status)) == HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 16\n");
-        HAL_FreeDIOPort(spiMXPDigitalHandle1);  // free the first port allocated
-        HAL_FreeDIOPort(
-            spiMXPDigitalHandle2);  // free the second port allocated
+        HAL_FreeDIOPort(digitalHandles[5]);  // free the first port allocated
+        HAL_FreeDIOPort(digitalHandles[6]);  // free the second port allocated
         return;
       }
-      if ((spiMXPDigitalHandle4 = HAL_InitializeDIOPort(
+      if ((digitalHandles[8] = HAL_InitializeDIOPort(
                HAL_GetPort(17), false, status)) == HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 17\n");
-        HAL_FreeDIOPort(spiMXPDigitalHandle1);  // free the first port allocated
-        HAL_FreeDIOPort(
-            spiMXPDigitalHandle2);  // free the second port allocated
-        HAL_FreeDIOPort(spiMXPDigitalHandle3);  // free the third port allocated
+        HAL_FreeDIOPort(digitalHandles[5]);  // free the first port allocated
+        HAL_FreeDIOPort(digitalHandles[6]);  // free the second port allocated
+        HAL_FreeDIOPort(digitalHandles[7]);  // free the third port allocated
         return;
       }
       digitalSystem->writeEnableMXPSpecialFunction(
@@ -205,11 +264,28 @@ void HAL_CloseSPI(int32_t port) {
   }
   spilib_close(HAL_GetSPIHandle(port));
   HAL_SetSPIHandle(port, 0);
-  if (port == 4) {
-    HAL_FreeDIOPort(spiMXPDigitalHandle1);
-    HAL_FreeDIOPort(spiMXPDigitalHandle2);
-    HAL_FreeDIOPort(spiMXPDigitalHandle3);
-    HAL_FreeDIOPort(spiMXPDigitalHandle4);
+  if (port < 4) {
+    CommonSPIPortFree();
+  }
+  switch (port) {
+    // Case 0 does not need to do anything
+    case 1:
+      HAL_FreeDIOPort(digitalHandles[0]);
+      break;
+    case 2:
+      HAL_FreeDIOPort(digitalHandles[1]);
+      break;
+    case 3:
+      HAL_FreeDIOPort(digitalHandles[2]);
+      break;
+    case 4:
+      HAL_FreeDIOPort(digitalHandles[5]);
+      HAL_FreeDIOPort(digitalHandles[6]);
+      HAL_FreeDIOPort(digitalHandles[7]);
+      HAL_FreeDIOPort(digitalHandles[8]);
+      break;
+    default:
+      break;
   }
   return;
 }

hal/lib/athena/Solenoid.cpp

@@ -7,8 +7,8 @@
 
 #include "HAL/Solenoid.h"
 
-#include "ChipObject.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Errors.h"
 #include "HAL/Ports.h"
 #include "HAL/handles/HandlesInternal.h"

hal/lib/athena/Task.cpp

@@ -1,59 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "HAL/Task.h"
-
-#include <signal.h>
-
-#ifndef OK
-#define OK 0
-#endif /* OK */
-#ifndef ERROR
-#define ERROR (-1)
-#endif /* ERROR */
-
-extern "C" {
-
-STATUS HAL_VerifyTaskID(TASK task) {
-  if (task != nullptr && pthread_kill(*task, 0) == 0) {
-    return OK;
-  } else {
-    return ERROR;
-  }
-}
-
-STATUS HAL_SetTaskPriority(TASK task, int32_t priority) {
-  int32_t policy = 0;
-  struct sched_param param;
-
-  if (HAL_VerifyTaskID(task) == OK &&
-      pthread_getschedparam(*task, &policy, &param) == 0) {
-    param.sched_priority = priority;
-    if (pthread_setschedparam(*task, SCHED_FIFO, &param) == 0) {
-      return OK;
-    } else {
-      return ERROR;
-    }
-  } else {
-    return ERROR;
-  }
-}
-
-STATUS HAL_GetTaskPriority(TASK task, int32_t* priority) {
-  int32_t policy = 0;
-  struct sched_param param;
-
-  if (HAL_VerifyTaskID(task) == OK &&
-      pthread_getschedparam(*task, &policy, &param) == 0) {
-    *priority = param.sched_priority;
-    return OK;
-  } else {
-    return ERROR;
-  }
-}
-
-}  // extern "C"

hal/lib/shared/handles/HandlesInternal.cpp

@@ -21,6 +21,21 @@ HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module) {
   return handle;
 }
 
+HAL_PortHandle createPortHandleForSPI(uint8_t channel) {
+  // set last 8 bits, then shift to first 8 bits
+  HAL_PortHandle handle = static_cast<HAL_PortHandle>(HAL_HandleEnum::Port);
+  handle = handle << 16;
+  // set second set up bits to 1
+  int32_t temp = 1;
+  temp = (temp << 8) & 0xff00;
+  handle += temp;
+  // shift to last set of bits
+  handle = handle << 8;
+  // add channel to last 8 bits
+  handle += channel;
+  return handle;
+}
+
 HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType) {
   if (index < 0) return HAL_kInvalidHandle;
   uint8_t hType = static_cast<uint8_t>(handleType);

myRobot/build.gradle

@@ -0,0 +1,93 @@
+apply plugin: 'java'
+apply plugin: 'application'
+apply plugin: 'com.github.johnrengelman.shadow'
+
+evaluationDependsOn(':wpilibj')
+
+mainClassName = 'edu.wpi.first.wpilibj.RobotBase'
+
+buildscript {
+    repositories { jcenter() }
+    dependencies {
+        classpath 'com.github.jengelman.gradle.plugins:shadow:1.2.3'
+    }
+}
+
+def wpilibj = project(':wpilibj')
+
+dependencies {
+    compile wpilibj
+    compile files(wpilibj.sourceSets.test.output.classesDir)
+    compile 'edu.wpi.first.wpilib.networktables.java:NetworkTables:+:arm'
+    compile 'edu.wpi.first.wpilib.networktables.java:NetworkTables:+:arm'
+    compile 'edu.wpi.cscore.java:cscore:+:arm'
+    compile 'org.opencv:opencv-java:+'
+}
+
+def nativeDirectory = "$buildDir/output"
+
+clean {
+    delete nativeDirectory
+}
+
+task copyRobotLibraries(type: Copy) {
+    description = 'Copies all native libraries to an easy to find folder'
+    group = 'WPILib'
+    destinationDir = file(nativeDirectory)
+    dependsOn shadowJar
+    dependsOn ':hal:build'
+    dependsOn ':wpilibj:build'
+
+    from (shadowJar) {
+        into '/'
+    }
+
+    project(':wpilibj').model {
+        binaries {
+            withType(SharedLibraryBinarySpec) { spec ->
+                from(spec.sharedLibraryFile) {
+                    into '/'
+                }
+            }
+        }
+    }
+
+    project(':hal').model {
+        binaries {
+            withType(SharedLibraryBinarySpec) { spec ->
+                from(spec.sharedLibraryFile) {
+                    into '/'
+                }
+            }
+        }
+    }
+
+    defineNetworkTablesProperties()
+    defineWpiUtilProperties()
+    defineCsCoreProperties()
+
+    from (file(netSharedLib)) {
+        into '/'
+    }
+
+    from (file(wpiUtilSharedLib)) {
+        into '/'
+    }
+
+    from (file(csLibArmLocation).path) {
+        include '**/*so.3.1'
+        include '**/libcscore.so'
+        include '**/libopencv_java310.so'
+        into '/'
+    }
+
+}
+
+
+build.dependsOn copyRobotLibraries
+
+jar {
+    manifest { attributes 'Robot-Class': 'MyRobot' }
+}
+
+jar.dependsOn ':wpilibj:build'

myRobot/src/main/java/MyRobot.java

@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+import edu.wpi.first.wpilibj.IterativeRobot;
+
+@SuppressWarnings("all")
+public class MyRobot extends IterativeRobot {
+  /**
+   * This function is run when the robot is first started up and should be
+   * used for any initialization code.
+   */
+  @Override
+  public void robotInit() {}
+
+  /**
+   * This function is run once each time the robot enters autonomous mode
+   */
+  @Override
+  public void autonomousInit() {}
+
+  /**
+   * This function is called periodically during autonomous
+   */
+  @Override
+  public void autonomousPeriodic() {}
+
+  /**
+   * This function is called once each time the robot enters tele-operated mode
+   */
+  @Override
+  public void teleopInit() {}
+
+  /**
+   * This function is called periodically during operator control
+   */
+  @Override
+  public void teleopPeriodic() {}
+
+  /**
+   * This function is called periodically during test mode
+   */
+  @Override
+  public void testPeriodic() {}
+
+  /**
+   * This function is called periodically during all modes
+   */
+  @Override
+  public void robotPeriodic() {}
+}

myRobotCpp/build.gradle

@@ -0,0 +1,111 @@
+apply plugin: 'cpp'
+
+defineNetworkTablesProperties()
+defineWpiUtilProperties()
+
+ext.shared = "${project(':wpilibc').projectDir.getAbsolutePath()}/shared"
+ext.athena = "${project(':wpilibc').projectDir.getAbsolutePath()}/athena"
+ext.hal = project(':hal').projectDir.getAbsolutePath()
+
+model {
+    components {
+        myRobotcpp(NativeExecutableSpec) {
+            targetPlatform 'arm'
+            binaries.all {
+                tasks.withType(CppCompile) {
+                    addNiLibraryLinks(linker, targetPlatform)
+                    addNetworkTablesLibraryLinks(it, linker, targetPlatform)
+                    addCsCoreLibraryLinks(it, linker, targetPlatform)
+                }
+
+                cppCompiler.args '-pthread', '-Wno-unused-variable'
+                linker.args '-pthread', '-Wno-unused-variable', '-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a'
+            }
+            sources {
+                cpp {
+                    source {
+                        srcDir 'src'
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDirs = ['include',
+                                   "${project.athena}/include", "${project.shared}/include",
+                                   "${project.hal}/include/HAL", netTablesInclude, wpiUtilInclude]
+                        include '**/*.h'
+                    }
+
+                    lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
+                    lib project: ':hal', library: 'HALAthena', linkage: 'shared'
+                }
+            }
+        }
+    }
+}
+
+def nativeDirectory = "$buildDir/output"
+
+clean {
+    delete nativeDirectory
+}
+
+task copyRobotLibraries(type: Copy) {
+    description = 'Copies all native libraries to an easy to find folder'
+    group = 'WPILib'
+    destinationDir = file(nativeDirectory)
+    dependsOn ':hal:build'
+    dependsOn ':wpilibc:build'
+    dependsOn check
+
+    project(':wpilibc').model {
+        binaries {
+            withType(SharedLibraryBinarySpec) { spec ->
+                from(spec.sharedLibraryFile) {
+                    into '/'
+                }
+            }
+        }
+    }
+
+    project.model {
+        binaries {
+            withType(NativeExecutableBinarySpec) { spec ->
+                from(spec.executableFile) {
+                    into '/'
+                }
+            }
+        }
+    }
+
+    project(':hal').model {
+        binaries {
+            withType(SharedLibraryBinarySpec) { spec ->
+                from(spec.sharedLibraryFile) {
+                    into '/'
+                }
+            }
+        }
+    }
+
+    defineNetworkTablesProperties()
+    defineWpiUtilProperties()
+    defineCsCoreProperties()
+
+    from (file(netSharedLib)) {
+        into '/'
+    }
+
+    from (file(wpiUtilSharedLib)) {
+        into '/'
+    }
+
+    from (file(csLibArmLocation).path) {
+        include '**/*so.3.1'
+        include '**/libcscore.so'
+        include '**/libopencv_java310.so'
+        into '/'
+    }
+
+}
+
+
+build.dependsOn copyRobotLibraries

myRobotCpp/src/MyRobot.cpp

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "WPILib.h"
+
+class MyRobot : public IterativeRobot {
+  /**
+   * This function is run when the robot is first started up and should be
+   * used for any initialization code.
+   */
+  void RobotInit() override {}
+
+  /**
+   * This function is run once each time the robot enters autonomous mode
+   */
+  void AutonomousInit() override {}
+
+  /**
+   * This function is called periodically during autonomous
+   */
+  void AutonomousPeriodic() override {}
+
+  /**
+   * This function is called once each time the robot enters tele-operated mode
+   */
+  void TeleopInit() override {}
+
+  /**
+   * This function is called periodically during operator control
+   */
+  void TeleopPeriodic() override {}
+
+  /**
+   * This function is called periodically during test mode
+   */
+  void TestPeriodic() override {}
+
+  /**
+   * This function is called periodically during all modes
+   */
+  void RobotPeriodic() override {}
+};
+
+START_ROBOT_CLASS(MyRobot)

ni-libraries/include/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h

@@ -1,9 +1,9 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __RoboRIO_FRC_ChipObject_Aliases_h__
-#define __RoboRIO_FRC_ChipObject_Aliases_h__
-
-#define nRoboRIO_FPGANamespace nFRC_2017_17_0_2
-
-#endif // __RoboRIO_FRC_ChipObject_Aliases_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __RoboRIO_FRC_ChipObject_Aliases_h__
+#define __RoboRIO_FRC_ChipObject_Aliases_h__
+
+#define nRoboRIO_FPGANamespace nFRC_2017_17_0_2
+
+#endif // __RoboRIO_FRC_ChipObject_Aliases_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h

@@ -1,15 +1,15 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_nInterfaceGlobals_h__
-#define __nFRC_2017_17_0_2_nInterfaceGlobals_h__
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-   extern unsigned int g_currentTargetClass;
-}
-}
-
-#endif // __nFRC_2017_17_0_2_nInterfaceGlobals_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_nInterfaceGlobals_h__
+#define __nFRC_2017_17_0_2_nInterfaceGlobals_h__
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+   extern unsigned int g_currentTargetClass;
+}
+}
+
+#endif // __nFRC_2017_17_0_2_nInterfaceGlobals_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h

@@ -1,143 +1,144 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_AI_h__
-#define __nFRC_2017_17_0_2_AI_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tAI
-{
-public:
-   tAI(){}
-   virtual ~tAI(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tAI* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned ScanSize : 3;
-         unsigned ConvertRate : 26;
-#else
-         unsigned ConvertRate : 26;
-         unsigned ScanSize : 3;
-#endif
-      };
-      struct{
-         unsigned value : 29;
-      };
-   } tConfig;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Channel : 3;
-         unsigned Averaged : 1;
-#else
-         unsigned Averaged : 1;
-         unsigned Channel : 3;
-#endif
-      };
-      struct{
-         unsigned value : 4;
-      };
-   } tReadSelect;
-
-
-
-   typedef enum
-   {
-   } tOutput_IfaceConstants;
-
-   virtual signed int readOutput(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tConfig_IfaceConstants;
-
-   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_ScanSize(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_ConvertRate(unsigned int value, tRioStatusCode *status) = 0;
-   virtual tConfig readConfig(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_ScanSize(tRioStatusCode *status) = 0;
-   virtual unsigned int readConfig_ConvertRate(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tLoopTiming_IfaceConstants;
-
-   virtual unsigned int readLoopTiming(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumOversampleBitsElements = 8,
-   } tOversampleBits_IfaceConstants;
-
-   virtual void writeOversampleBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readOversampleBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumAverageBitsElements = 8,
-   } tAverageBits_IfaceConstants;
-
-   virtual void writeAverageBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readAverageBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumScanListElements = 8,
-   } tScanList_IfaceConstants;
-
-   virtual void writeScanList(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readScanList(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tLatchOutput_IfaceConstants;
-
-   virtual void strobeLatchOutput(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tReadSelect_IfaceConstants;
-
-   virtual void writeReadSelect(tReadSelect value, tRioStatusCode *status) = 0;
-   virtual void writeReadSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeReadSelect_Averaged(bool value, tRioStatusCode *status) = 0;
-   virtual tReadSelect readReadSelect(tRioStatusCode *status) = 0;
-   virtual unsigned char readReadSelect_Channel(tRioStatusCode *status) = 0;
-   virtual bool readReadSelect_Averaged(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tAI(const tAI&);
-   void operator=(const tAI&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_AI_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_AI_h__
+#define __nFRC_2017_17_0_2_AI_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tAI
+{
+public:
+   tAI(){}
+   virtual ~tAI(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAI* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ScanSize : 3;
+         unsigned ConvertRate : 26;
+#else
+         unsigned ConvertRate : 26;
+         unsigned ScanSize : 3;
+#endif
+      };
+      struct{
+         unsigned value : 29;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Channel : 3;
+         unsigned Averaged : 1;
+#else
+         unsigned Averaged : 1;
+         unsigned Channel : 3;
+#endif
+      };
+      struct{
+         unsigned value : 4;
+      };
+   } tReadSelect;
+
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual signed int readOutput(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ScanSize(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ConvertRate(unsigned int value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ScanSize(tRioStatusCode *status) = 0;
+   virtual unsigned int readConfig_ConvertRate(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLoopTiming_IfaceConstants;
+
+   virtual unsigned int readLoopTiming(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumOversampleBitsElements = 8,
+   } tOversampleBits_IfaceConstants;
+
+   virtual void writeOversampleBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readOversampleBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumAverageBitsElements = 8,
+   } tAverageBits_IfaceConstants;
+
+   virtual void writeAverageBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readAverageBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumScanListElements = 8,
+   } tScanList_IfaceConstants;
+
+   virtual void writeScanList(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readScanList(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLatchOutput_IfaceConstants;
+
+   virtual void strobeLatchOutput(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReadSelect_IfaceConstants;
+
+   virtual void writeReadSelect(tReadSelect value, tRioStatusCode *status) = 0;
+   virtual void writeReadSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeReadSelect_Averaged(bool value, tRioStatusCode *status) = 0;
+   virtual tReadSelect readReadSelect(tRioStatusCode *status) = 0;
+   virtual unsigned char readReadSelect_Channel(tRioStatusCode *status) = 0;
+   virtual bool readReadSelect_Averaged(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tAI(const tAI&);
+   void operator=(const tAI&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_AI_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h

@@ -1,50 +1,51 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_AO_h__
-#define __nFRC_2017_17_0_2_AO_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tAO
-{
-public:
-   tAO(){}
-   virtual ~tAO(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tAO* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-
-
-
-
-
-   typedef enum
-   {
-      kNumMXPRegisters = 2,
-   } tMXP_IfaceConstants;
-
-   virtual void writeMXP(unsigned char reg_index, unsigned short value, tRioStatusCode *status) = 0;
-   virtual unsigned short readMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
-
-
-private:
-   tAO(const tAO&);
-   void operator=(const tAO&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_AO_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_AO_h__
+#define __nFRC_2017_17_0_2_AO_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tAO
+{
+public:
+   tAO(){}
+   virtual ~tAO(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAO* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+
+
+   typedef enum
+   {
+      kNumMXPRegisters = 2,
+   } tMXP_IfaceConstants;
+
+   virtual void writeMXP(unsigned char reg_index, unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+private:
+   tAO(const tAO&);
+   void operator=(const tAO&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_AO_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h

@@ -1,102 +1,103 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_Accel_h__
-#define __nFRC_2017_17_0_2_Accel_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tAccel
-{
-public:
-   tAccel(){}
-   virtual ~tAccel(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tAccel* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-
-
-
-   typedef enum
-   {
-   } tSTAT_IfaceConstants;
-
-   virtual unsigned char readSTAT(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tCNTR_IfaceConstants;
-
-   virtual void writeCNTR(unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readCNTR(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDATO_IfaceConstants;
-
-   virtual void writeDATO(unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readDATO(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tCNFG_IfaceConstants;
-
-   virtual void writeCNFG(unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readCNFG(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tCNTL_IfaceConstants;
-
-   virtual void writeCNTL(unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readCNTL(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDATI_IfaceConstants;
-
-   virtual unsigned char readDATI(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tGO_IfaceConstants;
-
-   virtual void strobeGO(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tADDR_IfaceConstants;
-
-   virtual void writeADDR(unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readADDR(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tAccel(const tAccel&);
-   void operator=(const tAccel&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_Accel_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_Accel_h__
+#define __nFRC_2017_17_0_2_Accel_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tAccel
+{
+public:
+   tAccel(){}
+   virtual ~tAccel(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAccel* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tSTAT_IfaceConstants;
+
+   virtual unsigned char readSTAT(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tCNTR_IfaceConstants;
+
+   virtual void writeCNTR(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readCNTR(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDATO_IfaceConstants;
+
+   virtual void writeDATO(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readDATO(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tCNFG_IfaceConstants;
+
+   virtual void writeCNFG(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readCNFG(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tCNTL_IfaceConstants;
+
+   virtual void writeCNTL(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readCNTL(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDATI_IfaceConstants;
+
+   virtual unsigned char readDATI(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tGO_IfaceConstants;
+
+   virtual void strobeGO(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tADDR_IfaceConstants;
+
+   virtual void writeADDR(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readADDR(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tAccel(const tAccel&);
+   void operator=(const tAccel&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_Accel_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h

@@ -1,87 +1,88 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_Accumulator_h__
-#define __nFRC_2017_17_0_2_Accumulator_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tAccumulator
-{
-public:
-   tAccumulator(){}
-   virtual ~tAccumulator(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tAccumulator* create(unsigned char sys_index, tRioStatusCode *status);
-   virtual unsigned char getSystemIndex() = 0;
-
-
-   typedef enum
-   {
-      kNumSystems = 2,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-         signed long long Value;
-         unsigned Count : 32;
-      };
-      struct{
-         unsigned value : 32;
-         unsigned value2 : 32;
-         unsigned value3 : 32;
-      };
-   } tOutput;
-
-
-   typedef enum
-   {
-   } tOutput_IfaceConstants;
-
-   virtual tOutput readOutput(tRioStatusCode *status) = 0;
-   virtual signed long long readOutput_Value(tRioStatusCode *status) = 0;
-   virtual unsigned int readOutput_Count(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tCenter_IfaceConstants;
-
-   virtual void writeCenter(signed int value, tRioStatusCode *status) = 0;
-   virtual signed int readCenter(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDeadband_IfaceConstants;
-
-   virtual void writeDeadband(signed int value, tRioStatusCode *status) = 0;
-   virtual signed int readDeadband(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tReset_IfaceConstants;
-
-   virtual void strobeReset(tRioStatusCode *status) = 0;
-
-
-
-
-
-private:
-   tAccumulator(const tAccumulator&);
-   void operator=(const tAccumulator&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_Accumulator_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_Accumulator_h__
+#define __nFRC_2017_17_0_2_Accumulator_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tAccumulator
+{
+public:
+   tAccumulator(){}
+   virtual ~tAccumulator(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAccumulator* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 2,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+         signed long long Value;
+         unsigned Count : 32;
+      };
+      struct{
+         unsigned value : 32;
+         unsigned value2 : 32;
+         unsigned value3 : 32;
+      };
+   } tOutput;
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(tRioStatusCode *status) = 0;
+   virtual signed long long readOutput_Value(tRioStatusCode *status) = 0;
+   virtual unsigned int readOutput_Count(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tCenter_IfaceConstants;
+
+   virtual void writeCenter(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readCenter(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDeadband_IfaceConstants;
+
+   virtual void writeDeadband(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readDeadband(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tAccumulator(const tAccumulator&);
+   void operator=(const tAccumulator&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_Accumulator_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h

@@ -1,57 +1,58 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_Alarm_h__
-#define __nFRC_2017_17_0_2_Alarm_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tAlarm
-{
-public:
-   tAlarm(){}
-   virtual ~tAlarm(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tAlarm* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-
-
-
-   typedef enum
-   {
-   } tEnable_IfaceConstants;
-
-   virtual void writeEnable(bool value, tRioStatusCode *status) = 0;
-   virtual bool readEnable(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tTriggerTime_IfaceConstants;
-
-   virtual void writeTriggerTime(unsigned int value, tRioStatusCode *status) = 0;
-   virtual unsigned int readTriggerTime(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tAlarm(const tAlarm&);
-   void operator=(const tAlarm&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_Alarm_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_Alarm_h__
+#define __nFRC_2017_17_0_2_Alarm_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tAlarm
+{
+public:
+   tAlarm(){}
+   virtual ~tAlarm(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAlarm* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tEnable_IfaceConstants;
+
+   virtual void writeEnable(bool value, tRioStatusCode *status) = 0;
+   virtual bool readEnable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTriggerTime_IfaceConstants;
+
+   virtual void writeTriggerTime(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readTriggerTime(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tAlarm(const tAlarm&);
+   void operator=(const tAlarm&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_Alarm_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h

@@ -1,129 +1,130 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_AnalogTrigger_h__
-#define __nFRC_2017_17_0_2_AnalogTrigger_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tAnalogTrigger
-{
-public:
-   tAnalogTrigger(){}
-   virtual ~tAnalogTrigger(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tAnalogTrigger* create(unsigned char sys_index, tRioStatusCode *status);
-   virtual unsigned char getSystemIndex() = 0;
-
-
-   typedef enum
-   {
-      kNumSystems = 8,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned InHysteresis : 1;
-         unsigned OverLimit : 1;
-         unsigned Rising : 1;
-         unsigned Falling : 1;
-#else
-         unsigned Falling : 1;
-         unsigned Rising : 1;
-         unsigned OverLimit : 1;
-         unsigned InHysteresis : 1;
-#endif
-      };
-      struct{
-         unsigned value : 4;
-      };
-   } tOutput;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Channel : 3;
-         unsigned Averaged : 1;
-         unsigned Filter : 1;
-         unsigned FloatingRollover : 1;
-         signed RolloverLimit : 8;
-#else
-         signed RolloverLimit : 8;
-         unsigned FloatingRollover : 1;
-         unsigned Filter : 1;
-         unsigned Averaged : 1;
-         unsigned Channel : 3;
-#endif
-      };
-      struct{
-         unsigned value : 14;
-      };
-   } tSourceSelect;
-
-
-   typedef enum
-   {
-   } tSourceSelect_IfaceConstants;
-
-   virtual void writeSourceSelect(tSourceSelect value, tRioStatusCode *status) = 0;
-   virtual void writeSourceSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeSourceSelect_Averaged(bool value, tRioStatusCode *status) = 0;
-   virtual void writeSourceSelect_Filter(bool value, tRioStatusCode *status) = 0;
-   virtual void writeSourceSelect_FloatingRollover(bool value, tRioStatusCode *status) = 0;
-   virtual void writeSourceSelect_RolloverLimit(signed short value, tRioStatusCode *status) = 0;
-   virtual tSourceSelect readSourceSelect(tRioStatusCode *status) = 0;
-   virtual unsigned char readSourceSelect_Channel(tRioStatusCode *status) = 0;
-   virtual bool readSourceSelect_Averaged(tRioStatusCode *status) = 0;
-   virtual bool readSourceSelect_Filter(tRioStatusCode *status) = 0;
-   virtual bool readSourceSelect_FloatingRollover(tRioStatusCode *status) = 0;
-   virtual signed short readSourceSelect_RolloverLimit(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tUpperLimit_IfaceConstants;
-
-   virtual void writeUpperLimit(signed int value, tRioStatusCode *status) = 0;
-   virtual signed int readUpperLimit(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tLowerLimit_IfaceConstants;
-
-   virtual void writeLowerLimit(signed int value, tRioStatusCode *status) = 0;
-   virtual signed int readLowerLimit(tRioStatusCode *status) = 0;
-
-
-
-   typedef enum
-   {
-      kNumOutputElements = 8,
-   } tOutput_IfaceConstants;
-
-   virtual tOutput readOutput(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-   virtual bool readOutput_InHysteresis(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-   virtual bool readOutput_OverLimit(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-   virtual bool readOutput_Rising(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-   virtual bool readOutput_Falling(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tAnalogTrigger(const tAnalogTrigger&);
-   void operator=(const tAnalogTrigger&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_AnalogTrigger_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_AnalogTrigger_h__
+#define __nFRC_2017_17_0_2_AnalogTrigger_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tAnalogTrigger
+{
+public:
+   tAnalogTrigger(){}
+   virtual ~tAnalogTrigger(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAnalogTrigger* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 8,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned InHysteresis : 1;
+         unsigned OverLimit : 1;
+         unsigned Rising : 1;
+         unsigned Falling : 1;
+#else
+         unsigned Falling : 1;
+         unsigned Rising : 1;
+         unsigned OverLimit : 1;
+         unsigned InHysteresis : 1;
+#endif
+      };
+      struct{
+         unsigned value : 4;
+      };
+   } tOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Channel : 3;
+         unsigned Averaged : 1;
+         unsigned Filter : 1;
+         unsigned FloatingRollover : 1;
+         signed RolloverLimit : 8;
+#else
+         signed RolloverLimit : 8;
+         unsigned FloatingRollover : 1;
+         unsigned Filter : 1;
+         unsigned Averaged : 1;
+         unsigned Channel : 3;
+#endif
+      };
+      struct{
+         unsigned value : 14;
+      };
+   } tSourceSelect;
+
+
+   typedef enum
+   {
+   } tSourceSelect_IfaceConstants;
+
+   virtual void writeSourceSelect(tSourceSelect value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Averaged(bool value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Filter(bool value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_FloatingRollover(bool value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_RolloverLimit(signed short value, tRioStatusCode *status) = 0;
+   virtual tSourceSelect readSourceSelect(tRioStatusCode *status) = 0;
+   virtual unsigned char readSourceSelect_Channel(tRioStatusCode *status) = 0;
+   virtual bool readSourceSelect_Averaged(tRioStatusCode *status) = 0;
+   virtual bool readSourceSelect_Filter(tRioStatusCode *status) = 0;
+   virtual bool readSourceSelect_FloatingRollover(tRioStatusCode *status) = 0;
+   virtual signed short readSourceSelect_RolloverLimit(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUpperLimit_IfaceConstants;
+
+   virtual void writeUpperLimit(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readUpperLimit(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLowerLimit_IfaceConstants;
+
+   virtual void writeLowerLimit(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readLowerLimit(tRioStatusCode *status) = 0;
+
+
+
+   typedef enum
+   {
+      kNumOutputElements = 8,
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_InHysteresis(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_OverLimit(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_Rising(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_Falling(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tAnalogTrigger(const tAnalogTrigger&);
+   void operator=(const tAnalogTrigger&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_AnalogTrigger_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h

@@ -1,90 +1,91 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_BIST_h__
-#define __nFRC_2017_17_0_2_BIST_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tBIST
-{
-public:
-   tBIST(){}
-   virtual ~tBIST(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tBIST* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-
-
-
-   typedef enum
-   {
-   } tDO0SquareTicks_IfaceConstants;
-
-   virtual void writeDO0SquareTicks(unsigned int value, tRioStatusCode *status) = 0;
-   virtual unsigned int readDO0SquareTicks(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tEnable_IfaceConstants;
-
-   virtual void writeEnable(bool value, tRioStatusCode *status) = 0;
-   virtual bool readEnable(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDO1SquareEnable_IfaceConstants;
-
-   virtual void writeDO1SquareEnable(bool value, tRioStatusCode *status) = 0;
-   virtual bool readDO1SquareEnable(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDO0SquareEnable_IfaceConstants;
-
-   virtual void writeDO0SquareEnable(bool value, tRioStatusCode *status) = 0;
-   virtual bool readDO0SquareEnable(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDO1SquareTicks_IfaceConstants;
-
-   virtual void writeDO1SquareTicks(unsigned int value, tRioStatusCode *status) = 0;
-   virtual unsigned int readDO1SquareTicks(tRioStatusCode *status) = 0;
-
-
-
-
-   typedef enum
-   {
-      kNumDORegisters = 2,
-   } tDO_IfaceConstants;
-
-   virtual void writeDO(unsigned char reg_index, bool value, tRioStatusCode *status) = 0;
-   virtual bool readDO(unsigned char reg_index, tRioStatusCode *status) = 0;
-
-
-private:
-   tBIST(const tBIST&);
-   void operator=(const tBIST&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_BIST_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_BIST_h__
+#define __nFRC_2017_17_0_2_BIST_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tBIST
+{
+public:
+   tBIST(){}
+   virtual ~tBIST(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tBIST* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tDO0SquareTicks_IfaceConstants;
+
+   virtual void writeDO0SquareTicks(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readDO0SquareTicks(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tEnable_IfaceConstants;
+
+   virtual void writeEnable(bool value, tRioStatusCode *status) = 0;
+   virtual bool readEnable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDO1SquareEnable_IfaceConstants;
+
+   virtual void writeDO1SquareEnable(bool value, tRioStatusCode *status) = 0;
+   virtual bool readDO1SquareEnable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDO0SquareEnable_IfaceConstants;
+
+   virtual void writeDO0SquareEnable(bool value, tRioStatusCode *status) = 0;
+   virtual bool readDO0SquareEnable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDO1SquareTicks_IfaceConstants;
+
+   virtual void writeDO1SquareTicks(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readDO1SquareTicks(tRioStatusCode *status) = 0;
+
+
+
+
+   typedef enum
+   {
+      kNumDORegisters = 2,
+   } tDO_IfaceConstants;
+
+   virtual void writeDO(unsigned char reg_index, bool value, tRioStatusCode *status) = 0;
+   virtual bool readDO(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+private:
+   tBIST(const tBIST&);
+   void operator=(const tBIST&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_BIST_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h

@@ -1,219 +1,220 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_Counter_h__
-#define __nFRC_2017_17_0_2_Counter_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tCounter
-{
-public:
-   tCounter(){}
-   virtual ~tCounter(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tCounter* create(unsigned char sys_index, tRioStatusCode *status);
-   virtual unsigned char getSystemIndex() = 0;
-
-
-   typedef enum
-   {
-      kNumSystems = 8,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Direction : 1;
-         signed Value : 31;
-#else
-         signed Value : 31;
-         unsigned Direction : 1;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tOutput;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned UpSource_Channel : 4;
-         unsigned UpSource_Module : 1;
-         unsigned UpSource_AnalogTrigger : 1;
-         unsigned DownSource_Channel : 4;
-         unsigned DownSource_Module : 1;
-         unsigned DownSource_AnalogTrigger : 1;
-         unsigned IndexSource_Channel : 4;
-         unsigned IndexSource_Module : 1;
-         unsigned IndexSource_AnalogTrigger : 1;
-         unsigned IndexActiveHigh : 1;
-         unsigned IndexEdgeSensitive : 1;
-         unsigned UpRisingEdge : 1;
-         unsigned UpFallingEdge : 1;
-         unsigned DownRisingEdge : 1;
-         unsigned DownFallingEdge : 1;
-         unsigned Mode : 2;
-         unsigned PulseLengthThreshold : 6;
-#else
-         unsigned PulseLengthThreshold : 6;
-         unsigned Mode : 2;
-         unsigned DownFallingEdge : 1;
-         unsigned DownRisingEdge : 1;
-         unsigned UpFallingEdge : 1;
-         unsigned UpRisingEdge : 1;
-         unsigned IndexEdgeSensitive : 1;
-         unsigned IndexActiveHigh : 1;
-         unsigned IndexSource_AnalogTrigger : 1;
-         unsigned IndexSource_Module : 1;
-         unsigned IndexSource_Channel : 4;
-         unsigned DownSource_AnalogTrigger : 1;
-         unsigned DownSource_Module : 1;
-         unsigned DownSource_Channel : 4;
-         unsigned UpSource_AnalogTrigger : 1;
-         unsigned UpSource_Module : 1;
-         unsigned UpSource_Channel : 4;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tConfig;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Period : 23;
-         signed Count : 8;
-         unsigned Stalled : 1;
-#else
-         unsigned Stalled : 1;
-         signed Count : 8;
-         unsigned Period : 23;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tTimerOutput;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned StallPeriod : 24;
-         unsigned AverageSize : 7;
-         unsigned UpdateWhenEmpty : 1;
-#else
-         unsigned UpdateWhenEmpty : 1;
-         unsigned AverageSize : 7;
-         unsigned StallPeriod : 24;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tTimerConfig;
-
-
-   typedef enum
-   {
-   } tOutput_IfaceConstants;
-
-   virtual tOutput readOutput(tRioStatusCode *status) = 0;
-   virtual bool readOutput_Direction(tRioStatusCode *status) = 0;
-   virtual signed int readOutput_Value(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tConfig_IfaceConstants;
-
-   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_UpSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_UpSource_Module(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_UpSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_DownSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_DownSource_Module(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_DownSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_IndexSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_UpRisingEdge(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_UpFallingEdge(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_DownRisingEdge(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_DownFallingEdge(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Mode(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_PulseLengthThreshold(unsigned short value, tRioStatusCode *status) = 0;
-   virtual tConfig readConfig(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_UpSource_Channel(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_UpSource_Module(tRioStatusCode *status) = 0;
-   virtual bool readConfig_UpSource_AnalogTrigger(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_DownSource_Channel(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_DownSource_Module(tRioStatusCode *status) = 0;
-   virtual bool readConfig_DownSource_AnalogTrigger(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_IndexSource_Channel(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
-   virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
-   virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
-   virtual bool readConfig_IndexEdgeSensitive(tRioStatusCode *status) = 0;
-   virtual bool readConfig_UpRisingEdge(tRioStatusCode *status) = 0;
-   virtual bool readConfig_UpFallingEdge(tRioStatusCode *status) = 0;
-   virtual bool readConfig_DownRisingEdge(tRioStatusCode *status) = 0;
-   virtual bool readConfig_DownFallingEdge(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_Mode(tRioStatusCode *status) = 0;
-   virtual unsigned short readConfig_PulseLengthThreshold(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tTimerOutput_IfaceConstants;
-
-   virtual tTimerOutput readTimerOutput(tRioStatusCode *status) = 0;
-   virtual unsigned int readTimerOutput_Period(tRioStatusCode *status) = 0;
-   virtual signed char readTimerOutput_Count(tRioStatusCode *status) = 0;
-   virtual bool readTimerOutput_Stalled(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tReset_IfaceConstants;
-
-   virtual void strobeReset(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tTimerConfig_IfaceConstants;
-
-   virtual void writeTimerConfig(tTimerConfig value, tRioStatusCode *status) = 0;
-   virtual void writeTimerConfig_StallPeriod(unsigned int value, tRioStatusCode *status) = 0;
-   virtual void writeTimerConfig_AverageSize(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode *status) = 0;
-   virtual tTimerConfig readTimerConfig(tRioStatusCode *status) = 0;
-   virtual unsigned int readTimerConfig_StallPeriod(tRioStatusCode *status) = 0;
-   virtual unsigned char readTimerConfig_AverageSize(tRioStatusCode *status) = 0;
-   virtual bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode *status) = 0;
-
-
-
-
-
-private:
-   tCounter(const tCounter&);
-   void operator=(const tCounter&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_Counter_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_Counter_h__
+#define __nFRC_2017_17_0_2_Counter_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tCounter
+{
+public:
+   tCounter(){}
+   virtual ~tCounter(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tCounter* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 8,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Direction : 1;
+         signed Value : 31;
+#else
+         signed Value : 31;
+         unsigned Direction : 1;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned UpSource_Channel : 4;
+         unsigned UpSource_Module : 1;
+         unsigned UpSource_AnalogTrigger : 1;
+         unsigned DownSource_Channel : 4;
+         unsigned DownSource_Module : 1;
+         unsigned DownSource_AnalogTrigger : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned IndexEdgeSensitive : 1;
+         unsigned UpRisingEdge : 1;
+         unsigned UpFallingEdge : 1;
+         unsigned DownRisingEdge : 1;
+         unsigned DownFallingEdge : 1;
+         unsigned Mode : 2;
+         unsigned PulseLengthThreshold : 6;
+#else
+         unsigned PulseLengthThreshold : 6;
+         unsigned Mode : 2;
+         unsigned DownFallingEdge : 1;
+         unsigned DownRisingEdge : 1;
+         unsigned UpFallingEdge : 1;
+         unsigned UpRisingEdge : 1;
+         unsigned IndexEdgeSensitive : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned DownSource_AnalogTrigger : 1;
+         unsigned DownSource_Module : 1;
+         unsigned DownSource_Channel : 4;
+         unsigned UpSource_AnalogTrigger : 1;
+         unsigned UpSource_Module : 1;
+         unsigned UpSource_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Period : 23;
+         signed Count : 8;
+         unsigned Stalled : 1;
+#else
+         unsigned Stalled : 1;
+         signed Count : 8;
+         unsigned Period : 23;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned StallPeriod : 24;
+         unsigned AverageSize : 7;
+         unsigned UpdateWhenEmpty : 1;
+#else
+         unsigned UpdateWhenEmpty : 1;
+         unsigned AverageSize : 7;
+         unsigned StallPeriod : 24;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerConfig;
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(tRioStatusCode *status) = 0;
+   virtual bool readOutput_Direction(tRioStatusCode *status) = 0;
+   virtual signed int readOutput_Value(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpRisingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpFallingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownRisingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownFallingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Mode(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_PulseLengthThreshold(unsigned short value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_UpSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_UpSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_UpSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_DownSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_DownSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DownSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexEdgeSensitive(tRioStatusCode *status) = 0;
+   virtual bool readConfig_UpRisingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_UpFallingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DownRisingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DownFallingEdge(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_Mode(tRioStatusCode *status) = 0;
+   virtual unsigned short readConfig_PulseLengthThreshold(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerOutput_IfaceConstants;
+
+   virtual tTimerOutput readTimerOutput(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerOutput_Period(tRioStatusCode *status) = 0;
+   virtual signed char readTimerOutput_Count(tRioStatusCode *status) = 0;
+   virtual bool readTimerOutput_Stalled(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerConfig_IfaceConstants;
+
+   virtual void writeTimerConfig(tTimerConfig value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_StallPeriod(unsigned int value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_AverageSize(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode *status) = 0;
+   virtual tTimerConfig readTimerConfig(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerConfig_StallPeriod(tRioStatusCode *status) = 0;
+   virtual unsigned char readTimerConfig_AverageSize(tRioStatusCode *status) = 0;
+   virtual bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tCounter(const tCounter&);
+   void operator=(const tCounter&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_Counter_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h

@@ -1,263 +1,264 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_DIO_h__
-#define __nFRC_2017_17_0_2_DIO_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tDIO
-{
-public:
-   tDIO(){}
-   virtual ~tDIO(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tDIO* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Headers : 10;
-         unsigned SPIPort : 5;
-         unsigned Reserved : 1;
-         unsigned MXP : 16;
-#else
-         unsigned MXP : 16;
-         unsigned Reserved : 1;
-         unsigned SPIPort : 5;
-         unsigned Headers : 10;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tDO;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Headers : 10;
-         unsigned SPIPort : 5;
-         unsigned Reserved : 1;
-         unsigned MXP : 16;
-#else
-         unsigned MXP : 16;
-         unsigned Reserved : 1;
-         unsigned SPIPort : 5;
-         unsigned Headers : 10;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tOutputEnable;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Headers : 10;
-         unsigned SPIPort : 5;
-         unsigned Reserved : 1;
-         unsigned MXP : 16;
-#else
-         unsigned MXP : 16;
-         unsigned Reserved : 1;
-         unsigned SPIPort : 5;
-         unsigned Headers : 10;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tPulse;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Headers : 10;
-         unsigned SPIPort : 5;
-         unsigned Reserved : 1;
-         unsigned MXP : 16;
-#else
-         unsigned MXP : 16;
-         unsigned Reserved : 1;
-         unsigned SPIPort : 5;
-         unsigned Headers : 10;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tDI;
-
-
-
-   typedef enum
-   {
-   } tDO_IfaceConstants;
-
-   virtual void writeDO(tDO value, tRioStatusCode *status) = 0;
-   virtual void writeDO_Headers(unsigned short value, tRioStatusCode *status) = 0;
-   virtual void writeDO_SPIPort(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeDO_Reserved(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeDO_MXP(unsigned short value, tRioStatusCode *status) = 0;
-   virtual tDO readDO(tRioStatusCode *status) = 0;
-   virtual unsigned short readDO_Headers(tRioStatusCode *status) = 0;
-   virtual unsigned char readDO_SPIPort(tRioStatusCode *status) = 0;
-   virtual unsigned char readDO_Reserved(tRioStatusCode *status) = 0;
-   virtual unsigned short readDO_MXP(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumPWMDutyCycleAElements = 4,
-   } tPWMDutyCycleA_IfaceConstants;
-
-   virtual void writePWMDutyCycleA(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readPWMDutyCycleA(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumPWMDutyCycleBElements = 2,
-   } tPWMDutyCycleB_IfaceConstants;
-
-   virtual void writePWMDutyCycleB(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readPWMDutyCycleB(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumFilterSelectHdrElements = 16,
-   } tFilterSelectHdr_IfaceConstants;
-
-   virtual void writeFilterSelectHdr(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readFilterSelectHdr(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tOutputEnable_IfaceConstants;
-
-   virtual void writeOutputEnable(tOutputEnable value, tRioStatusCode *status) = 0;
-   virtual void writeOutputEnable_Headers(unsigned short value, tRioStatusCode *status) = 0;
-   virtual void writeOutputEnable_SPIPort(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeOutputEnable_Reserved(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeOutputEnable_MXP(unsigned short value, tRioStatusCode *status) = 0;
-   virtual tOutputEnable readOutputEnable(tRioStatusCode *status) = 0;
-   virtual unsigned short readOutputEnable_Headers(tRioStatusCode *status) = 0;
-   virtual unsigned char readOutputEnable_SPIPort(tRioStatusCode *status) = 0;
-   virtual unsigned char readOutputEnable_Reserved(tRioStatusCode *status) = 0;
-   virtual unsigned short readOutputEnable_MXP(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumPWMOutputSelectElements = 6,
-   } tPWMOutputSelect_IfaceConstants;
-
-   virtual void writePWMOutputSelect(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readPWMOutputSelect(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tPulse_IfaceConstants;
-
-   virtual void writePulse(tPulse value, tRioStatusCode *status) = 0;
-   virtual void writePulse_Headers(unsigned short value, tRioStatusCode *status) = 0;
-   virtual void writePulse_SPIPort(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writePulse_Reserved(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writePulse_MXP(unsigned short value, tRioStatusCode *status) = 0;
-   virtual tPulse readPulse(tRioStatusCode *status) = 0;
-   virtual unsigned short readPulse_Headers(tRioStatusCode *status) = 0;
-   virtual unsigned char readPulse_SPIPort(tRioStatusCode *status) = 0;
-   virtual unsigned char readPulse_Reserved(tRioStatusCode *status) = 0;
-   virtual unsigned short readPulse_MXP(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDI_IfaceConstants;
-
-   virtual tDI readDI(tRioStatusCode *status) = 0;
-   virtual unsigned short readDI_Headers(tRioStatusCode *status) = 0;
-   virtual unsigned char readDI_SPIPort(tRioStatusCode *status) = 0;
-   virtual unsigned char readDI_Reserved(tRioStatusCode *status) = 0;
-   virtual unsigned short readDI_MXP(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tEnableMXPSpecialFunction_IfaceConstants;
-
-   virtual void writeEnableMXPSpecialFunction(unsigned short value, tRioStatusCode *status) = 0;
-   virtual unsigned short readEnableMXPSpecialFunction(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumFilterSelectMXPElements = 16,
-   } tFilterSelectMXP_IfaceConstants;
-
-   virtual void writeFilterSelectMXP(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readFilterSelectMXP(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tPulseLength_IfaceConstants;
-
-   virtual void writePulseLength(unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readPulseLength(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tPWMPeriodPower_IfaceConstants;
-
-   virtual void writePWMPeriodPower(unsigned short value, tRioStatusCode *status) = 0;
-   virtual unsigned short readPWMPeriodPower(tRioStatusCode *status) = 0;
-
-
-
-
-   typedef enum
-   {
-      kNumFilterPeriodMXPRegisters = 3,
-   } tFilterPeriodMXP_IfaceConstants;
-
-   virtual void writeFilterPeriodMXP(unsigned char reg_index, unsigned int value, tRioStatusCode *status) = 0;
-   virtual unsigned int readFilterPeriodMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumFilterPeriodHdrRegisters = 3,
-   } tFilterPeriodHdr_IfaceConstants;
-
-   virtual void writeFilterPeriodHdr(unsigned char reg_index, unsigned int value, tRioStatusCode *status) = 0;
-   virtual unsigned int readFilterPeriodHdr(unsigned char reg_index, tRioStatusCode *status) = 0;
-
-
-private:
-   tDIO(const tDIO&);
-   void operator=(const tDIO&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_DIO_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_DIO_h__
+#define __nFRC_2017_17_0_2_DIO_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tDIO
+{
+public:
+   tDIO(){}
+   virtual ~tDIO(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tDIO* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Headers : 10;
+         unsigned SPIPort : 5;
+         unsigned Reserved : 1;
+         unsigned MXP : 16;
+#else
+         unsigned MXP : 16;
+         unsigned Reserved : 1;
+         unsigned SPIPort : 5;
+         unsigned Headers : 10;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tDO;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Headers : 10;
+         unsigned SPIPort : 5;
+         unsigned Reserved : 1;
+         unsigned MXP : 16;
+#else
+         unsigned MXP : 16;
+         unsigned Reserved : 1;
+         unsigned SPIPort : 5;
+         unsigned Headers : 10;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tOutputEnable;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Headers : 10;
+         unsigned SPIPort : 5;
+         unsigned Reserved : 1;
+         unsigned MXP : 16;
+#else
+         unsigned MXP : 16;
+         unsigned Reserved : 1;
+         unsigned SPIPort : 5;
+         unsigned Headers : 10;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tPulse;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Headers : 10;
+         unsigned SPIPort : 5;
+         unsigned Reserved : 1;
+         unsigned MXP : 16;
+#else
+         unsigned MXP : 16;
+         unsigned Reserved : 1;
+         unsigned SPIPort : 5;
+         unsigned Headers : 10;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tDI;
+
+
+
+   typedef enum
+   {
+   } tDO_IfaceConstants;
+
+   virtual void writeDO(tDO value, tRioStatusCode *status) = 0;
+   virtual void writeDO_Headers(unsigned short value, tRioStatusCode *status) = 0;
+   virtual void writeDO_SPIPort(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeDO_Reserved(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeDO_MXP(unsigned short value, tRioStatusCode *status) = 0;
+   virtual tDO readDO(tRioStatusCode *status) = 0;
+   virtual unsigned short readDO_Headers(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_SPIPort(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_Reserved(tRioStatusCode *status) = 0;
+   virtual unsigned short readDO_MXP(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumPWMDutyCycleAElements = 4,
+   } tPWMDutyCycleA_IfaceConstants;
+
+   virtual void writePWMDutyCycleA(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPWMDutyCycleA(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumPWMDutyCycleBElements = 2,
+   } tPWMDutyCycleB_IfaceConstants;
+
+   virtual void writePWMDutyCycleB(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPWMDutyCycleB(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumFilterSelectHdrElements = 16,
+   } tFilterSelectHdr_IfaceConstants;
+
+   virtual void writeFilterSelectHdr(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readFilterSelectHdr(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tOutputEnable_IfaceConstants;
+
+   virtual void writeOutputEnable(tOutputEnable value, tRioStatusCode *status) = 0;
+   virtual void writeOutputEnable_Headers(unsigned short value, tRioStatusCode *status) = 0;
+   virtual void writeOutputEnable_SPIPort(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeOutputEnable_Reserved(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeOutputEnable_MXP(unsigned short value, tRioStatusCode *status) = 0;
+   virtual tOutputEnable readOutputEnable(tRioStatusCode *status) = 0;
+   virtual unsigned short readOutputEnable_Headers(tRioStatusCode *status) = 0;
+   virtual unsigned char readOutputEnable_SPIPort(tRioStatusCode *status) = 0;
+   virtual unsigned char readOutputEnable_Reserved(tRioStatusCode *status) = 0;
+   virtual unsigned short readOutputEnable_MXP(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumPWMOutputSelectElements = 6,
+   } tPWMOutputSelect_IfaceConstants;
+
+   virtual void writePWMOutputSelect(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPWMOutputSelect(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tPulse_IfaceConstants;
+
+   virtual void writePulse(tPulse value, tRioStatusCode *status) = 0;
+   virtual void writePulse_Headers(unsigned short value, tRioStatusCode *status) = 0;
+   virtual void writePulse_SPIPort(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writePulse_Reserved(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writePulse_MXP(unsigned short value, tRioStatusCode *status) = 0;
+   virtual tPulse readPulse(tRioStatusCode *status) = 0;
+   virtual unsigned short readPulse_Headers(tRioStatusCode *status) = 0;
+   virtual unsigned char readPulse_SPIPort(tRioStatusCode *status) = 0;
+   virtual unsigned char readPulse_Reserved(tRioStatusCode *status) = 0;
+   virtual unsigned short readPulse_MXP(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDI_IfaceConstants;
+
+   virtual tDI readDI(tRioStatusCode *status) = 0;
+   virtual unsigned short readDI_Headers(tRioStatusCode *status) = 0;
+   virtual unsigned char readDI_SPIPort(tRioStatusCode *status) = 0;
+   virtual unsigned char readDI_Reserved(tRioStatusCode *status) = 0;
+   virtual unsigned short readDI_MXP(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tEnableMXPSpecialFunction_IfaceConstants;
+
+   virtual void writeEnableMXPSpecialFunction(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readEnableMXPSpecialFunction(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumFilterSelectMXPElements = 16,
+   } tFilterSelectMXP_IfaceConstants;
+
+   virtual void writeFilterSelectMXP(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readFilterSelectMXP(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tPulseLength_IfaceConstants;
+
+   virtual void writePulseLength(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPulseLength(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tPWMPeriodPower_IfaceConstants;
+
+   virtual void writePWMPeriodPower(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readPWMPeriodPower(tRioStatusCode *status) = 0;
+
+
+
+
+   typedef enum
+   {
+      kNumFilterPeriodMXPRegisters = 3,
+   } tFilterPeriodMXP_IfaceConstants;
+
+   virtual void writeFilterPeriodMXP(unsigned char reg_index, unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readFilterPeriodMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumFilterPeriodHdrRegisters = 3,
+   } tFilterPeriodHdr_IfaceConstants;
+
+   virtual void writeFilterPeriodHdr(unsigned char reg_index, unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readFilterPeriodHdr(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+private:
+   tDIO(const tDIO&);
+   void operator=(const tDIO&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_DIO_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h

@@ -1,197 +1,198 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_DMA_h__
-#define __nFRC_2017_17_0_2_DMA_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tDMA
-{
-public:
-   tDMA(){}
-   virtual ~tDMA(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tDMA* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Pause : 1;
-         unsigned Enable_AI0_Low : 1;
-         unsigned Enable_AI0_High : 1;
-         unsigned Enable_AIAveraged0_Low : 1;
-         unsigned Enable_AIAveraged0_High : 1;
-         unsigned Enable_AI1_Low : 1;
-         unsigned Enable_AI1_High : 1;
-         unsigned Enable_AIAveraged1_Low : 1;
-         unsigned Enable_AIAveraged1_High : 1;
-         unsigned Enable_Accumulator0 : 1;
-         unsigned Enable_Accumulator1 : 1;
-         unsigned Enable_DI : 1;
-         unsigned Enable_AnalogTriggers : 1;
-         unsigned Enable_Counters_Low : 1;
-         unsigned Enable_Counters_High : 1;
-         unsigned Enable_CounterTimers_Low : 1;
-         unsigned Enable_CounterTimers_High : 1;
-         unsigned Enable_Encoders_Low : 1;
-         unsigned Enable_Encoders_High : 1;
-         unsigned Enable_EncoderTimers_Low : 1;
-         unsigned Enable_EncoderTimers_High : 1;
-         unsigned ExternalClock : 1;
-#else
-         unsigned ExternalClock : 1;
-         unsigned Enable_EncoderTimers_High : 1;
-         unsigned Enable_EncoderTimers_Low : 1;
-         unsigned Enable_Encoders_High : 1;
-         unsigned Enable_Encoders_Low : 1;
-         unsigned Enable_CounterTimers_High : 1;
-         unsigned Enable_CounterTimers_Low : 1;
-         unsigned Enable_Counters_High : 1;
-         unsigned Enable_Counters_Low : 1;
-         unsigned Enable_AnalogTriggers : 1;
-         unsigned Enable_DI : 1;
-         unsigned Enable_Accumulator1 : 1;
-         unsigned Enable_Accumulator0 : 1;
-         unsigned Enable_AIAveraged1_High : 1;
-         unsigned Enable_AIAveraged1_Low : 1;
-         unsigned Enable_AI1_High : 1;
-         unsigned Enable_AI1_Low : 1;
-         unsigned Enable_AIAveraged0_High : 1;
-         unsigned Enable_AIAveraged0_Low : 1;
-         unsigned Enable_AI0_High : 1;
-         unsigned Enable_AI0_Low : 1;
-         unsigned Pause : 1;
-#endif
-      };
-      struct{
-         unsigned value : 22;
-      };
-   } tConfig;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned ExternalClockSource_Channel : 4;
-         unsigned ExternalClockSource_Module : 1;
-         unsigned ExternalClockSource_AnalogTrigger : 1;
-         unsigned RisingEdge : 1;
-         unsigned FallingEdge : 1;
-#else
-         unsigned FallingEdge : 1;
-         unsigned RisingEdge : 1;
-         unsigned ExternalClockSource_AnalogTrigger : 1;
-         unsigned ExternalClockSource_Module : 1;
-         unsigned ExternalClockSource_Channel : 4;
-#endif
-      };
-      struct{
-         unsigned value : 8;
-      };
-   } tExternalTriggers;
-
-
-
-   typedef enum
-   {
-   } tRate_IfaceConstants;
-
-   virtual void writeRate(unsigned int value, tRioStatusCode *status) = 0;
-   virtual unsigned int readRate(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tConfig_IfaceConstants;
-
-   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Pause(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_AI0_Low(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_AI0_High(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_AIAveraged0_Low(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_AIAveraged0_High(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_AI1_Low(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_AI1_High(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_AIAveraged1_Low(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_AIAveraged1_High(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_Accumulator0(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_Accumulator1(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_DI(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_AnalogTriggers(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_Counters_Low(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_Counters_High(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_CounterTimers_Low(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_CounterTimers_High(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_Encoders_Low(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_Encoders_High(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_EncoderTimers_Low(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable_EncoderTimers_High(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_ExternalClock(bool value, tRioStatusCode *status) = 0;
-   virtual tConfig readConfig(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Pause(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_AI0_Low(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_AI0_High(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_AIAveraged0_Low(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_AIAveraged0_High(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_AI1_Low(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_AI1_High(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_AIAveraged1_Low(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_AIAveraged1_High(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_Accumulator0(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_Accumulator1(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_DI(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_AnalogTriggers(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_Counters_Low(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_Counters_High(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_CounterTimers_Low(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_CounterTimers_High(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_Encoders_Low(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_Encoders_High(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_EncoderTimers_Low(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable_EncoderTimers_High(tRioStatusCode *status) = 0;
-   virtual bool readConfig_ExternalClock(tRioStatusCode *status) = 0;
-
-
-
-
-   typedef enum
-   {
-      kNumExternalTriggersRegisters = 2,
-      kNumExternalTriggersElements = 4,
-   } tExternalTriggers_IfaceConstants;
-
-   virtual void writeExternalTriggers(unsigned char reg_index, unsigned char bitfield_index, tExternalTriggers value, tRioStatusCode *status) = 0;
-   virtual void writeExternalTriggers_ExternalClockSource_Channel(unsigned char reg_index, unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeExternalTriggers_ExternalClockSource_Module(unsigned char reg_index, unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeExternalTriggers_ExternalClockSource_AnalogTrigger(unsigned char reg_index, unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
-   virtual void writeExternalTriggers_RisingEdge(unsigned char reg_index, unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
-   virtual void writeExternalTriggers_FallingEdge(unsigned char reg_index, unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
-   virtual tExternalTriggers readExternalTriggers(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
-   virtual unsigned char readExternalTriggers_ExternalClockSource_Channel(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
-   virtual unsigned char readExternalTriggers_ExternalClockSource_Module(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
-   virtual bool readExternalTriggers_ExternalClockSource_AnalogTrigger(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
-   virtual bool readExternalTriggers_RisingEdge(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
-   virtual bool readExternalTriggers_FallingEdge(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-private:
-   tDMA(const tDMA&);
-   void operator=(const tDMA&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_DMA_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_DMA_h__
+#define __nFRC_2017_17_0_2_DMA_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tDMA
+{
+public:
+   tDMA(){}
+   virtual ~tDMA(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tDMA* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Pause : 1;
+         unsigned Enable_AI0_Low : 1;
+         unsigned Enable_AI0_High : 1;
+         unsigned Enable_AIAveraged0_Low : 1;
+         unsigned Enable_AIAveraged0_High : 1;
+         unsigned Enable_AI1_Low : 1;
+         unsigned Enable_AI1_High : 1;
+         unsigned Enable_AIAveraged1_Low : 1;
+         unsigned Enable_AIAveraged1_High : 1;
+         unsigned Enable_Accumulator0 : 1;
+         unsigned Enable_Accumulator1 : 1;
+         unsigned Enable_DI : 1;
+         unsigned Enable_AnalogTriggers : 1;
+         unsigned Enable_Counters_Low : 1;
+         unsigned Enable_Counters_High : 1;
+         unsigned Enable_CounterTimers_Low : 1;
+         unsigned Enable_CounterTimers_High : 1;
+         unsigned Enable_Encoders_Low : 1;
+         unsigned Enable_Encoders_High : 1;
+         unsigned Enable_EncoderTimers_Low : 1;
+         unsigned Enable_EncoderTimers_High : 1;
+         unsigned ExternalClock : 1;
+#else
+         unsigned ExternalClock : 1;
+         unsigned Enable_EncoderTimers_High : 1;
+         unsigned Enable_EncoderTimers_Low : 1;
+         unsigned Enable_Encoders_High : 1;
+         unsigned Enable_Encoders_Low : 1;
+         unsigned Enable_CounterTimers_High : 1;
+         unsigned Enable_CounterTimers_Low : 1;
+         unsigned Enable_Counters_High : 1;
+         unsigned Enable_Counters_Low : 1;
+         unsigned Enable_AnalogTriggers : 1;
+         unsigned Enable_DI : 1;
+         unsigned Enable_Accumulator1 : 1;
+         unsigned Enable_Accumulator0 : 1;
+         unsigned Enable_AIAveraged1_High : 1;
+         unsigned Enable_AIAveraged1_Low : 1;
+         unsigned Enable_AI1_High : 1;
+         unsigned Enable_AI1_Low : 1;
+         unsigned Enable_AIAveraged0_High : 1;
+         unsigned Enable_AIAveraged0_Low : 1;
+         unsigned Enable_AI0_High : 1;
+         unsigned Enable_AI0_Low : 1;
+         unsigned Pause : 1;
+#endif
+      };
+      struct{
+         unsigned value : 22;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ExternalClockSource_Channel : 4;
+         unsigned ExternalClockSource_Module : 1;
+         unsigned ExternalClockSource_AnalogTrigger : 1;
+         unsigned RisingEdge : 1;
+         unsigned FallingEdge : 1;
+#else
+         unsigned FallingEdge : 1;
+         unsigned RisingEdge : 1;
+         unsigned ExternalClockSource_AnalogTrigger : 1;
+         unsigned ExternalClockSource_Module : 1;
+         unsigned ExternalClockSource_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 8;
+      };
+   } tExternalTriggers;
+
+
+
+   typedef enum
+   {
+   } tRate_IfaceConstants;
+
+   virtual void writeRate(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readRate(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Pause(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI0_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI0_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged0_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged0_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI1_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI1_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged1_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged1_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Accumulator0(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Accumulator1(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_DI(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AnalogTriggers(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Counters_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Counters_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_CounterTimers_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_CounterTimers_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Encoders_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Encoders_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_EncoderTimers_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_EncoderTimers_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ExternalClock(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Pause(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI0_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI0_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged0_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged0_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI1_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI1_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged1_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged1_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Accumulator0(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Accumulator1(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_DI(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AnalogTriggers(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Counters_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Counters_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_CounterTimers_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_CounterTimers_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Encoders_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Encoders_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_EncoderTimers_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_EncoderTimers_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_ExternalClock(tRioStatusCode *status) = 0;
+
+
+
+
+   typedef enum
+   {
+      kNumExternalTriggersRegisters = 2,
+      kNumExternalTriggersElements = 4,
+   } tExternalTriggers_IfaceConstants;
+
+   virtual void writeExternalTriggers(unsigned char reg_index, unsigned char bitfield_index, tExternalTriggers value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_ExternalClockSource_Channel(unsigned char reg_index, unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_ExternalClockSource_Module(unsigned char reg_index, unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_ExternalClockSource_AnalogTrigger(unsigned char reg_index, unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_RisingEdge(unsigned char reg_index, unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_FallingEdge(unsigned char reg_index, unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
+   virtual tExternalTriggers readExternalTriggers(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual unsigned char readExternalTriggers_ExternalClockSource_Channel(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual unsigned char readExternalTriggers_ExternalClockSource_Module(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readExternalTriggers_ExternalClockSource_AnalogTrigger(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readExternalTriggers_RisingEdge(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readExternalTriggers_FallingEdge(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+private:
+   tDMA(const tDMA&);
+   void operator=(const tDMA&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_DMA_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h

@@ -1,199 +1,200 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_Encoder_h__
-#define __nFRC_2017_17_0_2_Encoder_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tEncoder
-{
-public:
-   tEncoder(){}
-   virtual ~tEncoder(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tEncoder* create(unsigned char sys_index, tRioStatusCode *status);
-   virtual unsigned char getSystemIndex() = 0;
-
-
-   typedef enum
-   {
-      kNumSystems = 8,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Direction : 1;
-         signed Value : 31;
-#else
-         signed Value : 31;
-         unsigned Direction : 1;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tOutput;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned ASource_Channel : 4;
-         unsigned ASource_Module : 1;
-         unsigned ASource_AnalogTrigger : 1;
-         unsigned BSource_Channel : 4;
-         unsigned BSource_Module : 1;
-         unsigned BSource_AnalogTrigger : 1;
-         unsigned IndexSource_Channel : 4;
-         unsigned IndexSource_Module : 1;
-         unsigned IndexSource_AnalogTrigger : 1;
-         unsigned IndexActiveHigh : 1;
-         unsigned IndexEdgeSensitive : 1;
-         unsigned Reverse : 1;
-#else
-         unsigned Reverse : 1;
-         unsigned IndexEdgeSensitive : 1;
-         unsigned IndexActiveHigh : 1;
-         unsigned IndexSource_AnalogTrigger : 1;
-         unsigned IndexSource_Module : 1;
-         unsigned IndexSource_Channel : 4;
-         unsigned BSource_AnalogTrigger : 1;
-         unsigned BSource_Module : 1;
-         unsigned BSource_Channel : 4;
-         unsigned ASource_AnalogTrigger : 1;
-         unsigned ASource_Module : 1;
-         unsigned ASource_Channel : 4;
-#endif
-      };
-      struct{
-         unsigned value : 21;
-      };
-   } tConfig;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Period : 23;
-         signed Count : 8;
-         unsigned Stalled : 1;
-#else
-         unsigned Stalled : 1;
-         signed Count : 8;
-         unsigned Period : 23;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tTimerOutput;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned StallPeriod : 24;
-         unsigned AverageSize : 7;
-         unsigned UpdateWhenEmpty : 1;
-#else
-         unsigned UpdateWhenEmpty : 1;
-         unsigned AverageSize : 7;
-         unsigned StallPeriod : 24;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tTimerConfig;
-
-
-   typedef enum
-   {
-   } tOutput_IfaceConstants;
-
-   virtual tOutput readOutput(tRioStatusCode *status) = 0;
-   virtual bool readOutput_Direction(tRioStatusCode *status) = 0;
-   virtual signed int readOutput_Value(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tConfig_IfaceConstants;
-
-   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_ASource_Channel(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_ASource_Module(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_ASource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_BSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_BSource_Module(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_BSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_IndexSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Reverse(bool value, tRioStatusCode *status) = 0;
-   virtual tConfig readConfig(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_ASource_Channel(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_ASource_Module(tRioStatusCode *status) = 0;
-   virtual bool readConfig_ASource_AnalogTrigger(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_BSource_Channel(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_BSource_Module(tRioStatusCode *status) = 0;
-   virtual bool readConfig_BSource_AnalogTrigger(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_IndexSource_Channel(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
-   virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
-   virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
-   virtual bool readConfig_IndexEdgeSensitive(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Reverse(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tTimerOutput_IfaceConstants;
-
-   virtual tTimerOutput readTimerOutput(tRioStatusCode *status) = 0;
-   virtual unsigned int readTimerOutput_Period(tRioStatusCode *status) = 0;
-   virtual signed char readTimerOutput_Count(tRioStatusCode *status) = 0;
-   virtual bool readTimerOutput_Stalled(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tReset_IfaceConstants;
-
-   virtual void strobeReset(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tTimerConfig_IfaceConstants;
-
-   virtual void writeTimerConfig(tTimerConfig value, tRioStatusCode *status) = 0;
-   virtual void writeTimerConfig_StallPeriod(unsigned int value, tRioStatusCode *status) = 0;
-   virtual void writeTimerConfig_AverageSize(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode *status) = 0;
-   virtual tTimerConfig readTimerConfig(tRioStatusCode *status) = 0;
-   virtual unsigned int readTimerConfig_StallPeriod(tRioStatusCode *status) = 0;
-   virtual unsigned char readTimerConfig_AverageSize(tRioStatusCode *status) = 0;
-   virtual bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode *status) = 0;
-
-
-
-
-
-private:
-   tEncoder(const tEncoder&);
-   void operator=(const tEncoder&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_Encoder_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_Encoder_h__
+#define __nFRC_2017_17_0_2_Encoder_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tEncoder
+{
+public:
+   tEncoder(){}
+   virtual ~tEncoder(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tEncoder* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 8,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Direction : 1;
+         signed Value : 31;
+#else
+         signed Value : 31;
+         unsigned Direction : 1;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ASource_Channel : 4;
+         unsigned ASource_Module : 1;
+         unsigned ASource_AnalogTrigger : 1;
+         unsigned BSource_Channel : 4;
+         unsigned BSource_Module : 1;
+         unsigned BSource_AnalogTrigger : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned IndexEdgeSensitive : 1;
+         unsigned Reverse : 1;
+#else
+         unsigned Reverse : 1;
+         unsigned IndexEdgeSensitive : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned BSource_AnalogTrigger : 1;
+         unsigned BSource_Module : 1;
+         unsigned BSource_Channel : 4;
+         unsigned ASource_AnalogTrigger : 1;
+         unsigned ASource_Module : 1;
+         unsigned ASource_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 21;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Period : 23;
+         signed Count : 8;
+         unsigned Stalled : 1;
+#else
+         unsigned Stalled : 1;
+         signed Count : 8;
+         unsigned Period : 23;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned StallPeriod : 24;
+         unsigned AverageSize : 7;
+         unsigned UpdateWhenEmpty : 1;
+#else
+         unsigned UpdateWhenEmpty : 1;
+         unsigned AverageSize : 7;
+         unsigned StallPeriod : 24;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerConfig;
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(tRioStatusCode *status) = 0;
+   virtual bool readOutput_Direction(tRioStatusCode *status) = 0;
+   virtual signed int readOutput_Value(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ASource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ASource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ASource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Reverse(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ASource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ASource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_ASource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_BSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_BSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_BSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexEdgeSensitive(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Reverse(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerOutput_IfaceConstants;
+
+   virtual tTimerOutput readTimerOutput(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerOutput_Period(tRioStatusCode *status) = 0;
+   virtual signed char readTimerOutput_Count(tRioStatusCode *status) = 0;
+   virtual bool readTimerOutput_Stalled(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerConfig_IfaceConstants;
+
+   virtual void writeTimerConfig(tTimerConfig value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_StallPeriod(unsigned int value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_AverageSize(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode *status) = 0;
+   virtual tTimerConfig readTimerConfig(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerConfig_StallPeriod(tRioStatusCode *status) = 0;
+   virtual unsigned char readTimerConfig_AverageSize(tRioStatusCode *status) = 0;
+   virtual bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tEncoder(const tEncoder&);
+   void operator=(const tEncoder&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_Encoder_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h

@@ -1,100 +1,101 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_Global_h__
-#define __nFRC_2017_17_0_2_Global_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tGlobal
-{
-public:
-   tGlobal(){}
-   virtual ~tGlobal(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tGlobal* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Comm : 8;
-         unsigned Mode : 8;
-         unsigned RSL : 1;
-#else
-         unsigned RSL : 1;
-         unsigned Mode : 8;
-         unsigned Comm : 8;
-#endif
-      };
-      struct{
-         unsigned value : 17;
-      };
-   } tLEDs;
-
-
-
-   typedef enum
-   {
-   } tLEDs_IfaceConstants;
-
-   virtual void writeLEDs(tLEDs value, tRioStatusCode *status) = 0;
-   virtual void writeLEDs_Comm(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeLEDs_Mode(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeLEDs_RSL(bool value, tRioStatusCode *status) = 0;
-   virtual tLEDs readLEDs(tRioStatusCode *status) = 0;
-   virtual unsigned char readLEDs_Comm(tRioStatusCode *status) = 0;
-   virtual unsigned char readLEDs_Mode(tRioStatusCode *status) = 0;
-   virtual bool readLEDs_RSL(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tVersion_IfaceConstants;
-
-   virtual unsigned short readVersion(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tLocalTime_IfaceConstants;
-
-   virtual unsigned int readLocalTime(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tUserButton_IfaceConstants;
-
-   virtual bool readUserButton(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tRevision_IfaceConstants;
-
-   virtual unsigned int readRevision(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tGlobal(const tGlobal&);
-   void operator=(const tGlobal&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_Global_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_Global_h__
+#define __nFRC_2017_17_0_2_Global_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tGlobal
+{
+public:
+   tGlobal(){}
+   virtual ~tGlobal(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tGlobal* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Comm : 8;
+         unsigned Mode : 8;
+         unsigned RSL : 1;
+#else
+         unsigned RSL : 1;
+         unsigned Mode : 8;
+         unsigned Comm : 8;
+#endif
+      };
+      struct{
+         unsigned value : 17;
+      };
+   } tLEDs;
+
+
+
+   typedef enum
+   {
+   } tLEDs_IfaceConstants;
+
+   virtual void writeLEDs(tLEDs value, tRioStatusCode *status) = 0;
+   virtual void writeLEDs_Comm(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeLEDs_Mode(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeLEDs_RSL(bool value, tRioStatusCode *status) = 0;
+   virtual tLEDs readLEDs(tRioStatusCode *status) = 0;
+   virtual unsigned char readLEDs_Comm(tRioStatusCode *status) = 0;
+   virtual unsigned char readLEDs_Mode(tRioStatusCode *status) = 0;
+   virtual bool readLEDs_RSL(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tVersion_IfaceConstants;
+
+   virtual unsigned short readVersion(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLocalTime_IfaceConstants;
+
+   virtual unsigned int readLocalTime(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserButton_IfaceConstants;
+
+   virtual bool readUserButton(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tRevision_IfaceConstants;
+
+   virtual unsigned int readRevision(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tGlobal(const tGlobal&);
+   void operator=(const tGlobal&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_Global_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h

@@ -1,100 +1,101 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_Interrupt_h__
-#define __nFRC_2017_17_0_2_Interrupt_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tInterrupt
-{
-public:
-   tInterrupt(){}
-   virtual ~tInterrupt(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tInterrupt* create(unsigned char sys_index, tRioStatusCode *status);
-   virtual unsigned char getSystemIndex() = 0;
-
-
-   typedef enum
-   {
-      kNumSystems = 8,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Source_Channel : 4;
-         unsigned Source_Module : 1;
-         unsigned Source_AnalogTrigger : 1;
-         unsigned RisingEdge : 1;
-         unsigned FallingEdge : 1;
-         unsigned WaitForAck : 1;
-#else
-         unsigned WaitForAck : 1;
-         unsigned FallingEdge : 1;
-         unsigned RisingEdge : 1;
-         unsigned Source_AnalogTrigger : 1;
-         unsigned Source_Module : 1;
-         unsigned Source_Channel : 4;
-#endif
-      };
-      struct{
-         unsigned value : 9;
-      };
-   } tConfig;
-
-
-   typedef enum
-   {
-   } tFallingTimeStamp_IfaceConstants;
-
-   virtual unsigned int readFallingTimeStamp(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tConfig_IfaceConstants;
-
-   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Source_Channel(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Source_Module(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Source_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_RisingEdge(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_FallingEdge(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_WaitForAck(bool value, tRioStatusCode *status) = 0;
-   virtual tConfig readConfig(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_Source_Channel(tRioStatusCode *status) = 0;
-   virtual unsigned char readConfig_Source_Module(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Source_AnalogTrigger(tRioStatusCode *status) = 0;
-   virtual bool readConfig_RisingEdge(tRioStatusCode *status) = 0;
-   virtual bool readConfig_FallingEdge(tRioStatusCode *status) = 0;
-   virtual bool readConfig_WaitForAck(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tRisingTimeStamp_IfaceConstants;
-
-   virtual unsigned int readRisingTimeStamp(tRioStatusCode *status) = 0;
-
-
-
-
-
-private:
-   tInterrupt(const tInterrupt&);
-   void operator=(const tInterrupt&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_Interrupt_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_Interrupt_h__
+#define __nFRC_2017_17_0_2_Interrupt_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tInterrupt
+{
+public:
+   tInterrupt(){}
+   virtual ~tInterrupt(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tInterrupt* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 8,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Source_Channel : 4;
+         unsigned Source_Module : 1;
+         unsigned Source_AnalogTrigger : 1;
+         unsigned RisingEdge : 1;
+         unsigned FallingEdge : 1;
+         unsigned WaitForAck : 1;
+#else
+         unsigned WaitForAck : 1;
+         unsigned FallingEdge : 1;
+         unsigned RisingEdge : 1;
+         unsigned Source_AnalogTrigger : 1;
+         unsigned Source_Module : 1;
+         unsigned Source_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 9;
+      };
+   } tConfig;
+
+
+   typedef enum
+   {
+   } tFallingTimeStamp_IfaceConstants;
+
+   virtual unsigned int readFallingTimeStamp(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Source_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Source_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Source_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_RisingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_FallingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_WaitForAck(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_Source_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_Source_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Source_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual bool readConfig_RisingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_FallingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_WaitForAck(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tRisingTimeStamp_IfaceConstants;
+
+   virtual unsigned int readRisingTimeStamp(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tInterrupt(const tInterrupt&);
+   void operator=(const tInterrupt&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_Interrupt_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h

@@ -1,120 +1,121 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_PWM_h__
-#define __nFRC_2017_17_0_2_PWM_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tPWM
-{
-public:
-   tPWM(){}
-   virtual ~tPWM(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tPWM* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Period : 16;
-         unsigned MinHigh : 16;
-#else
-         unsigned MinHigh : 16;
-         unsigned Period : 16;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tConfig;
-
-
-
-   typedef enum
-   {
-   } tConfig_IfaceConstants;
-
-   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Period(unsigned short value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_MinHigh(unsigned short value, tRioStatusCode *status) = 0;
-   virtual tConfig readConfig(tRioStatusCode *status) = 0;
-   virtual unsigned short readConfig_Period(tRioStatusCode *status) = 0;
-   virtual unsigned short readConfig_MinHigh(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tLoopTiming_IfaceConstants;
-
-   virtual unsigned short readLoopTiming(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumPeriodScaleMXPElements = 10,
-   } tPeriodScaleMXP_IfaceConstants;
-
-   virtual void writePeriodScaleMXP(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readPeriodScaleMXP(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumPeriodScaleHdrElements = 10,
-   } tPeriodScaleHdr_IfaceConstants;
-
-   virtual void writePeriodScaleHdr(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readPeriodScaleHdr(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumZeroLatchElements = 20,
-   } tZeroLatch_IfaceConstants;
-
-   virtual void writeZeroLatch(unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
-   virtual bool readZeroLatch(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
-
-
-   typedef enum
-   {
-      kNumHdrRegisters = 10,
-   } tHdr_IfaceConstants;
-
-   virtual void writeHdr(unsigned char reg_index, unsigned short value, tRioStatusCode *status) = 0;
-   virtual unsigned short readHdr(unsigned char reg_index, tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-      kNumMXPRegisters = 10,
-   } tMXP_IfaceConstants;
-
-   virtual void writeMXP(unsigned char reg_index, unsigned short value, tRioStatusCode *status) = 0;
-   virtual unsigned short readMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
-
-
-private:
-   tPWM(const tPWM&);
-   void operator=(const tPWM&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_PWM_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_PWM_h__
+#define __nFRC_2017_17_0_2_PWM_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tPWM
+{
+public:
+   tPWM(){}
+   virtual ~tPWM(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tPWM* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Period : 16;
+         unsigned MinHigh : 16;
+#else
+         unsigned MinHigh : 16;
+         unsigned Period : 16;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tConfig;
+
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Period(unsigned short value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_MinHigh(unsigned short value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned short readConfig_Period(tRioStatusCode *status) = 0;
+   virtual unsigned short readConfig_MinHigh(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLoopTiming_IfaceConstants;
+
+   virtual unsigned short readLoopTiming(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumPeriodScaleMXPElements = 10,
+   } tPeriodScaleMXP_IfaceConstants;
+
+   virtual void writePeriodScaleMXP(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPeriodScaleMXP(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumPeriodScaleHdrElements = 10,
+   } tPeriodScaleHdr_IfaceConstants;
+
+   virtual void writePeriodScaleHdr(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPeriodScaleHdr(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumZeroLatchElements = 20,
+   } tZeroLatch_IfaceConstants;
+
+   virtual void writeZeroLatch(unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
+   virtual bool readZeroLatch(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+
+
+   typedef enum
+   {
+      kNumHdrRegisters = 10,
+   } tHdr_IfaceConstants;
+
+   virtual void writeHdr(unsigned char reg_index, unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readHdr(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumMXPRegisters = 10,
+   } tMXP_IfaceConstants;
+
+   virtual void writeMXP(unsigned char reg_index, unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+private:
+   tPWM(const tPWM&);
+   void operator=(const tPWM&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_PWM_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h

@@ -1,220 +1,221 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_Power_h__
-#define __nFRC_2017_17_0_2_Power_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tPower
-{
-public:
-   tPower(){}
-   virtual ~tPower(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tPower* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned User3V3 : 8;
-         unsigned User5V : 8;
-         unsigned User6V : 8;
-#else
-         unsigned User6V : 8;
-         unsigned User5V : 8;
-         unsigned User3V3 : 8;
-#endif
-      };
-      struct{
-         unsigned value : 24;
-      };
-   } tStatus;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned OverCurrentFaultCount3V3 : 8;
-         unsigned OverCurrentFaultCount5V : 8;
-         unsigned OverCurrentFaultCount6V : 8;
-         unsigned UnderVoltageFaultCount5V : 8;
-#else
-         unsigned UnderVoltageFaultCount5V : 8;
-         unsigned OverCurrentFaultCount6V : 8;
-         unsigned OverCurrentFaultCount5V : 8;
-         unsigned OverCurrentFaultCount3V3 : 8;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tFaultCounts;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned User3V3 : 1;
-         unsigned User5V : 1;
-         unsigned User6V : 1;
-#else
-         unsigned User6V : 1;
-         unsigned User5V : 1;
-         unsigned User3V3 : 1;
-#endif
-      };
-      struct{
-         unsigned value : 3;
-      };
-   } tDisable;
-
-
-
-   typedef enum
-   {
-   } tUserVoltage3V3_IfaceConstants;
-
-   virtual unsigned short readUserVoltage3V3(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tStatus_IfaceConstants;
-
-   virtual tStatus readStatus(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User3V3(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User5V(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User6V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tUserVoltage6V_IfaceConstants;
-
-   virtual unsigned short readUserVoltage6V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tOnChipTemperature_IfaceConstants;
-
-   virtual unsigned short readOnChipTemperature(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tUserVoltage5V_IfaceConstants;
-
-   virtual unsigned short readUserVoltage5V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tResetFaultCounts_IfaceConstants;
-
-   virtual void strobeResetFaultCounts(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tIntegratedIO_IfaceConstants;
-
-   virtual unsigned short readIntegratedIO(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tMXP_DIOVoltage_IfaceConstants;
-
-   virtual unsigned short readMXP_DIOVoltage(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tUserCurrent3V3_IfaceConstants;
-
-   virtual unsigned short readUserCurrent3V3(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tVinVoltage_IfaceConstants;
-
-   virtual unsigned short readVinVoltage(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tUserCurrent6V_IfaceConstants;
-
-   virtual unsigned short readUserCurrent6V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tUserCurrent5V_IfaceConstants;
-
-   virtual unsigned short readUserCurrent5V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tAOVoltage_IfaceConstants;
-
-   virtual unsigned short readAOVoltage(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tFaultCounts_IfaceConstants;
-
-   virtual tFaultCounts readFaultCounts(tRioStatusCode *status) = 0;
-   virtual unsigned char readFaultCounts_OverCurrentFaultCount3V3(tRioStatusCode *status) = 0;
-   virtual unsigned char readFaultCounts_OverCurrentFaultCount5V(tRioStatusCode *status) = 0;
-   virtual unsigned char readFaultCounts_OverCurrentFaultCount6V(tRioStatusCode *status) = 0;
-   virtual unsigned char readFaultCounts_UnderVoltageFaultCount5V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tVinCurrent_IfaceConstants;
-
-   virtual unsigned short readVinCurrent(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDisable_IfaceConstants;
-
-   virtual void writeDisable(tDisable value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User3V3(bool value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User5V(bool value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User6V(bool value, tRioStatusCode *status) = 0;
-   virtual tDisable readDisable(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User3V3(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User5V(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User6V(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tPower(const tPower&);
-   void operator=(const tPower&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_Power_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_Power_h__
+#define __nFRC_2017_17_0_2_Power_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tPower
+{
+public:
+   tPower(){}
+   virtual ~tPower(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tPower* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned User3V3 : 8;
+         unsigned User5V : 8;
+         unsigned User6V : 8;
+#else
+         unsigned User6V : 8;
+         unsigned User5V : 8;
+         unsigned User3V3 : 8;
+#endif
+      };
+      struct{
+         unsigned value : 24;
+      };
+   } tStatus;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned OverCurrentFaultCount3V3 : 8;
+         unsigned OverCurrentFaultCount5V : 8;
+         unsigned OverCurrentFaultCount6V : 8;
+         unsigned UnderVoltageFaultCount5V : 8;
+#else
+         unsigned UnderVoltageFaultCount5V : 8;
+         unsigned OverCurrentFaultCount6V : 8;
+         unsigned OverCurrentFaultCount5V : 8;
+         unsigned OverCurrentFaultCount3V3 : 8;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tFaultCounts;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned User3V3 : 1;
+         unsigned User5V : 1;
+         unsigned User6V : 1;
+#else
+         unsigned User6V : 1;
+         unsigned User5V : 1;
+         unsigned User3V3 : 1;
+#endif
+      };
+      struct{
+         unsigned value : 3;
+      };
+   } tDisable;
+
+
+
+   typedef enum
+   {
+   } tUserVoltage3V3_IfaceConstants;
+
+   virtual unsigned short readUserVoltage3V3(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tStatus_IfaceConstants;
+
+   virtual tStatus readStatus(tRioStatusCode *status) = 0;
+   virtual unsigned char readStatus_User3V3(tRioStatusCode *status) = 0;
+   virtual unsigned char readStatus_User5V(tRioStatusCode *status) = 0;
+   virtual unsigned char readStatus_User6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserVoltage6V_IfaceConstants;
+
+   virtual unsigned short readUserVoltage6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tOnChipTemperature_IfaceConstants;
+
+   virtual unsigned short readOnChipTemperature(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserVoltage5V_IfaceConstants;
+
+   virtual unsigned short readUserVoltage5V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tResetFaultCounts_IfaceConstants;
+
+   virtual void strobeResetFaultCounts(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tIntegratedIO_IfaceConstants;
+
+   virtual unsigned short readIntegratedIO(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tMXP_DIOVoltage_IfaceConstants;
+
+   virtual unsigned short readMXP_DIOVoltage(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserCurrent3V3_IfaceConstants;
+
+   virtual unsigned short readUserCurrent3V3(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tVinVoltage_IfaceConstants;
+
+   virtual unsigned short readVinVoltage(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserCurrent6V_IfaceConstants;
+
+   virtual unsigned short readUserCurrent6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserCurrent5V_IfaceConstants;
+
+   virtual unsigned short readUserCurrent5V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tAOVoltage_IfaceConstants;
+
+   virtual unsigned short readAOVoltage(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tFaultCounts_IfaceConstants;
+
+   virtual tFaultCounts readFaultCounts(tRioStatusCode *status) = 0;
+   virtual unsigned char readFaultCounts_OverCurrentFaultCount3V3(tRioStatusCode *status) = 0;
+   virtual unsigned char readFaultCounts_OverCurrentFaultCount5V(tRioStatusCode *status) = 0;
+   virtual unsigned char readFaultCounts_OverCurrentFaultCount6V(tRioStatusCode *status) = 0;
+   virtual unsigned char readFaultCounts_UnderVoltageFaultCount5V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tVinCurrent_IfaceConstants;
+
+   virtual unsigned short readVinCurrent(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDisable_IfaceConstants;
+
+   virtual void writeDisable(tDisable value, tRioStatusCode *status) = 0;
+   virtual void writeDisable_User3V3(bool value, tRioStatusCode *status) = 0;
+   virtual void writeDisable_User5V(bool value, tRioStatusCode *status) = 0;
+   virtual void writeDisable_User6V(bool value, tRioStatusCode *status) = 0;
+   virtual tDisable readDisable(tRioStatusCode *status) = 0;
+   virtual bool readDisable_User3V3(tRioStatusCode *status) = 0;
+   virtual bool readDisable_User5V(tRioStatusCode *status) = 0;
+   virtual bool readDisable_User6V(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tPower(const tPower&);
+   void operator=(const tPower&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_Power_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h

@@ -1,68 +1,69 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_Relay_h__
-#define __nFRC_2017_17_0_2_Relay_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tRelay
-{
-public:
-   tRelay(){}
-   virtual ~tRelay(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tRelay* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Forward : 4;
-         unsigned Reverse : 4;
-#else
-         unsigned Reverse : 4;
-         unsigned Forward : 4;
-#endif
-      };
-      struct{
-         unsigned value : 8;
-      };
-   } tValue;
-
-
-
-   typedef enum
-   {
-   } tValue_IfaceConstants;
-
-   virtual void writeValue(tValue value, tRioStatusCode *status) = 0;
-   virtual void writeValue_Forward(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeValue_Reverse(unsigned char value, tRioStatusCode *status) = 0;
-   virtual tValue readValue(tRioStatusCode *status) = 0;
-   virtual unsigned char readValue_Forward(tRioStatusCode *status) = 0;
-   virtual unsigned char readValue_Reverse(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tRelay(const tRelay&);
-   void operator=(const tRelay&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_Relay_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_Relay_h__
+#define __nFRC_2017_17_0_2_Relay_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tRelay
+{
+public:
+   tRelay(){}
+   virtual ~tRelay(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tRelay* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Forward : 4;
+         unsigned Reverse : 4;
+#else
+         unsigned Reverse : 4;
+         unsigned Forward : 4;
+#endif
+      };
+      struct{
+         unsigned value : 8;
+      };
+   } tValue;
+
+
+
+   typedef enum
+   {
+   } tValue_IfaceConstants;
+
+   virtual void writeValue(tValue value, tRioStatusCode *status) = 0;
+   virtual void writeValue_Forward(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeValue_Reverse(unsigned char value, tRioStatusCode *status) = 0;
+   virtual tValue readValue(tRioStatusCode *status) = 0;
+   virtual unsigned char readValue_Forward(tRioStatusCode *status) = 0;
+   virtual unsigned char readValue_Reverse(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tRelay(const tRelay&);
+   void operator=(const tRelay&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_Relay_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h

@@ -1,76 +1,77 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_SPI_h__
-#define __nFRC_2017_17_0_2_SPI_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tSPI
-{
-public:
-   tSPI(){}
-   virtual ~tSPI(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tSPI* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned Hdr : 4;
-         unsigned MXP : 1;
-#else
-         unsigned MXP : 1;
-         unsigned Hdr : 4;
-#endif
-      };
-      struct{
-         unsigned value : 5;
-      };
-   } tChipSelectActiveHigh;
-
-
-
-   typedef enum
-   {
-   } tEnableDIO_IfaceConstants;
-
-   virtual void writeEnableDIO(unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readEnableDIO(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tChipSelectActiveHigh_IfaceConstants;
-
-   virtual void writeChipSelectActiveHigh(tChipSelectActiveHigh value, tRioStatusCode *status) = 0;
-   virtual void writeChipSelectActiveHigh_Hdr(unsigned char value, tRioStatusCode *status) = 0;
-   virtual void writeChipSelectActiveHigh_MXP(unsigned char value, tRioStatusCode *status) = 0;
-   virtual tChipSelectActiveHigh readChipSelectActiveHigh(tRioStatusCode *status) = 0;
-   virtual unsigned char readChipSelectActiveHigh_Hdr(tRioStatusCode *status) = 0;
-   virtual unsigned char readChipSelectActiveHigh_MXP(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tSPI(const tSPI&);
-   void operator=(const tSPI&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_SPI_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_SPI_h__
+#define __nFRC_2017_17_0_2_SPI_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tSPI
+{
+public:
+   tSPI(){}
+   virtual ~tSPI(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tSPI* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Hdr : 4;
+         unsigned MXP : 1;
+#else
+         unsigned MXP : 1;
+         unsigned Hdr : 4;
+#endif
+      };
+      struct{
+         unsigned value : 5;
+      };
+   } tChipSelectActiveHigh;
+
+
+
+   typedef enum
+   {
+   } tEnableDIO_IfaceConstants;
+
+   virtual void writeEnableDIO(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readEnableDIO(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tChipSelectActiveHigh_IfaceConstants;
+
+   virtual void writeChipSelectActiveHigh(tChipSelectActiveHigh value, tRioStatusCode *status) = 0;
+   virtual void writeChipSelectActiveHigh_Hdr(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChipSelectActiveHigh_MXP(unsigned char value, tRioStatusCode *status) = 0;
+   virtual tChipSelectActiveHigh readChipSelectActiveHigh(tRioStatusCode *status) = 0;
+   virtual unsigned char readChipSelectActiveHigh_Hdr(tRioStatusCode *status) = 0;
+   virtual unsigned char readChipSelectActiveHigh_MXP(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tSPI(const tSPI&);
+   void operator=(const tSPI&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_SPI_h__

ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h

@@ -1,108 +1,109 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2017_17_0_2_SysWatchdog_h__
-#define __nFRC_2017_17_0_2_SysWatchdog_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2017_17_0_2
-{
-
-class tSysWatchdog
-{
-public:
-   tSysWatchdog(){}
-   virtual ~tSysWatchdog(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tSysWatchdog* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned SystemActive : 1;
-         unsigned PowerAlive : 1;
-         unsigned SysDisableCount : 15;
-         unsigned PowerDisableCount : 15;
-#else
-         unsigned PowerDisableCount : 15;
-         unsigned SysDisableCount : 15;
-         unsigned PowerAlive : 1;
-         unsigned SystemActive : 1;
-#endif
-      };
-      struct{
-         unsigned value : 32;
-      };
-   } tStatus;
-
-
-
-   typedef enum
-   {
-   } tStatus_IfaceConstants;
-
-   virtual tStatus readStatus(tRioStatusCode *status) = 0;
-   virtual bool readStatus_SystemActive(tRioStatusCode *status) = 0;
-   virtual bool readStatus_PowerAlive(tRioStatusCode *status) = 0;
-   virtual unsigned short readStatus_SysDisableCount(tRioStatusCode *status) = 0;
-   virtual unsigned short readStatus_PowerDisableCount(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tCommand_IfaceConstants;
-
-   virtual void writeCommand(unsigned short value, tRioStatusCode *status) = 0;
-   virtual unsigned short readCommand(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tChallenge_IfaceConstants;
-
-   virtual unsigned char readChallenge(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tActive_IfaceConstants;
-
-   virtual void writeActive(bool value, tRioStatusCode *status) = 0;
-   virtual bool readActive(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tTimer_IfaceConstants;
-
-   virtual unsigned int readTimer(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tForcedKills_IfaceConstants;
-
-   virtual unsigned short readForcedKills(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tSysWatchdog(const tSysWatchdog&);
-   void operator=(const tSysWatchdog&);
-};
-
-}
-}
-
-#endif // __nFRC_2017_17_0_2_SysWatchdog_h__
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2017_17_0_2_SysWatchdog_h__
+#define __nFRC_2017_17_0_2_SysWatchdog_h__
+
+#include "../tSystem.h"
+#include "../tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2017_17_0_2
+{
+
+class tSysWatchdog
+{
+public:
+   tSysWatchdog(){}
+   virtual ~tSysWatchdog(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tSysWatchdog* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned SystemActive : 1;
+         unsigned PowerAlive : 1;
+         unsigned SysDisableCount : 15;
+         unsigned PowerDisableCount : 15;
+#else
+         unsigned PowerDisableCount : 15;
+         unsigned SysDisableCount : 15;
+         unsigned PowerAlive : 1;
+         unsigned SystemActive : 1;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tStatus;
+
+
+
+   typedef enum
+   {
+   } tStatus_IfaceConstants;
+
+   virtual tStatus readStatus(tRioStatusCode *status) = 0;
+   virtual bool readStatus_SystemActive(tRioStatusCode *status) = 0;
+   virtual bool readStatus_PowerAlive(tRioStatusCode *status) = 0;
+   virtual unsigned short readStatus_SysDisableCount(tRioStatusCode *status) = 0;
+   virtual unsigned short readStatus_PowerDisableCount(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tCommand_IfaceConstants;
+
+   virtual void writeCommand(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readCommand(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tChallenge_IfaceConstants;
+
+   virtual unsigned char readChallenge(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tActive_IfaceConstants;
+
+   virtual void writeActive(bool value, tRioStatusCode *status) = 0;
+   virtual bool readActive(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimer_IfaceConstants;
+
+   virtual unsigned int readTimer(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tForcedKills_IfaceConstants;
+
+   virtual unsigned short readForcedKills(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tSysWatchdog(const tSysWatchdog&);
+   void operator=(const tSysWatchdog&);
+};
+
+}
+}
+
+#endif // __nFRC_2017_17_0_2_SysWatchdog_h__

ni-libraries/include/FRC_FPGA_ChipObject/printFpgaVersion.h

@@ -1,42 +1,42 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-
-#ifndef __printFPGAVersion_h__
-#define __printFPGAVersion_h__
-
-namespace nFPGA
-{
-
-template<typename ttGlobal>
-inline void printFPGAVersion(ttGlobal &global)
-{
-   tRioStatusCode cleanStatus=0;
-   uint32_t hardwareGuid[4];
-   tSystemInterface &system = *global.getSystemInterface();
-   system.getHardwareFpgaSignature(hardwareGuid, &cleanStatus);
-   const uint32_t *softwareGuid = system.getExpectedFPGASignature();
-   printf("FPGA Hardware GUID: 0x");
-   for(int i=0; i<4; i++)
-   {
-      printf("%08X", hardwareGuid[i]);
-   }
-   printf("\n");
-   printf("FPGA Software GUID: 0x");
-   for(int i=0; i<4; i++)
-   {
-      printf("%08X", softwareGuid[i]);
-   }
-   printf("\n");
-   uint16_t fpgaHardwareVersion = global.readVersion(&cleanStatus);
-   uint16_t fpgaSoftwareVersion = system.getExpectedFPGAVersion();
-   printf("FPGA Hardware Version: %X\n", fpgaHardwareVersion);
-   printf("FPGA Software Version: %X\n", fpgaSoftwareVersion);
-   uint32_t fpgaHardwareRevision = global.readRevision(&cleanStatus);
-   uint32_t fpgaSoftwareRevision = system.getExpectedFPGARevision();
-   printf("FPGA Hardware Revision: %X.%X.%X\n", (fpgaHardwareRevision >> 20) & 0xFFF, (fpgaHardwareRevision >> 12) & 0xFF, fpgaHardwareRevision & 0xFFF);
-   printf("FPGA Software Revision: %X.%X.%X\n", (fpgaSoftwareRevision >> 20) & 0xFFF, (fpgaSoftwareRevision >> 12) & 0xFF, fpgaSoftwareRevision & 0xFFF);
-}
-
-}
-
-#endif // __printFPGAVersion_h__
-
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+
+#ifndef __printFPGAVersion_h__
+#define __printFPGAVersion_h__
+
+namespace nFPGA
+{
+
+template<typename ttGlobal>
+inline void printFPGAVersion(ttGlobal &global)
+{
+   tRioStatusCode cleanStatus=0;
+   uint32_t hardwareGuid[4];
+   tSystemInterface &system = *global.getSystemInterface();
+   system.getHardwareFpgaSignature(hardwareGuid, &cleanStatus);
+   const uint32_t *softwareGuid = system.getExpectedFPGASignature();
+   printf("FPGA Hardware GUID: 0x");
+   for(int i=0; i<4; i++)
+   {
+      printf("%08X", hardwareGuid[i]);
+   }
+   printf("\n");
+   printf("FPGA Software GUID: 0x");
+   for(int i=0; i<4; i++)
+   {
+      printf("%08X", softwareGuid[i]);
+   }
+   printf("\n");
+   uint16_t fpgaHardwareVersion = global.readVersion(&cleanStatus);
+   uint16_t fpgaSoftwareVersion = system.getExpectedFPGAVersion();
+   printf("FPGA Hardware Version: %X\n", fpgaHardwareVersion);
+   printf("FPGA Software Version: %X\n", fpgaSoftwareVersion);
+   uint32_t fpgaHardwareRevision = global.readRevision(&cleanStatus);
+   uint32_t fpgaSoftwareRevision = system.getExpectedFPGARevision();
+   printf("FPGA Hardware Revision: %X.%X.%X\n", (fpgaHardwareRevision >> 20) & 0xFFF, (fpgaHardwareRevision >> 12) & 0xFF, fpgaHardwareRevision & 0xFFF);
+   printf("FPGA Software Revision: %X.%X.%X\n", (fpgaSoftwareRevision >> 20) & 0xFFF, (fpgaSoftwareRevision >> 12) & 0xFF, fpgaSoftwareRevision & 0xFFF);
+}
+
+}
+
+#endif // __printFPGAVersion_h__
+

ni-libraries/include/FRC_FPGA_ChipObject/tDMAChannelDescriptor.h

@@ -1,17 +1,17 @@
-// Describes the information needed to configure a DMA channel.
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-
-#include <stdint.h>
-
-#ifndef __tDMAChannelDescriptor_h__
-#define __tDMAChannelDescriptor_h__
-
-struct tDMAChannelDescriptor
-{
-   uint32_t channel;
-   uint32_t baseAddress;
-   uint32_t depth;
-   bool targetToHost;
-};
-
-#endif // __tDMAChannelDescriptor_h__
+// Describes the information needed to configure a DMA channel.
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+
+#include <stdint.h>
+
+#ifndef __tDMAChannelDescriptor_h__
+#define __tDMAChannelDescriptor_h__
+
+struct tDMAChannelDescriptor
+{
+   uint32_t channel;
+   uint32_t baseAddress;
+   uint32_t depth;
+   bool targetToHost;
+};
+
+#endif // __tDMAChannelDescriptor_h__

ni-libraries/include/FRC_FPGA_ChipObject/tDMAManager.h

@@ -1,41 +1,41 @@
-// Class for handling DMA transfers.
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-
-#ifndef __tDMAManager_h__
-#define __tDMAManager_h__
-
-#include "tSystem.h"
-#include <stdint.h>
-
-namespace nFPGA
-{
-class tDMAManager : public tSystem
-{
-public:
-   tDMAManager(uint32_t dmaChannel, uint32_t hostBufferSize, tRioStatusCode *status);
-   ~tDMAManager();
-   void start(tRioStatusCode *status);
-   void stop(tRioStatusCode *status);
-   bool isStarted() {return _started;}
-   void read(
-      uint32_t*      buf,
-      size_t         num,
-      uint32_t       timeout,
-      size_t*        remaining,
-      tRioStatusCode *status);
-   void write(
-      uint32_t*      buf,
-      size_t         num,
-      uint32_t       timeout,
-      size_t*        remaining,
-      tRioStatusCode *status);
-private:
-   bool _started;
-   uint32_t _dmaChannel;
-   uint32_t _hostBufferSize;
-
-};
-
-}
-
-#endif // __tDMAManager_h__
+// Class for handling DMA transfers.
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+
+#ifndef __tDMAManager_h__
+#define __tDMAManager_h__
+
+#include "tSystem.h"
+#include <stdint.h>
+
+namespace nFPGA
+{
+class tDMAManager : public tSystem
+{
+public:
+   tDMAManager(uint32_t dmaChannel, uint32_t hostBufferSize, tRioStatusCode *status);
+   ~tDMAManager();
+   void start(tRioStatusCode *status);
+   void stop(tRioStatusCode *status);
+   bool isStarted() {return _started;}
+   void read(
+      uint32_t*      buf,
+      size_t         num,
+      uint32_t       timeout,
+      size_t*        remaining,
+      tRioStatusCode *status);
+   void write(
+      uint32_t*      buf,
+      size_t         num,
+      uint32_t       timeout,
+      size_t*        remaining,
+      tRioStatusCode *status);
+private:
+   bool _started;
+   uint32_t _dmaChannel;
+   uint32_t _hostBufferSize;
+
+};
+
+}
+
+#endif // __tDMAManager_h__

ni-libraries/include/FRC_FPGA_ChipObject/tInterruptManager.h

@@ -1,61 +1,61 @@
-// Class for handling interrupts.
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-
-#ifndef __tInterruptManager_h__
-#define __tInterruptManager_h__
-
-#include "tSystem.h"
-
-namespace ni
-{
-   namespace dsc
-   {
-      namespace osdep
-      {
-         class CriticalSection;
-      }
-   }
-}
-
-namespace nFPGA
-{
-
-typedef void (*tInterruptHandler)(uint32_t interruptAssertedMask, void *param);
-
-class tInterruptManager : public tSystem
-{
-public:
-   tInterruptManager(uint32_t interruptMask, bool watcher, tRioStatusCode *status);
-   ~tInterruptManager();
-   void registerHandler(tInterruptHandler handler, void *param, tRioStatusCode *status);
-   uint32_t watch(int32_t timeoutInMs, bool ignorePrevious, tRioStatusCode *status);
-   void enable(tRioStatusCode *status);
-   void disable(tRioStatusCode *status);
-   bool isEnabled(tRioStatusCode *status);
-private:
-   class tInterruptThread;
-   friend class tInterruptThread;
-   void handler();
-   static int handlerWrapper(tInterruptManager *pInterrupt);
-
-   void acknowledge(tRioStatusCode *status);
-   void reserve(tRioStatusCode *status);
-   void unreserve(tRioStatusCode *status);
-   tInterruptHandler _handler;
-   uint32_t _interruptMask;
-   tInterruptThread *_thread;
-   NiFpga_IrqContext _rioContext;
-   bool _watcher;
-   bool _enabled;
-   void *_userParam;
-
-   // maintain the interrupts that are already dealt with.
-   static uint32_t _globalInterruptMask;
-   static ni::dsc::osdep::CriticalSection *_globalInterruptMaskSemaphore;
-};
-
-}
-
-
-#endif // __tInterruptManager_h__
-
+// Class for handling interrupts.
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+
+#ifndef __tInterruptManager_h__
+#define __tInterruptManager_h__
+
+#include "tSystem.h"
+
+namespace ni
+{
+   namespace dsc
+   {
+      namespace osdep
+      {
+         class CriticalSection;
+      }
+   }
+}
+
+namespace nFPGA
+{
+
+typedef void (*tInterruptHandler)(uint32_t interruptAssertedMask, void *param);
+
+class tInterruptManager : public tSystem
+{
+public:
+   tInterruptManager(uint32_t interruptMask, bool watcher, tRioStatusCode *status);
+   ~tInterruptManager();
+   void registerHandler(tInterruptHandler handler, void *param, tRioStatusCode *status);
+   uint32_t watch(int32_t timeoutInMs, bool ignorePrevious, tRioStatusCode *status);
+   void enable(tRioStatusCode *status);
+   void disable(tRioStatusCode *status);
+   bool isEnabled(tRioStatusCode *status);
+private:
+   class tInterruptThread;
+   friend class tInterruptThread;
+   void handler();
+   static int handlerWrapper(tInterruptManager *pInterrupt);
+
+   void acknowledge(tRioStatusCode *status);
+   void reserve(tRioStatusCode *status);
+   void unreserve(tRioStatusCode *status);
+   tInterruptHandler _handler;
+   uint32_t _interruptMask;
+   tInterruptThread *_thread;
+   NiFpga_IrqContext _rioContext;
+   bool _watcher;
+   bool _enabled;
+   void *_userParam;
+
+   // maintain the interrupts that are already dealt with.
+   static uint32_t _globalInterruptMask;
+   static ni::dsc::osdep::CriticalSection *_globalInterruptMaskSemaphore;
+};
+
+}
+
+
+#endif // __tInterruptManager_h__
+

ni-libraries/include/FRC_FPGA_ChipObject/tSystem.h

@@ -1,48 +1,48 @@
-// Base class for generated chip objects
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-
-#ifndef __tSystem_h__
-#define __tSystem_h__
-
-#include "fpgainterfacecapi/NiFpga.h"
-typedef NiFpga_Status tRioStatusCode;
-
-#define FRC_FPGA_PRELOAD_BITFILE
-
-typedef uint32_t NiFpga_Session;
-
-namespace nFPGA
-{
-
-class tSystem
-{
-public:
-   tSystem(tRioStatusCode *status);
-   ~tSystem();
-   void getFpgaGuid(uint32_t *guid_ptr, tRioStatusCode *status);
-   void reset(tRioStatusCode *status);
-
-protected:
-   static NiFpga_Session _DeviceHandle;
-
-#ifdef FRC_FPGA_PRELOAD_BITFILE
-   void NiFpga_SharedOpen_common(const char*     bitfile);
-   NiFpga_Status NiFpga_SharedOpen(const char*     bitfile,
-                            const char*     signature,
-                            const char*     resource,
-                            uint32_t        attribute,
-                            NiFpga_Session* session);
-   NiFpga_Status NiFpgaLv_SharedOpen(const char* const     bitfile,
-                            const char* const     apiSignature,
-                            const char* const     resource,
-                            const uint32_t        attribute,
-                            NiFpga_Session* const session);
-private:
-    static char *_FileName;
-    static char *_Bitfile;
-#endif
-};
-
-}
-
-#endif // __tSystem_h__
+// Base class for generated chip objects
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+
+#ifndef __tSystem_h__
+#define __tSystem_h__
+
+#include "fpgainterfacecapi/NiFpga.h"
+typedef NiFpga_Status tRioStatusCode;
+
+#define FRC_FPGA_PRELOAD_BITFILE
+
+typedef uint32_t NiFpga_Session;
+
+namespace nFPGA
+{
+
+class tSystem
+{
+public:
+   tSystem(tRioStatusCode *status);
+   ~tSystem();
+   void getFpgaGuid(uint32_t *guid_ptr, tRioStatusCode *status);
+   void reset(tRioStatusCode *status);
+
+protected:
+   static NiFpga_Session _DeviceHandle;
+
+#ifdef FRC_FPGA_PRELOAD_BITFILE
+   void NiFpga_SharedOpen_common(const char*     bitfile);
+   NiFpga_Status NiFpga_SharedOpen(const char*     bitfile,
+                            const char*     signature,
+                            const char*     resource,
+                            uint32_t        attribute,
+                            NiFpga_Session* session);
+   NiFpga_Status NiFpgaLv_SharedOpen(const char* const     bitfile,
+                            const char* const     apiSignature,
+                            const char* const     resource,
+                            const uint32_t        attribute,
+                            NiFpga_Session* const session);
+private:
+    static char *_FileName;
+    static char *_Bitfile;
+#endif
+};
+
+}
+
+#endif // __tSystem_h__

ni-libraries/include/FRC_FPGA_ChipObject/tSystemInterface.h

@@ -1,27 +1,27 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-
-#ifndef __tSystemInterface_h__
-#define __tSystemInterface_h__
-
-namespace nFPGA
-{
-
-class tSystemInterface
-{
-public:
-   tSystemInterface(){}
-   virtual ~tSystemInterface(){}
-
-   virtual const uint16_t getExpectedFPGAVersion()=0;
-   virtual const uint32_t getExpectedFPGARevision()=0;
-   virtual const uint32_t * const getExpectedFPGASignature()=0;
-   virtual void getHardwareFpgaSignature(uint32_t *guid_ptr, tRioStatusCode *status)=0;
-   virtual uint32_t getLVHandle(tRioStatusCode *status)=0;
-   virtual uint32_t getHandle()=0;
-   virtual void reset(tRioStatusCode *status)=0;
-};
-
-}
-
-#endif // __tSystemInterface_h__
-
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+
+#ifndef __tSystemInterface_h__
+#define __tSystemInterface_h__
+
+namespace nFPGA
+{
+
+class tSystemInterface
+{
+public:
+   tSystemInterface(){}
+   virtual ~tSystemInterface(){}
+
+   virtual const uint16_t getExpectedFPGAVersion()=0;
+   virtual const uint32_t getExpectedFPGARevision()=0;
+   virtual const uint32_t * const getExpectedFPGASignature()=0;
+   virtual void getHardwareFpgaSignature(uint32_t *guid_ptr, tRioStatusCode *status)=0;
+   virtual uint32_t getLVHandle(tRioStatusCode *status)=0;
+   virtual uint32_t getHandle()=0;
+   virtual void reset(tRioStatusCode *status)=0;
+};
+
+}
+
+#endif // __tSystemInterface_h__
+

ni-libraries/include/FRC_NetworkCommunication/FRCComm.h

@@ -14,8 +14,8 @@
 #ifndef __FRC_COMM_H__
 #define __FRC_COMM_H__
 
-#ifdef WIN32
-# include <vxWorks_compat.h>
+#ifdef _WIN32
+# include <windows.h>
 #ifdef USE_THRIFT
 #  define EXPORT_FUNC
 # else
@@ -33,7 +33,7 @@
 #define ERR_FRCSystem_NetCommNotResponding -44049
 #define ERR_FRCSystem_NoDSConnection -44018
 
-#ifdef WIN32
+#ifdef _WIN32
 # define __DEPRECATED__ __declspec(deprecated)
 #else
 # define __DEPRECATED__ __attribute__((__deprecated__))
@@ -129,7 +129,7 @@ extern "C" {
 	int EXPORT_FUNC FRC_NetworkCommunication_sendError(int isError, int32_t errorCode, int isLVCode,
 		const char *details, const char *location, const char *callStack);
 
-#ifdef WIN32
+#ifdef _WIN32
 	void EXPORT_FUNC setNewDataSem(HANDLE);
 #elif defined (__vxworks)
 	void EXPORT_FUNC setNewDataSem(SEM_ID);

ni-libraries/include/FRC_NetworkCommunication/LoadOut.h

@@ -2,7 +2,7 @@
 #ifndef __LoadOut_h__
 #define __LoadOut_h__
 
-#ifdef WIN32
+#ifdef _WIN32
 #include <vxWorks_compat.h>
 #define EXPORT_FUNC __declspec(dllexport) __cdecl
 #elif defined (__vxworks)

ni-libraries/include/FRC_NetworkCommunication/UsageReporting.h

@@ -2,7 +2,7 @@
 #ifndef __UsageReporting_h__
 #define __UsageReporting_h__
 
-#ifdef WIN32
+#ifdef _WIN32
 #include <stdint.h>
 #define EXPORT_FUNC __declspec(dllexport) __cdecl
 #elif defined (__vxworks)
@@ -87,6 +87,7 @@ namespace nUsageReporting
         kLanguage_CPlusPlus = 2,
         kLanguage_Java = 3,
         kLanguage_Python = 4,
+        kLanguage_DotNet = 5,
 
         kCANPlugin_BlackJagBridge = 1,
         kCANPlugin_2CAN = 2,

ni-libraries/include/i2clib/i2c-lib.h

@@ -1,16 +1,16 @@
-#ifndef __I2C_LIB_H__
-#define __I2C_LIB_H__
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-int i2clib_open(const char *device);
-void i2clib_close(int handle);
-int i2clib_read(int handle, uint8_t dev_addr, char *recv_buf, int32_t recv_size);
-int i2clib_write(int handle, uint8_t dev_addr, const char *send_buf, int32_t send_size);
-int i2clib_writeread(int handle, uint8_t dev_addr, const char *send_buf, int32_t send_size, char *recv_buf, int32_t recv_size);
-#ifdef __cplusplus
-}
-#endif
-
+#ifndef __I2C_LIB_H__
+#define __I2C_LIB_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+int i2clib_open(const char *device);
+void i2clib_close(int handle);
+int i2clib_read(int handle, uint8_t dev_addr, char *recv_buf, int32_t recv_size);
+int i2clib_write(int handle, uint8_t dev_addr, const char *send_buf, int32_t send_size);
+int i2clib_writeread(int handle, uint8_t dev_addr, const char *send_buf, int32_t send_size, char *recv_buf, int32_t recv_size);
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* __I2C_LIB_H__ */

ni-libraries/include/spilib/spi-lib.h

@@ -1,19 +1,19 @@
-#ifndef __SPI_LIB_H__
-#define __SPI_LIB_H__
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-int spilib_open(const char *device);
-void spilib_close(int handle);
-int spilib_setspeed(int handle, uint32_t speed);
-int spilib_setbitsperword(int handle, uint8_t bpw);
-int spilib_setopts(int handle, int msb_first, int sample_on_trailing, int clk_idle_high);
-int spilib_read(int handle, char *recv_buf, int32_t size);
-int spilib_write(int handle, const char *send_buf, int32_t size);
-int spilib_writeread(int handle, const char *send_buf, char *recv_buf, int32_t size);
-#ifdef __cplusplus
-}
-#endif
-
+#ifndef __SPI_LIB_H__
+#define __SPI_LIB_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+int spilib_open(const char *device);
+void spilib_close(int handle);
+int spilib_setspeed(int handle, uint32_t speed);
+int spilib_setbitsperword(int handle, uint8_t bpw);
+int spilib_setopts(int handle, int msb_first, int sample_on_trailing, int clk_idle_high);
+int spilib_read(int handle, char *recv_buf, int32_t size);
+int spilib_write(int handle, const char *send_buf, int32_t size);
+int spilib_writeread(int handle, const char *send_buf, char *recv_buf, int32_t size);
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* __SPI_LIB_H__ */

ni-libraries/lib/genlinks.bat

@@ -0,0 +1,24 @@
+@echo off
+setlocal enabledelayedexpansion
+
+mkdir tmp
+
+for %%F in (lib*.so.*) do IF /i "%%~xF" NEQ ".so" (
+	set libout=%%~nF
+	del !libout!
+	echo OUTPUT_FORMAT^(elf32-littlearm^)> tmp\!libout!
+	echo GROUP ^( %%F ^)>> tmp\!libout!
+)
+
+REM Do a second round from the temp folder
+
+cd tmp
+
+for %%F in (lib*.so.*) do IF /i "%%~xF" NEQ ".so" (
+	set libout=%%~nF
+	del !libout!
+	echo OUTPUT_FORMAT^(elf32-littlearm^)> !libout!
+	echo GROUP ^( %%F ^)>> !libout!
+)
+
+cd ..