Adds TriState DIO functionality to the HAL (#835)

Adds a function to raw set the DIO direction. Also adds a C++ unsafe
function to enable fast setting of DIO direction.

hal/src/main/native/athena/DIO.cpp

@@ -16,9 +16,6 @@
 
 using namespace hal;
 
-// Create a mutex to protect changes to the digital output values
-static wpi::mutex digitalDIOMutex;
-
 // Create a mutex to protect changes to the DO PWM config
 static wpi::mutex digitalPwmMutex;
 
@@ -308,6 +305,50 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
   }
 }
 
+/**
+ * Set direction of a DIO channel.
+ *
+ * @param channel The Digital I/O channel
+ * @param input true to set input, false for output
+ */
+void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
+                         int32_t* status) {
+  auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  {
+    std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
+    tDIO::tOutputEnable currentDIO = digitalSystem->readOutputEnable(status);
+
+    if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+      if (input) {
+        currentDIO.SPIPort =
+            currentDIO.SPIPort & ~(1u << remapSPIChannel(port->channel));
+      } else {
+        currentDIO.SPIPort =
+            currentDIO.SPIPort | (1u << remapSPIChannel(port->channel));
+      }
+    } else if (port->channel < kNumDigitalHeaders) {
+      if (input) {
+        currentDIO.Headers = currentDIO.Headers & ~(1u << port->channel);
+      } else {
+        currentDIO.Headers = currentDIO.Headers | (1u << port->channel);
+      }
+    } else {
+      if (input) {
+        currentDIO.MXP =
+            currentDIO.MXP & ~(1u << remapMXPChannel(port->channel));
+      } else {
+        currentDIO.MXP =
+            currentDIO.MXP | (1u << remapMXPChannel(port->channel));
+      }
+    }
+    digitalSystem->writeOutputEnable(currentDIO, status);
+  }
+}
+
 /**
  * Read a digital I/O bit from the FPGA.
  * Get a single value from a digital I/O channel.

hal/src/main/native/athena/DigitalInternal.cpp

@@ -18,6 +18,7 @@
 #include "HAL/ChipObject.h"
 #include "HAL/HAL.h"
 #include "HAL/Ports.h"
+#include "HAL/cpp/UnsafeDIO.h"
 #include "PortsInternal.h"
 
 namespace hal {
@@ -27,6 +28,9 @@ std::unique_ptr<tRelay> relaySystem;
 std::unique_ptr<tPWM> pwmSystem;
 std::unique_ptr<tSPI> spiSystem;
 
+// Create a mutex to protect changes to the digital output values
+wpi::mutex digitalDIOMutex;
+
 DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
                       kNumDigitalChannels + kNumPWMHeaders>*
     digitalChannelHandles;
@@ -40,6 +44,28 @@ void InitializeDigitalInternal() {
 }
 }  // namespace init
 
+namespace detail {
+wpi::mutex& UnsafeGetDIOMutex() { return digitalDIOMutex; }
+tDIO* UnsafeGetDigialSystem() { return digitalSystem.get(); }
+int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status) {
+  auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+  tDIO::tDO output;
+  output.value = 0;
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    output.SPIPort = (1u << remapSPIChannel(port->channel));
+  } else if (port->channel < kNumDigitalHeaders) {
+    output.Headers = (1u << port->channel);
+  } else {
+    output.MXP = (1u << remapMXPChannel(port->channel));
+  }
+  return output.value;
+}
+}  // namespace detail
+
 /**
  * Initialize the digital system.
  */
@@ -104,15 +130,6 @@ void initializeDigital(int32_t* status) {
   // SPI setup
   spiSystem.reset(tSPI::create(status));
 
-  // Image 13 requires a SPI select and a strobe to enable SPI CS on MXP.
-  // Switch to SPI 1, strobe the signal, and then switch back to previous.
-  bool existingSelect = spiSystem->readAutoSPI1Select(status);
-  spiSystem->writeAutoSPI1Select(true, status);
-  spiSystem->strobeAutoForceOne(status);
-  // Delay enough time to actually trigger strobe
-  std::this_thread::sleep_for(std::chrono::milliseconds(50));
-  spiSystem->writeAutoSPI1Select(existingSelect, status);
-
   initialized = true;
 }
 
@@ -174,3 +191,8 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle,
 }
 
 }  // namespace hal
+
+// Unused function here to test template compile.
+__attribute__((unused)) static void CompileFunctorTest() {
+  hal::UnsafeManipulateDIO(0, nullptr, [](hal::DIOSetProxy& proxy) {});
+}

hal/src/main/native/athena/DigitalInternal.h

@@ -79,6 +79,8 @@ extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
                              kNumDigitalChannels + kNumPWMHeaders>*
     digitalChannelHandles;
 
+extern wpi::mutex digitalDIOMutex;
+
 void initializeDigital(int32_t* status);
 bool remapDigitalSource(HAL_Handle digitalSourceHandle,
                         HAL_AnalogTriggerType analogTriggerType,

hal/src/main/native/athena/SPI.cpp

@@ -15,7 +15,6 @@
 #include <array>
 #include <atomic>
 #include <cstring>
-#include <thread>
 
 #include <llvm/raw_ostream.h>
 #include <support/mutex.h>
@@ -23,7 +22,6 @@
 #include "DigitalInternal.h"
 #include "HAL/DIO.h"
 #include "HAL/HAL.h"
-#include "HAL/Notifier.h"
 #include "HAL/cpp/make_unique.h"
 #include "HAL/handles/HandlesInternal.h"
 
@@ -43,34 +41,24 @@ static std::array<wpi::mutex, kSpiMaxHandles> spiApiMutexes;
 static std::array<wpi::mutex, kSpiMaxHandles> spiAccumulatorMutexes;
 
 // MXP SPI does not count towards this
-std::atomic<int32_t> spiPortCount{0};
+static std::atomic<int32_t> spiPortCount{0};
 
 static HAL_DigitalHandle digitalHandles[9]{HAL_kInvalidHandle};
 
-struct SPIAccumulator {
-  std::atomic<HAL_NotifierHandle> notifier{0};
-  uint64_t triggerTime;
-  int32_t period;
+static wpi::mutex spiAutoMutex;
+static int32_t spiAutoPort = kSpiMaxHandles;
+static std::atomic_bool spiAutoRunning{false};
+static std::unique_ptr<tDMAManager> spiAutoDMA;
 
-  int64_t value = 0;
-  uint32_t count = 0;
-  int32_t lastValue = 0;
-
-  int32_t center = 0;
-  int32_t deadband = 0;
-
-  uint8_t cmd[4];  // command to send (up to 4 bytes)
-  int32_t validMask;
-  int32_t validValue;
-  int32_t dataMax;      // one more than max data value
-  int32_t dataMsbMask;  // data field MSB mask (for signed)
-  uint8_t dataShift;    // data field shift right amount, in bits
-  uint8_t xferSize;     // SPI transfer size, in bytes (up to 4)
-  HAL_SPIPort port;
-  bool isSigned;   // is data field signed?
-  bool bigEndian;  // is response big endian?
-};
-std::unique_ptr<SPIAccumulator> spiAccumulators[5];
+static bool SPIInUseByAuto(HAL_SPIPort port) {
+  // SPI engine conflicts with any other chip selects on the same SPI device.
+  // There are two SPI devices: one for ports 0-3 (onboard), the other for port
+  // 4 (MXP).
+  if (!spiAutoRunning) return false;
+  std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+  return (spiAutoPort >= 0 && spiAutoPort <= 3 && port >= 0 && port <= 3) ||
+         (spiAutoPort == 4 && port == 4);
+}
 
 namespace hal {
 namespace init {
@@ -273,6 +261,8 @@ int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
     return -1;
   }
 
+  if (SPIInUseByAuto(port)) return -1;
+
   struct spi_ioc_transfer xfer;
   std::memset(&xfer, 0, sizeof(xfer));
   xfer.tx_buf = (__u64)dataToSend;
@@ -299,6 +289,8 @@ int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend,
     return -1;
   }
 
+  if (SPIInUseByAuto(port)) return -1;
+
   struct spi_ioc_transfer xfer;
   std::memset(&xfer, 0, sizeof(xfer));
   xfer.tx_buf = (__u64)dataToSend;
@@ -326,6 +318,8 @@ int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) {
     return -1;
   }
 
+  if (SPIInUseByAuto(port)) return -1;
+
   struct spi_ioc_transfer xfer;
   std::memset(&xfer, 0, sizeof(xfer));
   xfer.rx_buf = (__u64)buffer;
@@ -346,7 +340,7 @@ void HAL_CloseSPI(HAL_SPIPort port) {
   }
 
   int32_t status = 0;
-  HAL_FreeSPIAccumulator(port, &status);
+  HAL_FreeSPIAuto(port, &status);
 
   {
     std::lock_guard<wpi::mutex> lock(spiApiMutexes[port]);
@@ -522,313 +516,202 @@ void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) {
   }
 }
 
-static void spiAccumulatorProcess(uint64_t currentTime, SPIAccumulator* accum) {
-  // perform SPI transaction
-  uint8_t resp_b[4];
-  HAL_TransactionSPI(accum->port, accum->cmd, resp_b, accum->xferSize);
+void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status) {
+  if (port < 0 || port >= kSpiMaxHandles) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    return;
+  }
 
-  // convert from bytes
-  uint32_t resp = 0;
-  if (accum->bigEndian) {
-    for (int32_t i = 0; i < accum->xferSize; ++i) {
-      resp <<= 8;
-      resp |= resp_b[i] & 0xff;
-    }
+  std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+  // FPGA only has one auto SPI engine
+  if (spiAutoPort != kSpiMaxHandles) {
+    *status = RESOURCE_IS_ALLOCATED;
+    return;
+  }
+
+  // remember the initialized port for other entry points
+  spiAutoPort = port;
+
+  // configure the correct chip select
+  if (port < 4) {
+    spiSystem->writeAutoSPI1Select(false, status);
+    spiSystem->writeAutoChipSelect(port, status);
   } else {
-    for (int32_t i = accum->xferSize - 1; i >= 0; --i) {
-      resp <<= 8;
-      resp |= resp_b[i] & 0xff;
-    }
+    spiSystem->writeAutoSPI1Select(true, status);
+    spiSystem->writeAutoChipSelect(0, status);
   }
 
-  // process response
-  if ((resp & accum->validMask) == static_cast<uint32_t>(accum->validValue)) {
-    // valid sensor data; extract data field
-    int32_t data = static_cast<int32_t>(resp >> accum->dataShift);
-    data &= accum->dataMax - 1;
-    // 2s complement conversion if signed MSB is set
-    if (accum->isSigned && (data & accum->dataMsbMask) != 0)
-      data -= accum->dataMax;
-    // center offset
-    data -= accum->center;
-    // only accumulate if outside deadband
-    if (data < -accum->deadband || data > accum->deadband) accum->value += data;
-    ++accum->count;
-    accum->lastValue = data;
-  } else {
-    // no data from the sensor; just clear the last value
-    accum->lastValue = 0;
-  }
-
-  // reschedule timer
-  accum->triggerTime += accum->period;
-  // handle timer slip
-  if (accum->triggerTime < currentTime)
-    accum->triggerTime = currentTime + accum->period;
-  int32_t status = 0;
-  HAL_UpdateNotifierAlarm(accum->notifier, accum->triggerTime, &status);
+  // configure DMA
+  tDMAChannelDescriptor desc;
+  spiSystem->getSystemInterface()->getDmaDescriptor(g_SpiAutoData_index, &desc);
+  spiAutoDMA = std::make_unique<tDMAManager>(desc.channel, bufferSize, status);
 }
 
-/**
- * Initialize a SPI accumulator.
- *
- * @param port SPI port
- * @param period Time between reads, in us
- * @param cmd SPI command to send to request data
- * @param xferSize SPI transfer size, in bytes
- * @param validMask Mask to apply to received data for validity checking
- * @param valid_data After validMask is applied, required matching value for
- *                   validity checking
- * @param dataShift Bit shift to apply to received data to get actual data
- *                   value
- * @param dataSize Size (in bits) of data field
- * @param isSigned Is data field signed?
- * @param bigEndian Is device big endian?
- */
-void HAL_InitSPIAccumulator(HAL_SPIPort port, int32_t period, int32_t cmd,
-                            int32_t xferSize, int32_t validMask,
-                            int32_t validValue, int32_t dataShift,
-                            int32_t dataSize, HAL_Bool isSigned,
-                            HAL_Bool bigEndian, int32_t* status) {
+void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status) {
   if (port < 0 || port >= kSpiMaxHandles) {
     *status = PARAMETER_OUT_OF_RANGE;
     return;
   }
 
-  std::lock_guard<wpi::mutex> lock(spiAccumulatorMutexes[port]);
-  if (!spiAccumulators[port])
-    spiAccumulators[port] = std::make_unique<SPIAccumulator>();
-  SPIAccumulator* accum = spiAccumulators[port].get();
-  if (bigEndian) {
-    for (int32_t i = xferSize - 1; i >= 0; --i) {
-      accum->cmd[i] = cmd & 0xff;
-      cmd >>= 8;
-    }
-  } else {
-    accum->cmd[0] = cmd & 0xff;
-    cmd >>= 8;
-    accum->cmd[1] = cmd & 0xff;
-    cmd >>= 8;
-    accum->cmd[2] = cmd & 0xff;
-    cmd >>= 8;
-    accum->cmd[3] = cmd & 0xff;
-  }
-  accum->period = period;
-  accum->xferSize = xferSize;
-  accum->validMask = validMask;
-  accum->validValue = validValue;
-  accum->dataShift = dataShift;
-  accum->dataMax = (1 << dataSize);
-  accum->dataMsbMask = (1 << (dataSize - 1));
-  accum->isSigned = isSigned;
-  accum->bigEndian = bigEndian;
-  accum->port = port;
-  if (!accum->notifier) {
-    accum->notifier = HAL_InitializeNotifier(status);
-    accum->triggerTime = HAL_GetFPGATime(status) + period;
-    if (*status != 0) return;
-    std::thread thr([=] {
-      int32_t status2 = 0;
-      while (status2 == 0) {
-        uint64_t curTime = HAL_WaitForNotifierAlarm(accum->notifier, &status2);
-        if (curTime == 0 || status2 != 0) break;
-        spiAccumulatorProcess(curTime, accum);
-      }
-    });
-    thr.detach();
-    HAL_UpdateNotifierAlarm(accum->notifier, accum->triggerTime, status);
-  }
+  std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+  if (spiAutoPort != port) return;
+  spiAutoPort = kSpiMaxHandles;
+
+  // disable by setting to internal clock and setting rate=0
+  spiSystem->writeAutoRate(0, status);
+  spiSystem->writeAutoTriggerConfig_ExternalClock(false, status);
+
+  // stop the DMA
+  spiAutoDMA->stop(status);
+
+  spiAutoDMA.reset(nullptr);
+
+  spiAutoRunning = false;
 }
 
-/**
- * Frees a SPI accumulator.
- */
-void HAL_FreeSPIAccumulator(HAL_SPIPort port, int32_t* status) {
-  if (port < 0 || port >= kSpiMaxHandles) {
+void HAL_StartSPIAutoRate(HAL_SPIPort port, double period, int32_t* status) {
+  std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+  // FPGA only has one auto SPI engine
+  if (port != spiAutoPort) {
+    *status = INCOMPATIBLE_STATE;
+    return;
+  }
+
+  spiAutoRunning = true;
+
+  // start the DMA
+  spiAutoDMA->start(status);
+
+  // auto rate is in microseconds
+  spiSystem->writeAutoRate(period * 1000000, status);
+
+  // disable the external clock
+  spiSystem->writeAutoTriggerConfig_ExternalClock(false, status);
+}
+
+void HAL_StartSPIAutoTrigger(HAL_SPIPort port, HAL_Handle digitalSourceHandle,
+                             HAL_AnalogTriggerType analogTriggerType,
+                             HAL_Bool triggerRising, HAL_Bool triggerFalling,
+                             int32_t* status) {
+  std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+  // FPGA only has one auto SPI engine
+  if (port != spiAutoPort) {
+    *status = INCOMPATIBLE_STATE;
+    return;
+  }
+
+  spiAutoRunning = true;
+
+  // start the DMA
+  spiAutoDMA->start(status);
+
+  // get channel routing
+  bool routingAnalogTrigger = false;
+  uint8_t routingChannel = 0;
+  uint8_t routingModule = 0;
+  if (!remapDigitalSource(digitalSourceHandle, analogTriggerType,
+                          routingChannel, routingModule,
+                          routingAnalogTrigger)) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  // configure external trigger and enable it
+  tSPI::tAutoTriggerConfig config;
+  config.ExternalClock = 1;
+  config.FallingEdge = triggerFalling ? 1 : 0;
+  config.RisingEdge = triggerRising ? 1 : 0;
+  config.ExternalClockSource_AnalogTrigger = routingAnalogTrigger ? 1 : 0;
+  config.ExternalClockSource_Module = routingModule;
+  config.ExternalClockSource_Channel = routingChannel;
+  spiSystem->writeAutoTriggerConfig(config, status);
+}
+
+void HAL_StopSPIAuto(HAL_SPIPort port, int32_t* status) {
+  std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+  // FPGA only has one auto SPI engine
+  if (port != spiAutoPort) {
+    *status = INCOMPATIBLE_STATE;
+    return;
+  }
+
+  // disable by setting to internal clock and setting rate=0
+  spiSystem->writeAutoRate(0, status);
+  spiSystem->writeAutoTriggerConfig_ExternalClock(false, status);
+
+  // stop the DMA
+  spiAutoDMA->stop(status);
+
+  spiAutoRunning = false;
+}
+
+void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
+                                int32_t dataSize, int32_t zeroSize,
+                                int32_t* status) {
+  if (dataSize < 0 || dataSize > 16) {
     *status = PARAMETER_OUT_OF_RANGE;
     return;
   }
 
-  std::lock_guard<wpi::mutex> lock(spiAccumulatorMutexes[port]);
-  SPIAccumulator* accum = spiAccumulators[port].get();
-  if (!accum) {
-    *status = NULL_PARAMETER;
-    return;
-  }
-  HAL_NotifierHandle handle = accum->notifier.exchange(0);
-  HAL_CleanNotifier(handle, status);
-  spiAccumulators[port] = nullptr;
-}
-
-/**
- * Resets the accumulator to zero.
- */
-void HAL_ResetSPIAccumulator(HAL_SPIPort port, int32_t* status) {
-  if (port < 0 || port >= kSpiMaxHandles) {
+  if (zeroSize < 0 || zeroSize > 127) {
     *status = PARAMETER_OUT_OF_RANGE;
     return;
   }
 
-  std::lock_guard<wpi::mutex> lock(spiApiMutexes[port]);
-  SPIAccumulator* accum = spiAccumulators[port].get();
-  if (!accum) {
-    *status = NULL_PARAMETER;
+  std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+  // FPGA only has one auto SPI engine
+  if (port != spiAutoPort) {
+    *status = INCOMPATIBLE_STATE;
     return;
   }
-  accum->value = 0;
-  accum->count = 0;
-  accum->lastValue = 0;
+
+  // set tx data registers
+  for (int32_t i = 0; i < dataSize; ++i)
+    spiSystem->writeAutoTx(i >> 2, i & 3, dataToSend[i], status);
+
+  // set byte counts
+  tSPI::tAutoByteCount config;
+  config.ZeroByteCount = static_cast<unsigned>(zeroSize) & 0x7f;
+  config.TxByteCount = static_cast<unsigned>(dataSize) & 0xf;
+  spiSystem->writeAutoByteCount(config, status);
 }
 
-/**
- * Set the center value of the accumulator.
- *
- * The center value is subtracted from each value before it is added to the
- * accumulator. This
- * is used for the center value of devices like gyros and accelerometers to make
- * integration work
- * and to take the device offset into account when integrating.
- */
-void HAL_SetSPIAccumulatorCenter(HAL_SPIPort port, int32_t center,
-                                 int32_t* status) {
-  if (port < 0 || port >= kSpiMaxHandles) {
-    *status = PARAMETER_OUT_OF_RANGE;
+void HAL_ForceSPIAutoRead(HAL_SPIPort port, int32_t* status) {
+  std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+  // FPGA only has one auto SPI engine
+  if (port != spiAutoPort) {
+    *status = INCOMPATIBLE_STATE;
     return;
   }
 
-  std::lock_guard<wpi::mutex> lock(spiAccumulatorMutexes[port]);
-  SPIAccumulator* accum = spiAccumulators[port].get();
-  if (!accum) {
-    *status = NULL_PARAMETER;
-    return;
-  }
-  accum->center = center;
+  spiSystem->strobeAutoForceOne(status);
 }
 
-/**
- * Set the accumulator's deadband.
- */
-void HAL_SetSPIAccumulatorDeadband(HAL_SPIPort port, int32_t deadband,
-                                   int32_t* status) {
-  if (port < 0 || port >= kSpiMaxHandles) {
-    *status = PARAMETER_OUT_OF_RANGE;
-    return;
-  }
-
-  std::lock_guard<wpi::mutex> lock(spiAccumulatorMutexes[port]);
-  SPIAccumulator* accum = spiAccumulators[port].get();
-  if (!accum) {
-    *status = NULL_PARAMETER;
-    return;
-  }
-  accum->deadband = deadband;
-}
-
-/**
- * Read the last value read by the accumulator engine.
- */
-int32_t HAL_GetSPIAccumulatorLastValue(HAL_SPIPort port, int32_t* status) {
-  if (port < 0 || port >= kSpiMaxHandles) {
-    *status = PARAMETER_OUT_OF_RANGE;
+int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint8_t* buffer,
+                                    int32_t numToRead, double timeout,
+                                    int32_t* status) {
+  std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+  // FPGA only has one auto SPI engine
+  if (port != spiAutoPort) {
+    *status = INCOMPATIBLE_STATE;
     return 0;
   }
 
-  std::lock_guard<wpi::mutex> lock(spiAccumulatorMutexes[port]);
-  SPIAccumulator* accum = spiAccumulators[port].get();
-  if (!accum) {
-    *status = NULL_PARAMETER;
-    return 0;
-  }
-  return accum->lastValue;
+  size_t numRemaining = 0;
+  // timeout is in ms
+  spiAutoDMA->read(buffer, numToRead, timeout * 1000, &numRemaining, status);
+  return numRemaining;
 }
 
-/**
- * Read the accumulated value.
- *
- * @return The 64-bit value accumulated since the last Reset().
- */
-int64_t HAL_GetSPIAccumulatorValue(HAL_SPIPort port, int32_t* status) {
-  if (port < 0 || port >= kSpiMaxHandles) {
-    *status = PARAMETER_OUT_OF_RANGE;
+int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status) {
+  std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+  // FPGA only has one auto SPI engine
+  if (port != spiAutoPort) {
+    *status = INCOMPATIBLE_STATE;
     return 0;
   }
 
-  std::lock_guard<wpi::mutex> lock(spiAccumulatorMutexes[port]);
-  SPIAccumulator* accum = spiAccumulators[port].get();
-  if (!accum) {
-    *status = NULL_PARAMETER;
-    return 0;
-  }
-  return accum->value;
-}
-
-/**
- * Read the number of accumulated values.
- *
- * Read the count of the accumulated values since the accumulator was last
- * Reset().
- *
- * @return The number of times samples from the channel were accumulated.
- */
-int64_t HAL_GetSPIAccumulatorCount(HAL_SPIPort port, int32_t* status) {
-  if (port < 0 || port >= kSpiMaxHandles) {
-    *status = PARAMETER_OUT_OF_RANGE;
-    return 0;
-  }
-
-  std::lock_guard<wpi::mutex> lock(spiAccumulatorMutexes[port]);
-  SPIAccumulator* accum = spiAccumulators[port].get();
-  if (!accum) {
-    *status = NULL_PARAMETER;
-    return 0;
-  }
-  return accum->count;
-}
-
-/**
- * Read the average of the accumulated value.
- *
- * @return The accumulated average value (value / count).
- */
-double HAL_GetSPIAccumulatorAverage(HAL_SPIPort port, int32_t* status) {
-  if (port < 0 || port >= kSpiMaxHandles) {
-    *status = PARAMETER_OUT_OF_RANGE;
-    return 0.0;
-  }
-
-  int64_t value;
-  int64_t count;
-  HAL_GetSPIAccumulatorOutput(port, &value, &count, status);
-  if (count == 0) return 0.0;
-  return static_cast<double>(value) / count;
-}
-
-/**
- * Read the accumulated value and the number of accumulated values atomically.
- *
- * This function reads the value and count atomically.
- * This can be used for averaging.
- *
- * @param value Pointer to the 64-bit accumulated output.
- * @param count Pointer to the number of accumulation cycles.
- */
-void HAL_GetSPIAccumulatorOutput(HAL_SPIPort port, int64_t* value,
-                                 int64_t* count, int32_t* status) {
-  if (port < 0 || port >= kSpiMaxHandles) {
-    *status = PARAMETER_OUT_OF_RANGE;
-    return;
-  }
-
-  std::lock_guard<wpi::mutex> lock(spiAccumulatorMutexes[port]);
-  SPIAccumulator* accum = spiAccumulators[port].get();
-  if (!accum) {
-    *status = NULL_PARAMETER;
-    *value = 0;
-    *count = 0;
-    return;
-  }
-  *value = accum->value;
-  *count = accum->count;
+  return spiSystem->readTransferSkippedFullCount(status);
 }
 
 }  // extern "C"

hal/src/main/native/include/HAL/DIO.h

@@ -28,6 +28,8 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
                                     int32_t channel, int32_t* status);
 void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
                 int32_t* status);
+void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
+                         int32_t* status);
 HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status);
 HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status);
 void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,

hal/src/main/native/include/HAL/SPI.h

@@ -9,6 +9,7 @@
 
 #include <stdint.h>
 
+#include "HAL/AnalogTrigger.h"
 #include "HAL/Types.h"
 
 enum HAL_SPIPort : int32_t {
@@ -38,23 +39,23 @@ void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status);
 int32_t HAL_GetSPIHandle(HAL_SPIPort port);
 void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle);
 
-void HAL_InitSPIAccumulator(HAL_SPIPort port, int32_t period, int32_t cmd,
-                            int32_t xferSize, int32_t validMask,
-                            int32_t validValue, int32_t dataShift,
-                            int32_t dataSize, HAL_Bool isSigned,
-                            HAL_Bool bigEndian, int32_t* status);
-void HAL_FreeSPIAccumulator(HAL_SPIPort port, int32_t* status);
-void HAL_ResetSPIAccumulator(HAL_SPIPort port, int32_t* status);
-void HAL_SetSPIAccumulatorCenter(HAL_SPIPort port, int32_t center,
-                                 int32_t* status);
-void HAL_SetSPIAccumulatorDeadband(HAL_SPIPort port, int32_t deadband,
-                                   int32_t* status);
-int32_t HAL_GetSPIAccumulatorLastValue(HAL_SPIPort port, int32_t* status);
-int64_t HAL_GetSPIAccumulatorValue(HAL_SPIPort port, int32_t* status);
-int64_t HAL_GetSPIAccumulatorCount(HAL_SPIPort port, int32_t* status);
-double HAL_GetSPIAccumulatorAverage(HAL_SPIPort port, int32_t* status);
-void HAL_GetSPIAccumulatorOutput(HAL_SPIPort port, int64_t* value,
-                                 int64_t* count, int32_t* status);
+void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status);
+void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status);
+void HAL_StartSPIAutoRate(HAL_SPIPort port, double period, int32_t* status);
+void HAL_StartSPIAutoTrigger(HAL_SPIPort port, HAL_Handle digitalSourceHandle,
+                             HAL_AnalogTriggerType analogTriggerType,
+                             HAL_Bool triggerRising, HAL_Bool triggerFalling,
+                             int32_t* status);
+void HAL_StopSPIAuto(HAL_SPIPort port, int32_t* status);
+void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
+                                int32_t dataSize, int32_t zeroSize,
+                                int32_t* status);
+void HAL_ForceSPIAutoRead(HAL_SPIPort port, int32_t* status);
+int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint8_t* buffer,
+                                    int32_t numToRead, double timeout,
+                                    int32_t* status);
+int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status);
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/src/main/native/include/HAL/cpp/UnsafeDIO.h

@@ -0,0 +1,85 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. 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 <support/mutex.h>
+
+#include "HAL/ChipObject.h"
+#include "HAL/Types.h"
+
+namespace hal {
+struct DIOSetProxy {
+  DIOSetProxy(const DIOSetProxy&) = delete;
+  DIOSetProxy(DIOSetProxy&&) = delete;
+  DIOSetProxy& operator=(const DIOSetProxy&) = delete;
+  DIOSetProxy& operator=(DIOSetProxy&&) = delete;
+
+  void SetOutputMode(int32_t* status) {
+    m_dio->writeOutputEnable(m_setOutputDirReg, status);
+  }
+
+  void SetInputMode(int32_t* status) {
+    m_dio->writeOutputEnable(m_unsetOutputDirReg, status);
+  }
+
+  void SetOutputTrue(int32_t* status) {
+    m_dio->writeDO(m_setOutputStateReg, status);
+  }
+
+  void SetOutputFalse(int32_t* status) {
+    m_dio->writeDO(m_unsetOutputStateReg, status);
+  }
+
+  tDIO::tOutputEnable m_setOutputDirReg;
+  tDIO::tOutputEnable m_unsetOutputDirReg;
+  tDIO::tDO m_setOutputStateReg;
+  tDIO::tDO m_unsetOutputStateReg;
+  tDIO* m_dio;
+};
+namespace detail {
+wpi::mutex& UnsafeGetDIOMutex();
+tDIO* UnsafeGetDigialSystem();
+int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status);
+}  // namespace detail
+
+/**
+ * Unsafe digital output set function
+ * This function can be used to perform fast and determinstically set digital
+ * outputs. This function holds the DIO lock, so calling anyting other then
+ * functions on the Proxy object passed as a parameter can deadlock your
+ * program.
+ *
+ */
+template <typename Functor>
+void UnsafeManipulateDIO(HAL_DigitalHandle handle, int32_t* status,
+                         Functor func) {
+  auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  wpi::mutex& dioMutex = detail::UnsafeGetDIOMutex();
+  tDIO* dSys = detail::UnsafeGetDigialSystem();
+  auto mask = detail::ComputeDigitalMask(handle, status);
+  if (status != 0) return;
+  std::lock_guard<wpi::mutex> lock(dioMutex);
+
+  tDIO::tOutputEnable enableOE = dSys->readOutputEnable(status);
+  enableOE.value |= mask;
+  auto disableOE = enableOE;
+  disableOE.value &= ~mask;
+  tDIO::tDO enableDO = dSys->readDO(status);
+  enableDO.value |= mask;
+  auto disableDO = enableDO;
+  disableDO.value &= ~mask;
+
+  DIOSetProxy dioData{enableOE, disableOE, enableDO, disableDO, dSys};
+  func(dioData);
+}
+
+}  // namespace hal

hal/src/main/native/sim/SPI.cpp

@@ -40,30 +40,23 @@ void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {}
 int32_t HAL_GetSPIHandle(HAL_SPIPort port) { return 0; }
 void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) {}
 
-void HAL_InitSPIAccumulator(HAL_SPIPort port, int32_t period, int32_t cmd,
-                            int32_t xferSize, int32_t validMask,
-                            int32_t validValue, int32_t dataShift,
-                            int32_t dataSize, HAL_Bool isSigned,
-                            HAL_Bool bigEndian, int32_t* status) {}
-void HAL_FreeSPIAccumulator(HAL_SPIPort port, int32_t* status) {}
-void HAL_ResetSPIAccumulator(HAL_SPIPort port, int32_t* status) {
-  SimSPIData[port].ResetAccumulator();
-}
-void HAL_SetSPIAccumulatorCenter(HAL_SPIPort port, int32_t center,
-                                 int32_t* status) {}
-void HAL_SetSPIAccumulatorDeadband(HAL_SPIPort port, int32_t deadband,
-                                   int32_t* status) {}
-int32_t HAL_GetSPIAccumulatorLastValue(HAL_SPIPort port, int32_t* status) {
+void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status) {}
+void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status) {}
+void HAL_StartSPIAutoRate(HAL_SPIPort port, double period, int32_t* status) {}
+void HAL_StartSPIAutoTrigger(HAL_SPIPort port, HAL_Handle digitalSourceHandle,
+                             HAL_AnalogTriggerType analogTriggerType,
+                             HAL_Bool triggerRising, HAL_Bool triggerFalling,
+                             int32_t* status) {}
+void HAL_StopSPIAuto(HAL_SPIPort port, int32_t* status) {}
+void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
+                                int32_t dataSize, int32_t zeroSize,
+                                int32_t* status) {}
+void HAL_ForceSPIAutoRead(HAL_SPIPort port, int32_t* status) {}
+int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint8_t* buffer,
+                                    int32_t numToRead, double timeout,
+                                    int32_t* status) {
   return 0;
 }
-int64_t HAL_GetSPIAccumulatorValue(HAL_SPIPort port, int32_t* status) {
-  return SimSPIData[port].GetAccumulatorValue();
-}
-int64_t HAL_GetSPIAccumulatorCount(HAL_SPIPort port, int32_t* status) {
+int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status) {
   return 0;
 }
-double HAL_GetSPIAccumulatorAverage(HAL_SPIPort port, int32_t* status) {
-  return 0;
-}
-void HAL_GetSPIAccumulatorOutput(HAL_SPIPort port, int64_t* value,
-                                 int64_t* count, int32_t* status) {}

ni-libraries/include/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h

@@ -4,6 +4,6 @@
 #ifndef __RoboRIO_FRC_ChipObject_Aliases_h__
 #define __RoboRIO_FRC_ChipObject_Aliases_h__
 
-#define nRoboRIO_FPGANamespace nFRC_2018_18_0_7
+#define nRoboRIO_FPGANamespace nFRC_2018_18_0_8
 
 #endif // __RoboRIO_FRC_ChipObject_Aliases_h__

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

@@ -1,12 +1,12 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_nInterfaceGlobals_h__
-#define __nFRC_2018_18_0_7_nInterfaceGlobals_h__
+#ifndef __nFRC_2018_18_0_8_nInterfaceGlobals_h__
+#define __nFRC_2018_18_0_8_nInterfaceGlobals_h__
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
    extern unsigned int g_currentTargetClass;
 
@@ -15,4 +15,4 @@ namespace nFRC_2018_18_0_7
 }
 }
 
-#endif // __nFRC_2018_18_0_7_nInterfaceGlobals_h__
+#endif // __nFRC_2018_18_0_8_nInterfaceGlobals_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_AI_h__
-#define __nFRC_2018_18_0_7_AI_h__
+#ifndef __nFRC_2018_18_0_8_AI_h__
+#define __nFRC_2018_18_0_8_AI_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tAI
@@ -141,4 +141,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_AI_h__
+#endif // __nFRC_2018_18_0_8_AI_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_AO_h__
-#define __nFRC_2018_18_0_7_AO_h__
+#ifndef __nFRC_2018_18_0_8_AO_h__
+#define __nFRC_2018_18_0_8_AO_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tAO
@@ -48,4 +48,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_AO_h__
+#endif // __nFRC_2018_18_0_8_AO_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_Accel_h__
-#define __nFRC_2018_18_0_7_Accel_h__
+#ifndef __nFRC_2018_18_0_8_Accel_h__
+#define __nFRC_2018_18_0_8_Accel_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tAccel
@@ -100,4 +100,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_Accel_h__
+#endif // __nFRC_2018_18_0_8_Accel_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_Accumulator_h__
-#define __nFRC_2018_18_0_7_Accumulator_h__
+#ifndef __nFRC_2018_18_0_8_Accumulator_h__
+#define __nFRC_2018_18_0_8_Accumulator_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tAccumulator
@@ -85,4 +85,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_Accumulator_h__
+#endif // __nFRC_2018_18_0_8_Accumulator_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_Alarm_h__
-#define __nFRC_2018_18_0_7_Alarm_h__
+#ifndef __nFRC_2018_18_0_8_Alarm_h__
+#define __nFRC_2018_18_0_8_Alarm_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tAlarm
@@ -55,4 +55,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_Alarm_h__
+#endif // __nFRC_2018_18_0_8_Alarm_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_AnalogTrigger_h__
-#define __nFRC_2018_18_0_7_AnalogTrigger_h__
+#ifndef __nFRC_2018_18_0_8_AnalogTrigger_h__
+#define __nFRC_2018_18_0_8_AnalogTrigger_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tAnalogTrigger
@@ -127,4 +127,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_AnalogTrigger_h__
+#endif // __nFRC_2018_18_0_8_AnalogTrigger_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_BIST_h__
-#define __nFRC_2018_18_0_7_BIST_h__
+#ifndef __nFRC_2018_18_0_8_BIST_h__
+#define __nFRC_2018_18_0_8_BIST_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tBIST
@@ -88,4 +88,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_BIST_h__
+#endif // __nFRC_2018_18_0_8_BIST_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_Counter_h__
-#define __nFRC_2018_18_0_7_Counter_h__
+#ifndef __nFRC_2018_18_0_8_Counter_h__
+#define __nFRC_2018_18_0_8_Counter_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tCounter
@@ -217,4 +217,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_Counter_h__
+#endif // __nFRC_2018_18_0_8_Counter_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_DIO_h__
-#define __nFRC_2018_18_0_7_DIO_h__
+#ifndef __nFRC_2018_18_0_8_DIO_h__
+#define __nFRC_2018_18_0_8_DIO_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tDIO
@@ -261,4 +261,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_DIO_h__
+#endif // __nFRC_2018_18_0_8_DIO_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_DMA_h__
-#define __nFRC_2018_18_0_7_DMA_h__
+#ifndef __nFRC_2018_18_0_8_DMA_h__
+#define __nFRC_2018_18_0_8_DMA_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tDMA
@@ -195,4 +195,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_DMA_h__
+#endif // __nFRC_2018_18_0_8_DMA_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_Encoder_h__
-#define __nFRC_2018_18_0_7_Encoder_h__
+#ifndef __nFRC_2018_18_0_8_Encoder_h__
+#define __nFRC_2018_18_0_8_Encoder_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tEncoder
@@ -197,4 +197,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_Encoder_h__
+#endif // __nFRC_2018_18_0_8_Encoder_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_Global_h__
-#define __nFRC_2018_18_0_7_Global_h__
+#ifndef __nFRC_2018_18_0_8_Global_h__
+#define __nFRC_2018_18_0_8_Global_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tGlobal
@@ -105,4 +105,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_Global_h__
+#endif // __nFRC_2018_18_0_8_Global_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_HMB_h__
-#define __nFRC_2018_18_0_7_HMB_h__
+#ifndef __nFRC_2018_18_0_8_HMB_h__
+#define __nFRC_2018_18_0_8_HMB_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tHMB
@@ -146,4 +146,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_HMB_h__
+#endif // __nFRC_2018_18_0_8_HMB_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_Interrupt_h__
-#define __nFRC_2018_18_0_7_Interrupt_h__
+#ifndef __nFRC_2018_18_0_8_Interrupt_h__
+#define __nFRC_2018_18_0_8_Interrupt_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tInterrupt
@@ -98,4 +98,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_Interrupt_h__
+#endif // __nFRC_2018_18_0_8_Interrupt_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_PWM_h__
-#define __nFRC_2018_18_0_7_PWM_h__
+#ifndef __nFRC_2018_18_0_8_PWM_h__
+#define __nFRC_2018_18_0_8_PWM_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tPWM
@@ -132,4 +132,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_PWM_h__
+#endif // __nFRC_2018_18_0_8_PWM_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_Power_h__
-#define __nFRC_2018_18_0_7_Power_h__
+#ifndef __nFRC_2018_18_0_8_Power_h__
+#define __nFRC_2018_18_0_8_Power_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tPower
@@ -218,4 +218,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_Power_h__
+#endif // __nFRC_2018_18_0_8_Power_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_Relay_h__
-#define __nFRC_2018_18_0_7_Relay_h__
+#ifndef __nFRC_2018_18_0_8_Relay_h__
+#define __nFRC_2018_18_0_8_Relay_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tRelay
@@ -66,4 +66,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_Relay_h__
+#endif // __nFRC_2018_18_0_8_Relay_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_SPI_h__
-#define __nFRC_2018_18_0_7_SPI_h__
+#ifndef __nFRC_2018_18_0_8_SPI_h__
+#define __nFRC_2018_18_0_8_SPI_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tSPI
@@ -234,4 +234,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_SPI_h__
+#endif // __nFRC_2018_18_0_8_SPI_h__

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

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2018_18_0_7_SysWatchdog_h__
-#define __nFRC_2018_18_0_7_SysWatchdog_h__
+#ifndef __nFRC_2018_18_0_8_SysWatchdog_h__
+#define __nFRC_2018_18_0_8_SysWatchdog_h__
 
 #include "../tSystem.h"
 #include "../tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2018_18_0_7
+namespace nFRC_2018_18_0_8
 {
 
 class tSysWatchdog
@@ -106,4 +106,4 @@ private:
 }
 }
 
-#endif // __nFRC_2018_18_0_7_SysWatchdog_h__
+#endif // __nFRC_2018_18_0_8_SysWatchdog_h__

ni-libraries/include/FRC_FPGA_ChipObject/tDMAManager.h

@@ -29,6 +29,18 @@ public:
       uint32_t       timeout,
       size_t*        remaining,
       tRioStatusCode *status);
+   void read(
+      uint8_t*       buf,
+      size_t         num,
+      uint32_t       timeout,
+      size_t*        remaining,
+      tRioStatusCode *status);
+   void write(
+      uint8_t*       buf,
+      size_t         num,
+      uint32_t       timeout,
+      size_t*        remaining,
+      tRioStatusCode *status);
 private:
    bool _started;
    uint32_t _dmaChannel;

wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp

@@ -14,7 +14,7 @@
 
 using namespace frc;
 
-static constexpr double kSamplePeriod = 0.001;
+static constexpr double kSamplePeriod = 0.0005;
 static constexpr double kCalibrationSampleTime = 5.0;
 static constexpr double kDegreePerSecondPerLSB = 0.0125;
 

wpilibc/src/main/native/cpp/LiveWindow/LiveWindowSendable.cpp

@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. 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 "LiveWindow/LiveWindowSendable.h"
+
+#include "SmartDashboard/SendableBuilder.h"
+
+using namespace frc;
+
+std::string LiveWindowSendable::GetName() const { return std::string(); }
+
+void LiveWindowSendable::SetName(const llvm::Twine&) {}
+
+std::string LiveWindowSendable::GetSubsystem() const { return std::string(); }
+
+void LiveWindowSendable::SetSubsystem(const llvm::Twine&) {}
+
+void LiveWindowSendable::InitSendable(SendableBuilder& builder) {
+  builder.SetUpdateTable([=]() { UpdateTable(); });
+}

wpilibc/src/main/native/cpp/SPI.cpp

@@ -12,11 +12,120 @@
 #include <HAL/HAL.h>
 #include <HAL/SPI.h>
 #include <llvm/SmallVector.h>
+#include <support/mutex.h>
 
+#include "DigitalSource.h"
+#include "Notifier.h"
 #include "WPIErrors.h"
 
 using namespace frc;
 
+static constexpr int kAccumulateDepth = 2048;
+
+class SPI::Accumulator {
+ public:
+  Accumulator(HAL_SPIPort port, int xferSize, int validMask, int validValue,
+              int dataShift, int dataSize, bool isSigned, bool bigEndian)
+      : m_notifier([=]() {
+          std::lock_guard<wpi::mutex> lock(m_mutex);
+          Update();
+        }),
+        m_buf(new uint8_t[xferSize * kAccumulateDepth]),
+        m_validMask(validMask),
+        m_validValue(validValue),
+        m_dataMax(1 << dataSize),
+        m_dataMsbMask(1 << (dataSize - 1)),
+        m_dataShift(dataShift),
+        m_xferSize(xferSize),
+        m_isSigned(isSigned),
+        m_bigEndian(bigEndian),
+        m_port(port) {}
+  ~Accumulator() { delete[] m_buf; }
+
+  void Update();
+
+  Notifier m_notifier;
+  uint8_t* m_buf;
+  wpi::mutex m_mutex;
+
+  int64_t m_value = 0;
+  uint32_t m_count = 0;
+  int32_t m_lastValue = 0;
+
+  int32_t m_center = 0;
+  int32_t m_deadband = 0;
+
+  int32_t m_validMask;
+  int32_t m_validValue;
+  int32_t m_dataMax;      // one more than max data value
+  int32_t m_dataMsbMask;  // data field MSB mask (for signed)
+  uint8_t m_dataShift;    // data field shift right amount, in bits
+  int32_t m_xferSize;     // SPI transfer size, in bytes
+  bool m_isSigned;        // is data field signed?
+  bool m_bigEndian;       // is response big endian?
+  HAL_SPIPort m_port;
+};
+
+void SPI::Accumulator::Update() {
+  bool done;
+  do {
+    done = true;
+    int32_t status = 0;
+
+    // get amount of data available
+    int32_t numToRead =
+        HAL_ReadSPIAutoReceivedData(m_port, m_buf, 0, 0, &status);
+    if (status != 0) return;  // error reading
+
+    // only get whole responses
+    numToRead -= numToRead % m_xferSize;
+    if (numToRead > m_xferSize * kAccumulateDepth) {
+      numToRead = m_xferSize * kAccumulateDepth;
+      done = false;
+    }
+    if (numToRead == 0) return;  // no samples
+
+    // read buffered data
+    HAL_ReadSPIAutoReceivedData(m_port, m_buf, numToRead, 0, &status);
+    if (status != 0) return;  // error reading
+
+    // loop over all responses
+    for (int32_t off = 0; off < numToRead; off += m_xferSize) {
+      // convert from bytes
+      uint32_t resp = 0;
+      if (m_bigEndian) {
+        for (int32_t i = 0; i < m_xferSize; ++i) {
+          resp <<= 8;
+          resp |= m_buf[off + i] & 0xff;
+        }
+      } else {
+        for (int32_t i = m_xferSize - 1; i >= 0; --i) {
+          resp <<= 8;
+          resp |= m_buf[off + i] & 0xff;
+        }
+      }
+
+      // process response
+      if ((resp & m_validMask) == static_cast<uint32_t>(m_validValue)) {
+        // valid sensor data; extract data field
+        int32_t data = static_cast<int32_t>(resp >> m_dataShift);
+        data &= m_dataMax - 1;
+        // 2s complement conversion if signed MSB is set
+        if (m_isSigned && (data & m_dataMsbMask) != 0) data -= m_dataMax;
+        // center offset
+        data -= m_center;
+        // only accumulate if outside deadband
+        if (data < -m_deadband || data > m_deadband) m_value += data;
+        ++m_count;
+        m_lastValue = data;
+      } else {
+        // no data from the sensor; just clear the last value
+        m_lastValue = 0;
+      }
+    }
+  } while (!done);
+}
+
 /**
  * Constructor
  *
@@ -170,6 +279,132 @@ int SPI::Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size) {
   return retVal;
 }
 
+/**
+ * Initialize automatic SPI transfer engine.
+ *
+ * Only a single engine is available, and use of it blocks use of all other
+ * chip select usage on the same physical SPI port while it is running.
+ *
+ * @param bufferSize buffer size in bytes
+ */
+void SPI::InitAuto(int bufferSize) {
+  int32_t status = 0;
+  HAL_InitSPIAuto(m_port, bufferSize, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Frees the automatic SPI transfer engine.
+ */
+void SPI::FreeAuto() {
+  int32_t status = 0;
+  HAL_FreeSPIAuto(m_port, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the data to be transmitted by the engine.
+ *
+ * Up to 16 bytes are configurable, and may be followed by up to 127 zero
+ * bytes.
+ *
+ * @param dataToSend data to send (maximum 16 bytes)
+ * @param zeroSize number of zeros to send after the data
+ */
+void SPI::SetAutoTransmitData(llvm::ArrayRef<uint8_t> dataToSend,
+                              int zeroSize) {
+  int32_t status = 0;
+  HAL_SetSPIAutoTransmitData(m_port, dataToSend.data(), dataToSend.size(),
+                             zeroSize, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Start running the automatic SPI transfer engine at a periodic rate.
+ *
+ * InitAuto() and SetAutoTransmitData() must be called before calling this
+ * function.
+ *
+ * @param period period between transfers, in seconds (us resolution)
+ */
+void SPI::StartAutoRate(double period) {
+  int32_t status = 0;
+  HAL_StartSPIAutoRate(m_port, period, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Start running the automatic SPI transfer engine when a trigger occurs.
+ *
+ * InitAuto() and SetAutoTransmitData() must be called before calling this
+ * function.
+ *
+ * @param source digital source for the trigger (may be an analog trigger)
+ * @param rising trigger on the rising edge
+ * @param falling trigger on the falling edge
+ */
+void SPI::StartAutoTrigger(DigitalSource& source, bool rising, bool falling) {
+  int32_t status = 0;
+  HAL_StartSPIAutoTrigger(
+      m_port, source.GetPortHandleForRouting(),
+      (HAL_AnalogTriggerType)source.GetAnalogTriggerTypeForRouting(), rising,
+      falling, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Stop running the automatic SPI transfer engine.
+ */
+void SPI::StopAuto() {
+  int32_t status = 0;
+  HAL_StopSPIAuto(m_port, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Force the engine to make a single transfer.
+ */
+void SPI::ForceAutoRead() {
+  int32_t status = 0;
+  HAL_ForceSPIAutoRead(m_port, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Read data that has been transferred by the automatic SPI transfer engine.
+ *
+ * Transfers may be made a byte at a time, so it's necessary for the caller
+ * to handle cases where an entire transfer has not been completed.
+ *
+ * Blocks until numToRead bytes have been read or timeout expires.
+ * May be called with numToRead=0 to retrieve how many bytes are available.
+ *
+ * @param buffer buffer where read bytes are stored
+ * @param numToRead number of bytes to read
+ * @param timeout timeout in seconds (ms resolution)
+ * @return Number of bytes remaining to be read
+ */
+int SPI::ReadAutoReceivedData(uint8_t* buffer, int numToRead, double timeout) {
+  int32_t status = 0;
+  int32_t val =
+      HAL_ReadSPIAutoReceivedData(m_port, buffer, numToRead, timeout, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return val;
+}
+
+/**
+ * Get the number of bytes dropped by the automatic SPI transfer engine due
+ * to the receive buffer being full.
+ *
+ * @return Number of bytes dropped
+ */
+int SPI::GetAutoDroppedCount() {
+  int32_t status = 0;
+  int32_t val = HAL_GetSPIAutoDroppedCount(m_port, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return val;
+}
+
 /**
  * Initialize the accumulator.
  *
@@ -188,29 +423,47 @@ int SPI::Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size) {
 void SPI::InitAccumulator(double period, int cmd, int xferSize, int validMask,
                           int validValue, int dataShift, int dataSize,
                           bool isSigned, bool bigEndian) {
-  int32_t status = 0;
-  HAL_InitSPIAccumulator(m_port, static_cast<int32_t>(period * 1e6), cmd,
-                         xferSize, validMask, validValue, dataShift, dataSize,
-                         isSigned, bigEndian, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  InitAuto(xferSize * kAccumulateDepth);
+  uint8_t cmdBytes[4] = {0, 0, 0, 0};
+  if (bigEndian) {
+    for (int32_t i = xferSize - 1; i >= 0; --i) {
+      cmdBytes[i] = cmd & 0xff;
+      cmd >>= 8;
+    }
+  } else {
+    cmdBytes[0] = cmd & 0xff;
+    cmd >>= 8;
+    cmdBytes[1] = cmd & 0xff;
+    cmd >>= 8;
+    cmdBytes[2] = cmd & 0xff;
+    cmd >>= 8;
+    cmdBytes[3] = cmd & 0xff;
+  }
+  SetAutoTransmitData(cmdBytes, xferSize - 4);
+  StartAutoRate(period);
+
+  m_accum.reset(new Accumulator(m_port, xferSize, validMask, validValue,
+                                dataShift, dataSize, isSigned, bigEndian));
+  m_accum->m_notifier.StartPeriodic(period * kAccumulateDepth / 2);
 }
 
 /**
  * Frees the accumulator.
  */
 void SPI::FreeAccumulator() {
-  int32_t status = 0;
-  HAL_FreeSPIAccumulator(m_port, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  m_accum.reset(nullptr);
+  FreeAuto();
 }
 
 /**
  * Resets the accumulator to zero.
  */
 void SPI::ResetAccumulator() {
-  int32_t status = 0;
-  HAL_ResetSPIAccumulator(m_port, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  if (!m_accum) return;
+  std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+  m_accum->m_value = 0;
+  m_accum->m_count = 0;
+  m_accum->m_lastValue = 0;
 }
 
 /**
@@ -222,28 +475,28 @@ void SPI::ResetAccumulator() {
  * account when integrating.
  */
 void SPI::SetAccumulatorCenter(int center) {
-  int32_t status = 0;
-  HAL_SetSPIAccumulatorCenter(m_port, center, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  if (!m_accum) return;
+  std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+  m_accum->m_center = center;
 }
 
 /**
  * Set the accumulator's deadband.
  */
 void SPI::SetAccumulatorDeadband(int deadband) {
-  int32_t status = 0;
-  HAL_SetSPIAccumulatorDeadband(m_port, deadband, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  if (!m_accum) return;
+  std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+  m_accum->m_deadband = deadband;
 }
 
 /**
  * Read the last value read by the accumulator engine.
  */
 int SPI::GetAccumulatorLastValue() const {
-  int32_t status = 0;
-  int retVal = HAL_GetSPIAccumulatorLastValue(m_port, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-  return retVal;
+  if (!m_accum) return 0;
+  std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+  m_accum->Update();
+  return m_accum->m_lastValue;
 }
 
 /**
@@ -252,10 +505,10 @@ int SPI::GetAccumulatorLastValue() const {
  * @return The 64-bit value accumulated since the last Reset().
  */
 int64_t SPI::GetAccumulatorValue() const {
-  int32_t status = 0;
-  int64_t retVal = HAL_GetSPIAccumulatorValue(m_port, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-  return retVal;
+  if (!m_accum) return 0;
+  std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+  m_accum->Update();
+  return m_accum->m_value;
 }
 
 /**
@@ -267,10 +520,10 @@ int64_t SPI::GetAccumulatorValue() const {
  * @return The number of times samples from the channel were accumulated.
  */
 int64_t SPI::GetAccumulatorCount() const {
-  int32_t status = 0;
-  int64_t retVal = HAL_GetSPIAccumulatorCount(m_port, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-  return retVal;
+  if (!m_accum) return 0;
+  std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+  m_accum->Update();
+  return m_accum->m_count;
 }
 
 /**
@@ -279,10 +532,11 @@ int64_t SPI::GetAccumulatorCount() const {
  * @return The accumulated average value (value / count).
  */
 double SPI::GetAccumulatorAverage() const {
-  int32_t status = 0;
-  double retVal = HAL_GetSPIAccumulatorAverage(m_port, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-  return retVal;
+  if (!m_accum) return 0;
+  std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+  m_accum->Update();
+  if (m_accum->m_count == 0) return 0.0;
+  return static_cast<double>(m_accum->m_value) / m_accum->m_count;
 }
 
 /**
@@ -295,7 +549,13 @@ double SPI::GetAccumulatorAverage() const {
  * @param count Pointer to the number of accumulation cycles.
  */
 void SPI::GetAccumulatorOutput(int64_t& value, int64_t& count) const {
-  int32_t status = 0;
-  HAL_GetSPIAccumulatorOutput(m_port, &value, &count, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  if (!m_accum) {
+    value = 0;
+    count = 0;
+    return;
+  }
+  std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+  m_accum->Update();
+  value = m_accum->m_value;
+  count = m_accum->m_count;
 }

wpilibc/src/main/native/cpp/SmartDashboard/NamedSendable.cpp

@@ -0,0 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. 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 "SmartDashboard/NamedSendable.h"
+
+using namespace frc;
+
+void NamedSendable::SetName(const llvm::Twine&) {}
+
+std::string NamedSendable::GetSubsystem() const { return std::string(); }
+
+void NamedSendable::SetSubsystem(const llvm::Twine&) {}
+
+void NamedSendable::InitSendable(SendableBuilder&) {}

wpilibc/src/main/native/include/LiveWindow/LiveWindowSendable.h

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2012-2017 FIRST. 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 <string>
+
+#include <support/deprecated.h>
+
+#include "SmartDashboard/Sendable.h"
+
+namespace frc {
+
+/**
+ * Live Window Sendable is a special type of object sendable to the live window.
+ * @deprecated Use Sendable directly instead
+ */
+class WPI_DEPRECATED("use Sendable directly instead") LiveWindowSendable
+    : public Sendable {
+ public:
+  /**
+   * Update the table for this sendable object with the latest values.
+   */
+  virtual void UpdateTable() = 0;
+
+  /**
+   * Start having this sendable object automatically respond to value changes
+   * reflect the value on the table.
+   */
+  virtual void StartLiveWindowMode() = 0;
+
+  /**
+   * Stop having this sendable object automatically respond to value changes.
+   */
+  virtual void StopLiveWindowMode() = 0;
+
+  std::string GetName() const override;
+  void SetName(const llvm::Twine& name) override;
+  std::string GetSubsystem() const override;
+  void SetSubsystem(const llvm::Twine& subsystem) override;
+  void InitSendable(SendableBuilder& builder) override;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/SPI.h

@@ -9,12 +9,18 @@
 
 #include <stdint.h>
 
+#include <memory>
+
+#include <llvm/ArrayRef.h>
+
 #include "ErrorBase.h"
 
 enum HAL_SPIPort : int32_t;
 
 namespace frc {
 
+class DigitalSource;
+
 /**
  * SPI bus interface class.
  *
@@ -50,6 +56,16 @@ class SPI : public ErrorBase {
   virtual int Read(bool initiate, uint8_t* dataReceived, int size);
   virtual int Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size);
 
+  void InitAuto(int bufferSize);
+  void FreeAuto();
+  void SetAutoTransmitData(llvm::ArrayRef<uint8_t> dataToSend, int zeroSize);
+  void StartAutoRate(double period);
+  void StartAutoTrigger(DigitalSource& source, bool rising, bool falling);
+  void StopAuto();
+  void ForceAutoRead();
+  int ReadAutoReceivedData(uint8_t* buffer, int numToRead, double timeout);
+  int GetAutoDroppedCount();
+
   void InitAccumulator(double period, int cmd, int xferSize, int validMask,
                        int validValue, int dataShift, int dataSize,
                        bool isSigned, bool bigEndian);
@@ -71,6 +87,9 @@ class SPI : public ErrorBase {
 
  private:
   void Init();
+
+  class Accumulator;
+  std::unique_ptr<Accumulator> m_accum;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/SmartDashboard/NamedSendable.h

@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2012-2017 FIRST. 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 <string>
+
+#include <support/deprecated.h>
+
+#include "SmartDashboard/Sendable.h"
+
+namespace frc {
+
+/**
+ * The interface for sendable objects that gives the sendable a default name in
+ * the Smart Dashboard.
+ * @deprecated Use Sendable directly instead
+ */
+class WPI_DEPRECATED("use Sendable directly instead") NamedSendable
+    : public Sendable {
+ public:
+  void SetName(const llvm::Twine& name) override;
+  std::string GetSubsystem() const override;
+  void SetSubsystem(const llvm::Twine& subsystem) override;
+  void InitSendable(SendableBuilder& builder) override;
+};
+
+}  // namespace frc

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java

@@ -25,7 +25,7 @@ import edu.wpi.first.wpilibj.interfaces.Gyro;
  */
 @SuppressWarnings({"TypeName", "AbbreviationAsWordInName", "PMD.UnusedPrivateField"})
 public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable {
-  private static final double kSamplePeriod = 0.001;
+  private static final double kSamplePeriod = 0.0005;
   private static final double kCalibrationSampleTime = 5.0;
   private static final double kDegreePerSecondPerLSB = 0.0125;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/NamedSendable.java

@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2017 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+
+/**
+ * The interface for sendable objects that gives the sendable a default name in the Smart
+ * Dashboard.
+ * @deprecated Use Sendable directly instead
+ */
+@Deprecated
+public interface NamedSendable extends Sendable {
+
+  /**
+   * The name of the subtable.
+   *
+   * @return the name of the subtable of SmartDashboard that the Sendable object will use.
+   */
+  String getName();
+
+  @Override
+  default void setName(String name) {
+  }
+
+  @Override
+  default String getSubsystem() {
+    return "";
+  }
+
+  @Override
+  default void setSubsystem(String subsystem) {
+  }
+
+  @Override
+  default void initSendable(SendableBuilder builder) {
+  }
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java

@@ -54,6 +54,10 @@ public class SPI {
    * Free the resources used by this object.
    */
   public void free() {
+    if (m_accum != null) {
+      m_accum.free();
+      m_accum = null;
+    }
     SPIJNI.spiClose(m_port);
   }
 
@@ -254,6 +258,247 @@ public class SPI {
     return SPIJNI.spiTransaction(m_port, dataToSend, dataReceived, (byte) size);
   }
 
+  /**
+   * Initialize automatic SPI transfer engine.
+   *
+   * <p>Only a single engine is available, and use of it blocks use of all other
+   * chip select usage on the same physical SPI port while it is running.
+   *
+   * @param bufferSize buffer size in bytes
+   */
+  public void initAuto(int bufferSize) {
+    SPIJNI.spiInitAuto(m_port, bufferSize);
+  }
+
+  /**
+   * Frees the automatic SPI transfer engine.
+   */
+  public void freeAuto() {
+    SPIJNI.spiFreeAuto(m_port);
+  }
+
+  /**
+   * Set the data to be transmitted by the engine.
+   *
+   * <p>Up to 16 bytes are configurable, and may be followed by up to 127 zero
+   * bytes.
+   *
+   * @param dataToSend data to send (maximum 16 bytes)
+   * @param zeroSize number of zeros to send after the data
+   */
+  public void setAutoTransmitData(byte[] dataToSend, int zeroSize) {
+    SPIJNI.spiSetAutoTransmitData(m_port, dataToSend, zeroSize);
+  }
+
+  /**
+   * Start running the automatic SPI transfer engine at a periodic rate.
+   *
+   * <p>{@link #initAuto(int)} and {@link #setAutoTransmitData(byte[], int)} must
+   * be called before calling this function.
+   *
+   * @param period period between transfers, in seconds (us resolution)
+   */
+  public void startAutoRate(double period) {
+    SPIJNI.spiStartAutoRate(m_port, period);
+  }
+
+  /**
+   * Start running the automatic SPI transfer engine when a trigger occurs.
+   *
+   * <p>{@link #initAuto(int)} and {@link #setAutoTransmitData(byte[], int)} must
+   * be called before calling this function.
+   *
+   * @param source digital source for the trigger (may be an analog trigger)
+   * @param rising trigger on the rising edge
+   * @param falling trigger on the falling edge
+   */
+  public void startAutoTrigger(DigitalSource source, boolean rising, boolean falling) {
+    SPIJNI.spiStartAutoTrigger(m_port, source.getPortHandleForRouting(),
+                               source.getAnalogTriggerTypeForRouting(), rising, falling);
+  }
+
+  /**
+   * Stop running the automatic SPI transfer engine.
+   */
+  public void stopAuto() {
+    SPIJNI.spiStopAuto(m_port);
+  }
+
+  /**
+   * Force the engine to make a single transfer.
+   */
+  public void forceAutoRead() {
+    SPIJNI.spiForceAutoRead(m_port);
+  }
+
+  /**
+   * Read data that has been transferred by the automatic SPI transfer engine.
+   *
+   * <p>Transfers may be made a byte at a time, so it's necessary for the caller
+   * to handle cases where an entire transfer has not been completed.
+   *
+   * <p>Blocks until numToRead bytes have been read or timeout expires.
+   * May be called with numToRead=0 to retrieve how many bytes are available.
+   *
+   * @param buffer buffer where read bytes are stored
+   * @param numToRead number of bytes to read
+   * @param timeout timeout in seconds (ms resolution)
+   * @return Number of bytes remaining to be read
+   */
+  public int readAutoReceivedData(ByteBuffer buffer, int numToRead, double timeout) {
+    if (buffer.hasArray()) {
+      return readAutoReceivedData(buffer.array(), numToRead, timeout);
+    }
+    if (!buffer.isDirect()) {
+      throw new IllegalArgumentException("must be a direct buffer");
+    }
+    if (buffer.capacity() < numToRead) {
+      throw new IllegalArgumentException("buffer is too small, must be at least " + numToRead);
+    }
+    return SPIJNI.spiReadAutoReceivedData(m_port, buffer, numToRead, timeout);
+  }
+
+  /**
+   * Read data that has been transferred by the automatic SPI transfer engine.
+   *
+   * <p>Transfers may be made a byte at a time, so it's necessary for the caller
+   * to handle cases where an entire transfer has not been completed.
+   *
+   * <p>Blocks until numToRead bytes have been read or timeout expires.
+   * May be called with numToRead=0 to retrieve how many bytes are available.
+   *
+   * @param buffer array where read bytes are stored
+   * @param numToRead number of bytes to read
+   * @param timeout timeout in seconds (ms resolution)
+   * @return Number of bytes remaining to be read
+   */
+  public int readAutoReceivedData(byte[] buffer, int numToRead, double timeout) {
+    if (buffer.length < numToRead) {
+      throw new IllegalArgumentException("buffer is too small, must be at least " + numToRead);
+    }
+    return SPIJNI.spiReadAutoReceivedData(m_port, buffer, numToRead, timeout);
+  }
+
+  /**
+   * Get the number of bytes dropped by the automatic SPI transfer engine due
+   * to the receive buffer being full.
+   *
+   * @return Number of bytes dropped
+   */
+  public int getAutoDroppedCount() {
+    return SPIJNI.spiGetAutoDroppedCount(m_port);
+  }
+
+  private static final int kAccumulateDepth = 2048;
+
+  private static class Accumulator {
+    Accumulator(int port, int xferSize, int validMask, int validValue, int dataShift,
+                int dataSize, boolean isSigned, boolean bigEndian) {
+      m_notifier = new Notifier(this::update);
+      m_buf = ByteBuffer.allocateDirect(xferSize * kAccumulateDepth);
+      m_xferSize = xferSize;
+      m_validMask = validMask;
+      m_validValue = validValue;
+      m_dataShift = dataShift;
+      m_dataMax = 1 << dataSize;
+      m_dataMsbMask = 1 << (dataSize - 1);
+      m_isSigned = isSigned;
+      m_bigEndian = bigEndian;
+      m_port = port;
+    }
+
+    void free() {
+      m_notifier.stop();
+    }
+
+    final Notifier m_notifier;
+    final ByteBuffer m_buf;
+    final Object m_mutex = new Object();
+
+    long m_value;
+    int m_count;
+    int m_lastValue;
+
+    int m_center;
+    int m_deadband;
+
+    final int m_validMask;
+    final int m_validValue;
+    final int m_dataMax;        // one more than max data value
+    final int m_dataMsbMask;    // data field MSB mask (for signed)
+    final int m_dataShift;      // data field shift right amount, in bits
+    final int m_xferSize;       // SPI transfer size, in bytes
+    final boolean m_isSigned;   // is data field signed?
+    final boolean m_bigEndian;  // is response big endian?
+    final int m_port;
+
+    void update() {
+      synchronized (m_mutex) {
+        boolean done = false;
+        while (!done) {
+          done = true;
+
+          // get amount of data available
+          int numToRead = SPIJNI.spiReadAutoReceivedData(m_port, m_buf, 0, 0);
+
+          // only get whole responses
+          numToRead -= numToRead % m_xferSize;
+          if (numToRead > m_xferSize * kAccumulateDepth) {
+            numToRead = m_xferSize * kAccumulateDepth;
+            done = false;
+          }
+          if (numToRead == 0) {
+            return;  // no samples
+          }
+
+          // read buffered data
+          SPIJNI.spiReadAutoReceivedData(m_port, m_buf, numToRead, 0);
+
+          // loop over all responses
+          for (int off = 0; off < numToRead; off += m_xferSize) {
+            // convert from bytes
+            int resp = 0;
+            if (m_bigEndian) {
+              for (int i = 0; i < m_xferSize; ++i) {
+                resp <<= 8;
+                resp |= ((int) m_buf.get(off + i)) & 0xff;
+              }
+            } else {
+              for (int i = m_xferSize - 1; i >= 0; --i) {
+                resp <<= 8;
+                resp |= ((int) m_buf.get(off + i)) & 0xff;
+              }
+            }
+
+            // process response
+            if ((resp & m_validMask) == m_validValue) {
+              // valid sensor data; extract data field
+              int data = resp >> m_dataShift;
+              data &= m_dataMax - 1;
+              // 2s complement conversion if signed MSB is set
+              if (m_isSigned && (data & m_dataMsbMask) != 0) {
+                data -= m_dataMax;
+              }
+              // center offset
+              data -= m_center;
+              // only accumulate if outside deadband
+              if (data < -m_deadband || data > m_deadband) {
+                m_value += data;
+              }
+              ++m_count;
+              m_lastValue = data;
+            } else {
+              // no data from the sensor; just clear the last value
+              m_lastValue = 0;
+            }
+          }
+        }
+      }
+    }
+  }
+
+  private Accumulator m_accum = null;
+
   /**
    * Initialize the accumulator.
    *
@@ -271,23 +516,51 @@ public class SPI {
                               int validMask, int validValue,
                               int dataShift, int dataSize,
                               boolean isSigned, boolean bigEndian) {
-    SPIJNI.spiInitAccumulator(m_port, (int) (period * 1.0e6), cmd,
-        (byte) xferSize, validMask, validValue, (byte) dataShift,
-        (byte) dataSize, isSigned, bigEndian);
+    initAuto(xferSize * 2048);
+    byte[] cmdBytes = new byte[] {0, 0, 0, 0};
+    if (bigEndian) {
+      for (int i = xferSize - 1; i >= 0; --i) {
+        cmdBytes[i] = (byte) (cmd & 0xff);
+        cmd >>= 8;
+      }
+    } else {
+      cmdBytes[0] = (byte) (cmd & 0xff);
+      cmd >>= 8;
+      cmdBytes[1] = (byte) (cmd & 0xff);
+      cmd >>= 8;
+      cmdBytes[2] = (byte) (cmd & 0xff);
+      cmd >>= 8;
+      cmdBytes[3] = (byte) (cmd & 0xff);
+    }
+    setAutoTransmitData(cmdBytes, xferSize - 4);
+    startAutoRate(period);
+
+    m_accum = new Accumulator(m_port, xferSize, validMask, validValue, dataShift, dataSize,
+                              isSigned, bigEndian);
+    m_accum.m_notifier.startPeriodic(period * 1024);
   }
 
   /**
    * Frees the accumulator.
    */
   public void freeAccumulator() {
-    SPIJNI.spiFreeAccumulator(m_port);
+    m_accum.free();
+    m_accum = null;
+    freeAuto();
   }
 
   /**
    * Resets the accumulator to zero.
    */
   public void resetAccumulator() {
-    SPIJNI.spiResetAccumulator(m_port);
+    if (m_accum == null) {
+      return;
+    }
+    synchronized (m_accum.m_mutex) {
+      m_accum.m_value = 0;
+      m_accum.m_count = 0;
+      m_accum.m_lastValue = 0;
+    }
   }
 
   /**
@@ -298,21 +571,37 @@ public class SPI {
    * and to take the device offset into account when integrating.
    */
   public void setAccumulatorCenter(int center) {
-    SPIJNI.spiSetAccumulatorCenter(m_port, center);
+    if (m_accum == null) {
+      return;
+    }
+    synchronized (m_accum.m_mutex) {
+      m_accum.m_center = center;
+    }
   }
 
   /**
    * Set the accumulator's deadband.
    */
   public void setAccumulatorDeadband(int deadband) {
-    SPIJNI.spiSetAccumulatorDeadband(m_port, deadband);
+    if (m_accum == null) {
+      return;
+    }
+    synchronized (m_accum.m_mutex) {
+      m_accum.m_deadband = deadband;
+    }
   }
 
   /**
    * Read the last value read by the accumulator engine.
    */
   public int getAccumulatorLastValue() {
-    return SPIJNI.spiGetAccumulatorLastValue(m_port);
+    if (m_accum == null) {
+      return 0;
+    }
+    synchronized (m_accum.m_mutex) {
+      m_accum.update();
+      return m_accum.m_lastValue;
+    }
   }
 
   /**
@@ -321,7 +610,13 @@ public class SPI {
    * @return The 64-bit value accumulated since the last Reset().
    */
   public long getAccumulatorValue() {
-    return SPIJNI.spiGetAccumulatorValue(m_port);
+    if (m_accum == null) {
+      return 0;
+    }
+    synchronized (m_accum.m_mutex) {
+      m_accum.update();
+      return m_accum.m_value;
+    }
   }
 
   /**
@@ -332,7 +627,13 @@ public class SPI {
    * @return The number of times samples from the channel were accumulated.
    */
   public int getAccumulatorCount() {
-    return SPIJNI.spiGetAccumulatorCount(m_port);
+    if (m_accum == null) {
+      return 0;
+    }
+    synchronized (m_accum.m_mutex) {
+      m_accum.update();
+      return m_accum.m_count;
+    }
   }
 
   /**
@@ -341,7 +642,16 @@ public class SPI {
    * @return The accumulated average value (value / count).
    */
   public double getAccumulatorAverage() {
-    return SPIJNI.spiGetAccumulatorAverage(m_port);
+    if (m_accum == null) {
+      return 0;
+    }
+    synchronized (m_accum.m_mutex) {
+      m_accum.update();
+      if (m_accum.m_count == 0) {
+        return 0.0;
+      }
+      return ((double) m_accum.m_value) / m_accum.m_count;
+    }
   }
 
   /**
@@ -355,6 +665,15 @@ public class SPI {
     if (result == null) {
       throw new IllegalArgumentException("Null parameter `result'");
     }
-    SPIJNI.spiGetAccumulatorOutput(m_port, result);
+    if (m_accum == null) {
+      result.value = 0;
+      result.count = 0;
+      return;
+    }
+    synchronized (m_accum.m_mutex) {
+      m_accum.update();
+      result.value = m_accum.m_value;
+      result.count = m_accum.m_count;
+    }
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/hal/SPIJNI.java

@@ -7,7 +7,6 @@
 
 package edu.wpi.first.wpilibj.hal;
 
-import edu.wpi.first.wpilibj.AccumulatorResult;
 import java.nio.ByteBuffer;
 
 @SuppressWarnings("AbbreviationAsWordInName")
@@ -39,25 +38,27 @@ public class SPIJNI extends JNIWrapper {
 
   public static native void spiSetChipSelectActiveLow(int port);
 
-  public static native void spiInitAccumulator(int port, int period, int cmd, byte xferSize,
-                                               int validMask, int validValue, byte dataShift,
-                                               byte dataSize, boolean isSigned, boolean bigEndian);
+  public static native void spiInitAuto(int port, int bufferSize);
 
-  public static native void spiFreeAccumulator(int port);
+  public static native void spiFreeAuto(int port);
 
-  public static native void spiResetAccumulator(int port);
+  public static native void spiStartAutoRate(int port, double period);
 
-  public static native void spiSetAccumulatorCenter(int port, int center);
+  public static native void spiStartAutoTrigger(int port, int digitalSourceHandle,
+                                                int analogTriggerType, boolean triggerRising,
+                                                boolean triggerFalling);
 
-  public static native void spiSetAccumulatorDeadband(int port, int deadband);
+  public static native void spiStopAuto(int port);
 
-  public static native int spiGetAccumulatorLastValue(int port);
+  public static native void spiSetAutoTransmitData(int port, byte[] dataToSend, int zeroSize);
 
-  public static native long spiGetAccumulatorValue(int port);
+  public static native void spiForceAutoRead(int port);
 
-  public static native int spiGetAccumulatorCount(int port);
+  public static native int spiReadAutoReceivedData(int port, ByteBuffer buffer, int numToRead,
+                                                   double timeout);
 
-  public static native double spiGetAccumulatorAverage(int port);
+  public static native int spiReadAutoReceivedData(int port, byte[] buffer, int numToRead,
+                                                   double timeout);
 
-  public static native void spiGetAccumulatorOutput(int port, AccumulatorResult result);
+  public static native int spiGetAutoDroppedCount(int port);
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.java

@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2017 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.livewindow;
+
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.Sendable;
+
+/**
+ * Live Window Sendable is a special type of object sendable to the live window.
+ * @deprecated Use Sendable directly instead
+ */
+@Deprecated
+public interface LiveWindowSendable extends Sendable {
+  /**
+   * Update the table for this sendable object with the latest values.
+   */
+  void updateTable();
+
+  /**
+   * Start having this sendable object automatically respond to value changes reflect the value on
+   * the table.
+   */
+  void startLiveWindowMode();
+
+  /**
+   * Stop having this sendable object automatically respond to value changes.
+   */
+  void stopLiveWindowMode();
+
+  @Override
+  default String getName() {
+    return "";
+  }
+
+  @Override
+  default void setName(String name) {
+  }
+
+  @Override
+  default String getSubsystem() {
+    return "";
+  }
+
+  @Override
+  default void setSubsystem(String subsystem) {
+  }
+
+  @Override
+  default void initSendable(SendableBuilder builder) {
+    builder.setUpdateTable(this::updateTable);
+  }
+}

wpilibj/src/main/native/cpp/SPIJNI.cpp

@@ -258,189 +258,181 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow(
 
 /*
  * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
- * Method:    spiInitAccumulator
- * Signature: (IIIBIIBBZZ)V
+ * Method:    spiInitAuto
+ * Signature: (II)V
  */
-JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAccumulator(
-    JNIEnv *env, jclass, jint port, jint period, jint cmd, jbyte xferSize,
-    jint validMask, jint validValue, jbyte dataShift, jbyte dataSize,
-    jboolean isSigned, jboolean bigEndian) {
-  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAccumulator";
-  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAuto
+  (JNIEnv *env, jclass, jint port, jint bufferSize) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAuto";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "BufferSize = " << bufferSize;
+  int32_t status = 0;
+  HAL_InitSPIAuto(static_cast<HAL_SPIPort>(port), bufferSize, &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiFreeAuto
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAuto
+  (JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAuto";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  int32_t status = 0;
+  HAL_FreeSPIAuto(static_cast<HAL_SPIPort>(port), &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiStartAutoRate
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoRate
+  (JNIEnv *env, jclass, jint port, jdouble period) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoRate";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
   SPIJNI_LOG(logDEBUG) << "Period = " << period;
-  SPIJNI_LOG(logDEBUG) << "Cmd = " << cmd;
-  SPIJNI_LOG(logDEBUG) << "XferSize = " << (jint)xferSize;
-  SPIJNI_LOG(logDEBUG) << "ValidMask = " << validMask;
-  SPIJNI_LOG(logDEBUG) << "ValidValue = " << validValue;
-  SPIJNI_LOG(logDEBUG) << "DataShift = " << (jint)dataShift;
-  SPIJNI_LOG(logDEBUG) << "DataSize = " << (jint)dataSize;
-  SPIJNI_LOG(logDEBUG) << "IsSigned = " << (jint)isSigned;
-  SPIJNI_LOG(logDEBUG) << "BigEndian = " << (jint)bigEndian;
   int32_t status = 0;
-  HAL_InitSPIAccumulator(static_cast<HAL_SPIPort>(port), period, cmd, xferSize, validMask, validValue,
-                     dataShift, dataSize, isSigned, bigEndian, &status);
+  HAL_StartSPIAutoRate(static_cast<HAL_SPIPort>(port), period, &status);
   SPIJNI_LOG(logDEBUG) << "Status = " << status;
   CheckStatus(env, status);
 }
 
 /*
  * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
- * Method:    spiFreeAccumulator
+ * Method:    spiStartAutoTrigger
+ * Signature: (IIIZZ)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoTrigger
+  (JNIEnv *env, jclass, jint port, jint digitalSourceHandle, jint analogTriggerType, jboolean triggerRising, jboolean triggerFalling) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoTrigger";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "DigitalSourceHandle = " << digitalSourceHandle;
+  SPIJNI_LOG(logDEBUG) << "AnalogTriggerType = " << analogTriggerType;
+  SPIJNI_LOG(logDEBUG) << "TriggerRising = " << (jint)triggerRising;
+  SPIJNI_LOG(logDEBUG) << "TriggerFalling = " << (jint)triggerFalling;
+  int32_t status = 0;
+  HAL_StartSPIAutoTrigger(static_cast<HAL_SPIPort>(port), digitalSourceHandle,
+      static_cast<HAL_AnalogTriggerType>(analogTriggerType), triggerRising,
+      triggerFalling, &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiStopAuto
  * Signature: (I)V
  */
-JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAccumulator(
-    JNIEnv *env, jclass, jint port) {
-  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAccumulator";
-  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStopAuto
+  (JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStopAuto";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
   int32_t status = 0;
-  HAL_FreeSPIAccumulator(static_cast<HAL_SPIPort>(port), &status);
+  HAL_StopSPIAuto(static_cast<HAL_SPIPort>(port), &status);
   SPIJNI_LOG(logDEBUG) << "Status = " << status;
   CheckStatus(env, status);
 }
 
 /*
  * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
- * Method:    spiResetAccumulator
+ * Method:    spiSetAutoTransmitData
+ * Signature: (I[BI)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAutoTransmitData
+  (JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jint zeroSize) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAutoTransmitData";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "ZeroSize = " << zeroSize;
+  JByteArrayRef jarr(env, dataToSend);
+  int32_t status = 0;
+  HAL_SetSPIAutoTransmitData(static_cast<HAL_SPIPort>(port),
+      reinterpret_cast<const uint8_t*>(jarr.array().data()),
+      jarr.array().size(), zeroSize, &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiForceAutoRead
  * Signature: (I)V
  */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiResetAccumulator(
-    JNIEnv *env, jclass, jint port) {
-  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiResetAccumulator";
-  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiForceAutoRead
+  (JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiForceAutoRead";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
   int32_t status = 0;
-  HAL_ResetSPIAccumulator(static_cast<HAL_SPIPort>(port), &status);
+  HAL_ForceSPIAutoRead(static_cast<HAL_SPIPort>(port), &status);
   SPIJNI_LOG(logDEBUG) << "Status = " << status;
   CheckStatus(env, status);
 }
 
 /*
  * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
- * Method:    spiSetAccumulatorCenter
- * Signature: (II)V
+ * Method:    spiReadAutoReceivedData
+ * Signature: (ILjava/nio/ByteBuffer;ID)I
  */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorCenter(
-    JNIEnv *env, jclass, jint port, jint center) {
-  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorCenter";
-  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
-  SPIJNI_LOG(logDEBUG) << "Center = " << center;
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__ILjava_nio_ByteBuffer_2ID
+  (JNIEnv *env, jclass, jint port, jobject buffer, jint numToRead, jdouble timeout) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
+  SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
+  uint8_t *recvBuf = (uint8_t *)env->GetDirectBufferAddress(buffer);
   int32_t status = 0;
-  HAL_SetSPIAccumulatorCenter(static_cast<HAL_SPIPort>(port), center, &status);
+  jint retval = HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port), recvBuf, numToRead, timeout, &status);
   SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  SPIJNI_LOG(logDEBUG) << "Return = " << retval;
   CheckStatus(env, status);
+  return retval;
 }
 
 /*
  * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
- * Method:    spiSetAccumulatorDeadband
- * Signature: (II)V
+ * Method:    spiReadAutoReceivedData
+ * Signature: (I[BID)I
  */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorDeadband(
-    JNIEnv *env, jclass, jint port, jint deadband) {
-  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorDeadband";
-  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
-  SPIJNI_LOG(logDEBUG) << "Deadband = " << deadband;
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__I_3BID
+  (JNIEnv *env, jclass, jint port, jbyteArray buffer, jint numToRead, jdouble timeout) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
+  SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
+  llvm::SmallVector<uint8_t, 128> recvBuf;
+  recvBuf.resize(numToRead);
   int32_t status = 0;
-  HAL_SetSPIAccumulatorDeadband(static_cast<HAL_SPIPort>(port), deadband, &status);
+  jint retval = HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port), recvBuf.data(), numToRead, timeout, &status);
   SPIJNI_LOG(logDEBUG) << "Status = " << status;
-  CheckStatus(env, status);
+  SPIJNI_LOG(logDEBUG) << "Return = " << retval;
+  if (!CheckStatus(env, status)) return retval;
+  if (numToRead > 0) {
+    env->SetByteArrayRegion(buffer, 0, numToRead,
+                            reinterpret_cast<const jbyte *>(recvBuf.data()));
+  }
+  return retval;
 }
 
 /*
  * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
- * Method:    spiGetAccumulatorLastValue
+ * Method:    spiGetAutoDroppedCount
  * Signature: (I)I
  */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorLastValue(
-    JNIEnv *env, jclass, jint port) {
-  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorLastValue";
-  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAutoDroppedCount
+  (JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAutoDroppedCount";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
   int32_t status = 0;
-  jint retVal = HAL_GetSPIAccumulatorLastValue(static_cast<HAL_SPIPort>(port), &status);
+  auto retval = HAL_GetSPIAutoDroppedCount(static_cast<HAL_SPIPort>(port), &status);
   SPIJNI_LOG(logDEBUG) << "Status = " << status;
-  SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
-  CheckStatus(env, status);
-  return retVal;
-}
-
-/*
- * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
- * Method:    spiGetAccumulatorValue
- * Signature: (I)J
- */
-JNIEXPORT jlong JNICALL
-Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorValue(
-    JNIEnv *env, jclass, jint port) {
-  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorValue";
-  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
-  int32_t status = 0;
-  jlong retVal = HAL_GetSPIAccumulatorValue(static_cast<HAL_SPIPort>(port), &status);
-  SPIJNI_LOG(logDEBUG) << "Status = " << status;
-  SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
-  CheckStatus(env, status);
-  return retVal;
-}
-
-/*
- * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
- * Method:    spiGetAccumulatorCount
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorCount(
-    JNIEnv *env, jclass, jint port) {
-  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorCount";
-  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
-  int32_t status = 0;
-  jint retVal = HAL_GetSPIAccumulatorCount(static_cast<HAL_SPIPort>(port), &status);
-  SPIJNI_LOG(logDEBUG) << "Status = " << status;
-  SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
-  CheckStatus(env, status);
-  return retVal;
-}
-
-/*
- * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
- * Method:    spiGetAccumulatorAverage
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorAverage(
-    JNIEnv *env, jclass, jint port) {
-  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorAverage";
-  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
-  int32_t status = 0;
-  jdouble retVal = HAL_GetSPIAccumulatorAverage(static_cast<HAL_SPIPort>(port), &status);
-  SPIJNI_LOG(logDEBUG) << "Status = " << status;
-  SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
-  CheckStatus(env, status);
-  return retVal;
-}
-
-/*
- * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
- * Method:    spiGetAccumulatorOutput
- * Signature: (ILedu/wpi/first/wpilibj/AccumulatorResult;)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorOutput(
-    JNIEnv *env, jclass, jint port, jobject accumulatorResult) {
-  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorOutput";
-  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
-  int32_t status = 0;
-  int64_t value = 0;
-  int64_t count = 0;
-  HAL_GetSPIAccumulatorOutput(static_cast<HAL_SPIPort>(port), &value, &count, &status);
-
-  SetAccumulatorResultObject(env, accumulatorResult, value, count);
-
-  SPIJNI_LOG(logDEBUG) << "Status = " << status;
-  SPIJNI_LOG(logDEBUG) << "Value = " << value;
-  SPIJNI_LOG(logDEBUG) << "Count = " << count;
+  SPIJNI_LOG(logDEBUG) << "Return = " << retval;
   CheckStatus(env, status);
+  return retval;
 }
 
 }  // extern "C"