Improved Command-based examples (#906 )

Robot.cpp has been split into header-source pairs and the Command-based examples now define an example subsystem in the Robot class.
Adds Direct port name Serial API (#956 )
2026-06-23 01:21:42 +00:00 · 2018-03-05 22:06:40 -08:00 · 2018-03-05 19:41:09 -08:00 · 2018-03-03 21:36:25 -08:00 · 2018-03-03 21:34:42 -08:00 · 2018-03-03 01:58:28 -08:00
988 changed files with 6413 additions and 2518 deletions
--- a/.travis.yml
+++ b/.travis.yml
@@ -9,7 +9,7 @@ addons:
      - ubuntu-toolchain-r-test
    packages:
      - g++-6
-      - python3.5
+      - python3.5-dev

 before_install:
  - sudo sh -c 'echo "deb http://apt.llvm.org/trusty/ llvm-toolchain-trusty-5.0 main" > /etc/apt/sources.list.d/llvm.list'
@@ -35,6 +35,6 @@ cache:
    - $HOME/.gradle/wrapper/

 script:
-  - python3.5 -m wpiformat -y 2017 -clang 5.0
+  - python3.5 -m wpiformat -y 2018 -clang 5.0
  - git --no-pager diff --exit-code HEAD  # Ensure formatter made no changes
  - ./gradlew --no-daemon --console=plain -PskipAthena :hal:halSimSharedLibrary :wpilibc:wpilibcSharedLibrary :wpilibj:wpilibJNISharedSharedLibrary :wpilibj:jar
--- a/config.gradle
+++ b/config.gradle
@@ -1,21 +1,21 @@
 import edu.wpi.first.nativeutils.*
 import org.gradle.internal.os.OperatingSystem

-def windowsCompilerArgs = ['/EHsc', '/DNOMINMAX', '/D_SCL_SECURE_NO_WARNINGS', '/D_WINSOCK_DEPRECATED_NO_WARNINGS',
-                           '/Zi', '/FS', '/Zc:inline', '/MT']
+def windowsCompilerArgs = ['/EHsc', '/DNOMINMAX', '/Zi', '/FS', '/Zc:inline', '/MT']
 def windowsReleaseCompilerArgs = ['/O2']
 def windowsLinkerArgs = [ '/DEBUG:FULL' ]
 def windowsReleaseLinkerArgs = [ '/OPT:REF', '/OPT:ICF' ]

-def linuxCompilerArgs = ['-std=c++1y', '-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
-                         '-Wno-unused-parameter', '-Wno-error=deprecated-declarations', '-fPIC', '-rdynamic', '-pthread']
+def linuxCompilerArgs = ['-std=c++11', '-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
+                         '-Wno-unused-parameter', '-fPIC', '-rdynamic', '-Wno-error=deprecated-declarations', '-pthread']
 def linuxLinkerArgs = ['-rdynamic', '-pthread']
-def linuxReleaseCompilerArgs = ['-O2']
+def linuxReleaseCompilerArgs = ['-Og']
 def linuxDebugCompilerArgs = ['-O0']
 def linux32BitArg = '-m32'

 def macCompilerArgs =  ['-std=c++11', '-Wall', '-Wextra', '-Werror', '-pedantic-errors', '-fPIC', '-g',
-                            '-Wno-unused-parameter', '-Wno-missing-field-initializers', '-Wno-unused-private-field', '-Wno-unused-const-variable', '-pthread']
+                            '-Wno-unused-parameter', '-Wno-missing-field-initializers', '-Wno-unused-private-field',
+                            '-Wno-unused-const-variable', '-pthread']
 def macReleaseCompilerArgs = ['-O2']
 def macDebugCompilerArgs = ['-O0']
 def mac32BitArg = '-m32'
@@ -147,6 +147,7 @@ if (!project.hasProperty('onlyAthena')) {
                linkerArgs << linux32BitArg
                debugCompilerArgs = linuxDebugCompilerArgs
                releaseCompilerArgs = linuxReleaseCompilerArgs
+                releaseStripBinaries = true
                compilerFamily = 'Gcc'
                detectPlatform = linux32IntelPlatformDetect
                exclude << 'halAthena'
@@ -159,6 +160,7 @@ if (!project.hasProperty('onlyAthena')) {
                linkerArgs = linuxLinkerArgs
                debugCompilerArgs = linuxDebugCompilerArgs
                releaseCompilerArgs = linuxReleaseCompilerArgs
+                releaseStripBinaries = true
                compilerFamily = 'Gcc'
                detectPlatform = linux64IntelPlatformDetect
                exclude << 'halAthena'
@@ -173,6 +175,7 @@ if (!project.hasProperty('onlyAthena')) {
                linkerArgs << mac32BitArg
                debugCompilerArgs = macDebugCompilerArgs
                releaseCompilerArgs = macReleaseCompilerArgs
+                releaseStripBinaries = true
                compilerFamily = 'Clang'
                detectPlatform = mac32PlatformDetect
                exclude << 'halAthena'
@@ -184,56 +187,45 @@ if (!project.hasProperty('onlyAthena')) {
                compilerArgs = macCompilerArgs
                debugCompilerArgs = macDebugCompilerArgs
                releaseCompilerArgs = macReleaseCompilerArgs
+                releaseStripBinaries = true
                compilerFamily = 'Clang'
                detectPlatform = mac64PlatformDetect
                exclude << 'halAthena'
            }
-            raspbian(CrossBuildConfig) {
-                architecture = 'raspbian'
+        }
+    }
+}
+
+if (project.hasProperty('linuxCross')) {
+    model {
+        buildConfigs {
+            linuxArm(CrossBuildConfig) {
+                architecture = 'nativearm'
                operatingSystem = 'linux'
-                toolChainPrefix = 'arm-linux-gnueabihf-'
-                compilerArgs = linuxCompilerArgs
-                linkerArgs = linuxLinkerArgs
-                debugCompilerArgs = linuxDebugCompilerArgs
-                releaseCompilerArgs = linuxReleaseCompilerArgs
-                skipByDefault = true
-                compilerFamily = 'Gcc'
-                exclude << 'gmock'
-                exclude << 'halAthena'
-            }
-            armhf(CrossBuildConfig) {
-                architecture = 'armhf'
-                operatingSystem = 'linux'
-                toolChainPrefix = 'arm-linux-gnueabihf-'
-                compilerArgs = linuxCompilerArgs
-                linkerArgs = linuxLinkerArgs
-                debugCompilerArgs = linuxDebugCompilerArgs
-                releaseCompilerArgs = linuxReleaseCompilerArgs
-                skipByDefault = true
-                compilerFamily = 'Gcc'
-                exclude << 'gmock'
-                exclude << 'halAthena'
-            }
-            aarch(CrossBuildConfig) {
-                architecture = 'aarch'
-                operatingSystem = 'linux'
-                toolChainPrefix = 'aarch-linux-gnu-'
+                toolChainPrefix = 'PLEASE_PROVIDE_A_COMPILER_NAME'
                compilerArgs = linuxCompilerArgs
                linkerArgs = linuxLinkerArgs
                debugCompilerArgs = linuxDebugCompilerArgs
                releaseCompilerArgs = linuxReleaseCompilerArgs
+                releaseStripBinaries = true
                skipByDefault = true
                compilerFamily = 'Gcc'
                exclude << 'gmock'
                exclude << 'halAthena'
            }
+        }
+    }
+} else {
+    model {
+        buildConfigs {
            linuxArm(BuildConfig) {
-                architecture = 'arm'
+                architecture = 'nativearm'
                operatingSystem = 'linux'
                compilerArgs = linuxCompilerArgs
                linkerArgs = linuxLinkerArgs
                debugCompilerArgs = linuxDebugCompilerArgs
                releaseCompilerArgs = linuxReleaseCompilerArgs
+                releaseStripBinaries = true
                compilerFamily = 'Gcc'
                detectPlatform = linuxArmPlatformDetect
                exclude << 'halAthena'
--- a/hal/src/dev/native/cpp/main.cpp
+++ b/hal/src/dev/native/cpp/main.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/athena/Accelerometer.cpp
+++ b/hal/src/main/native/athena/Accelerometer.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/AnalogAccumulator.cpp
+++ b/hal/src/main/native/athena/AnalogAccumulator.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/AnalogGyro.cpp
+++ b/hal/src/main/native/athena/AnalogGyro.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/AnalogInput.cpp
+++ b/hal/src/main/native/athena/AnalogInput.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/AnalogInternal.cpp
+++ b/hal/src/main/native/athena/AnalogInternal.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/AnalogInternal.h
+++ b/hal/src/main/native/athena/AnalogInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/AnalogOutput.cpp
+++ b/hal/src/main/native/athena/AnalogOutput.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/AnalogTrigger.cpp
+++ b/hal/src/main/native/athena/AnalogTrigger.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/CAN.cpp
+++ b/hal/src/main/native/athena/CAN.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/Compressor.cpp
+++ b/hal/src/main/native/athena/Compressor.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/Constants.cpp
+++ b/hal/src/main/native/athena/Constants.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/ConstantsInternal.h
+++ b/hal/src/main/native/athena/ConstantsInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/Counter.cpp
+++ b/hal/src/main/native/athena/Counter.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/DIO.cpp
+++ b/hal/src/main/native/athena/DIO.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -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.
--- a/hal/src/main/native/athena/DigitalInternal.cpp
+++ b/hal/src/main/native/athena/DigitalInternal.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -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) {});
+}
--- a/hal/src/main/native/athena/DigitalInternal.h
+++ b/hal/src/main/native/athena/DigitalInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -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,
--- a/hal/src/main/native/athena/Encoder.cpp
+++ b/hal/src/main/native/athena/Encoder.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/EncoderInternal.h
+++ b/hal/src/main/native/athena/EncoderInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/FPGAEncoder.cpp
+++ b/hal/src/main/native/athena/FPGAEncoder.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/FPGAEncoder.h
+++ b/hal/src/main/native/athena/FPGAEncoder.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/FRCDriverStation.cpp
+++ b/hal/src/main/native/athena/FRCDriverStation.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/HAL.cpp
+++ b/hal/src/main/native/athena/HAL.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/HALInitializer.h
+++ b/hal/src/main/native/athena/HALInitializer.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/athena/I2C.cpp
+++ b/hal/src/main/native/athena/I2C.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/Interrupts.cpp
+++ b/hal/src/main/native/athena/Interrupts.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/Notifier.cpp
+++ b/hal/src/main/native/athena/Notifier.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -169,13 +169,17 @@ void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
    // the notifier can call back into our callback, so don't hold the lock
    // here (the atomic fetch_sub will prevent multiple parallel entries
    // into this function)
-    if (notifierAlarm) notifierAlarm->writeEnable(false, status);
-    if (notifierManager) notifierManager->disable(status);

-    std::lock_guard<wpi::mutex> lock(notifierMutex);
-    notifierAlarm = nullptr;
-    notifierManager = nullptr;
-    closestTrigger = UINT64_MAX;
+    // Cleaning up the manager takes up to a second to complete, so don't do
+    // that here. Fix it more permanently in 2019...
+
+    // if (notifierAlarm) notifierAlarm->writeEnable(false, status);
+    // if (notifierManager) notifierManager->disable(status);
+
+    // std::lock_guard<wpi::mutex> lock(notifierMutex);
+    // notifierAlarm = nullptr;
+    // notifierManager = nullptr;
+    // closestTrigger = UINT64_MAX;
  }
 }

--- a/hal/src/main/native/athena/OSSerialPort.cpp
+++ b/hal/src/main/native/athena/OSSerialPort.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/athena/PCMInternal.cpp
+++ b/hal/src/main/native/athena/PCMInternal.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/PCMInternal.h
+++ b/hal/src/main/native/athena/PCMInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/PDP.cpp
+++ b/hal/src/main/native/athena/PDP.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/PWM.cpp
+++ b/hal/src/main/native/athena/PWM.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -104,6 +104,9 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
  digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet,
                                               status);

+  // Defaults to allow an always valid config.
+  HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
+
  return handle;
 }
 void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
--- a/hal/src/main/native/athena/Ports.cpp
+++ b/hal/src/main/native/athena/Ports.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/PortsInternal.h
+++ b/hal/src/main/native/athena/PortsInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/Power.cpp
+++ b/hal/src/main/native/athena/Power.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/Relay.cpp
+++ b/hal/src/main/native/athena/Relay.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/SPI.cpp
+++ b/hal/src/main/native/athena/SPI.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -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"
--- a/hal/src/main/native/athena/SerialPort.cpp
+++ b/hal/src/main/native/athena/SerialPort.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -43,6 +43,13 @@ void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status) {
  if (*status > 0) *status = 0;
 }

+void HAL_InitializeSerialPortDirect(HAL_SerialPort port, const char* portName,
+                                    int32_t* status) {
+  *status = viOpen(resourceManagerHandle, const_cast<char*>(portName), VI_NULL,
+                   VI_NULL, reinterpret_cast<ViSession*>(&portHandles[port]));
+  if (*status > 0) *status = 0;
+}
+
 void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status) {
  *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_BAUD, baud);
  if (*status > 0) *status = 0;
--- a/hal/src/main/native/athena/Solenoid.cpp
+++ b/hal/src/main/native/athena/Solenoid.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/Threads.cpp
+++ b/hal/src/main/native/athena/Threads.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/cpp/SerialHelper.cpp
+++ b/hal/src/main/native/athena/cpp/SerialHelper.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/athena/ctre/CtreCanNode.cpp
+++ b/hal/src/main/native/athena/ctre/CtreCanNode.cpp
@@ -68,17 +68,13 @@ void CtreCanNode::UnregisterTx(uint32_t arbId)
 		_txJobs.erase(iter);
 	}
 }
-timespec diff(const timespec & start, const timespec & end)
-{
-	timespec temp;
-	if ((end.tv_nsec-start.tv_nsec)<0) {
-		temp.tv_sec = end.tv_sec-start.tv_sec-1;
-		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
-	} else {
-		temp.tv_sec = end.tv_sec-start.tv_sec;
-		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
-	}
-	return temp;
+static int64_t GetTimeMs() {
+	std::chrono::time_point < std::chrono::system_clock > now;
+	now = std::chrono::system_clock::now();
+	auto duration = now.time_since_epoch();
+	auto millis = std::chrono::duration_cast < std::chrono::milliseconds
+					> (duration).count();
+	return (int64_t) millis;
 }
 CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
 {
@@ -90,10 +86,11 @@ CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeout
 	if(timeoutMs > 999)
 		timeoutMs = 999;
 	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
+	std::lock_guard<wpi::mutex> lock(_lck);
 	if(status == 0){
 		/* fresh update */
 		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
-		clock_gettime(2,&r.time); 			/* fill in time */
+		r.time = GetTimeMs();
 		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
 	}else{
 		/* did not get the message */
@@ -107,16 +104,13 @@ CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeout
 			/* we've gotten this message before but not recently */
 			memcpy(dataBytes,i->second.bytes,8);
 			/* get the time now */
-			struct timespec temp;
-			clock_gettime(2,&temp); /* get now */
+			int64_t now = GetTimeMs(); /* get now */
 			/* how long has it been? */
-			temp = diff(i->second.time,temp); /* temp = now - last */
-			if(temp.tv_sec > 0){
-				retval = CTR_RxTimeout;
-			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
-				retval = CTR_RxTimeout;
-			}else {
-				/* our last update was recent enough */
+			int64_t temp = now - i->second.time; /* temp = now - last */
+			if (temp > ((int64_t) timeoutMs)) {
+					retval = CTR_RxTimeout;
+			} else {
+					/* our last update was recent enough */
 			}
 		}
 	}
--- a/hal/src/main/native/athena/ctre/CtreCanNode.h
+++ b/hal/src/main/native/athena/ctre/CtreCanNode.h
@@ -4,6 +4,7 @@
 #include <map>
 #include <string.h> // memcpy
 #include <sys/time.h>
+#include <support/mutex.h>
 class CtreCanNode
 {
 public:
@@ -108,7 +109,7 @@ private:
 	class rxEvent_t{
 		public:
 			uint8_t bytes[8];
-			struct timespec time;
+			int64_t time;
 			rxEvent_t()
 			{
 				bytes[0] = 0;
@@ -127,5 +128,7 @@ private:

 	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
 	rxRxEvents_t _rxRxEvents;
+
+	wpi::mutex _lck;
 };
 #endif
--- a/hal/src/main/native/include/HAL/Accelerometer.h
+++ b/hal/src/main/native/include/HAL/Accelerometer.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/AnalogAccumulator.h
+++ b/hal/src/main/native/include/HAL/AnalogAccumulator.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/AnalogGyro.h
+++ b/hal/src/main/native/include/HAL/AnalogGyro.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/AnalogInput.h
+++ b/hal/src/main/native/include/HAL/AnalogInput.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/AnalogOutput.h
+++ b/hal/src/main/native/include/HAL/AnalogOutput.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/AnalogTrigger.h
+++ b/hal/src/main/native/include/HAL/AnalogTrigger.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/CAN.h
+++ b/hal/src/main/native/include/HAL/CAN.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/ChipObject.h
+++ b/hal/src/main/native/include/HAL/ChipObject.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Compressor.h
+++ b/hal/src/main/native/include/HAL/Compressor.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Constants.h
+++ b/hal/src/main/native/include/HAL/Constants.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Counter.h
+++ b/hal/src/main/native/include/HAL/Counter.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/DIO.h
+++ b/hal/src/main/native/include/HAL/DIO.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -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,
--- a/hal/src/main/native/include/HAL/DriverStation.h
+++ b/hal/src/main/native/include/HAL/DriverStation.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2013-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2013-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Encoder.h
+++ b/hal/src/main/native/include/HAL/Encoder.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Errors.h
+++ b/hal/src/main/native/include/HAL/Errors.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Extensions.h
+++ b/hal/src/main/native/include/HAL/Extensions.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/HAL.h
+++ b/hal/src/main/native/include/HAL/HAL.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2013-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2013-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/I2C.h
+++ b/hal/src/main/native/include/HAL/I2C.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Interrupts.h
+++ b/hal/src/main/native/include/HAL/Interrupts.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/LabVIEW/HAL.h
+++ b/hal/src/main/native/include/HAL/LabVIEW/HAL.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Notifier.h
+++ b/hal/src/main/native/include/HAL/Notifier.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/OSSerialPort.h
+++ b/hal/src/main/native/include/HAL/OSSerialPort.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/PDP.h
+++ b/hal/src/main/native/include/HAL/PDP.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/PWM.h
+++ b/hal/src/main/native/include/HAL/PWM.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Ports.h
+++ b/hal/src/main/native/include/HAL/Ports.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Power.h
+++ b/hal/src/main/native/include/HAL/Power.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Relay.h
+++ b/hal/src/main/native/include/HAL/Relay.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/SPI.h
+++ b/hal/src/main/native/include/HAL/SPI.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -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
--- a/hal/src/main/native/include/HAL/SerialPort.h
+++ b/hal/src/main/native/include/HAL/SerialPort.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -21,6 +21,8 @@ extern "C" {
 #endif

 void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status);
+void HAL_InitializeSerialPortDirect(HAL_SerialPort port, const char* portName,
+                                    int32_t* status);
 void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status);
 void HAL_SetSerialDataBits(HAL_SerialPort port, int32_t bits, int32_t* status);
 void HAL_SetSerialParity(HAL_SerialPort port, int32_t parity, int32_t* status);
--- a/hal/src/main/native/include/HAL/Solenoid.h
+++ b/hal/src/main/native/include/HAL/Solenoid.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Threads.h
+++ b/hal/src/main/native/include/HAL/Threads.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/Types.h
+++ b/hal/src/main/native/include/HAL/Types.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/cpp/Log.h
+++ b/hal/src/main/native/include/HAL/cpp/Log.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/cpp/SerialHelper.h
+++ b/hal/src/main/native/include/HAL/cpp/SerialHelper.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/cpp/UnsafeDIO.h
+++ b/hal/src/main/native/include/HAL/cpp/UnsafeDIO.h
@@ -0,0 +1,85 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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
--- a/hal/src/main/native/include/HAL/cpp/fpga_clock.h
+++ b/hal/src/main/native/include/HAL/cpp/fpga_clock.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/cpp/make_unique.h
+++ b/hal/src/main/native/include/HAL/cpp/make_unique.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/handles/DigitalHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/DigitalHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/handles/HandlesInternal.h
+++ b/hal/src/main/native/include/HAL/handles/HandlesInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/handles/IndexedClassedHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/IndexedClassedHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
@@ -9,6 +9,7 @@

 #include <stdint.h>

+#include <array>
 #include <memory>
 #include <vector>

@@ -40,7 +41,7 @@ class IndexedClassedHandleResource : public HandleBase {
  friend class IndexedClassedHandleResourceTest;

 public:
-  IndexedClassedHandleResource();
+  IndexedClassedHandleResource() = default;
  IndexedClassedHandleResource(const IndexedClassedHandleResource&) = delete;
  IndexedClassedHandleResource& operator=(const IndexedClassedHandleResource&) =
      delete;
@@ -49,20 +50,13 @@ class IndexedClassedHandleResource : public HandleBase {
                   int32_t* status);
  std::shared_ptr<TStruct> Get(THandle handle);
  void Free(THandle handle);
+  void ResetHandles();

 private:
-  std::array<std::shared_ptr<TStruct>[], size> m_structures;
-  std::array<wpi::mutex[], size> m_handleMutexes;
+  std::array<std::shared_ptr<TStruct>, size> m_structures;
+  std::array<wpi::mutex, size> m_handleMutexes;
 };

-template <typename THandle, typename TStruct, int16_t size,
-          HAL_HandleEnum enumValue>
-IndexedClassedHandleResource<THandle, TStruct, size,
-                             enumValue>::IndexedClassedHandleResource() {
-  m_structures = std::make_unique<std::shared_ptr<TStruct>[]>(size);
-  m_handleMutexes = std::make_unique<wpi::mutex[]>(size);
-}
-
 template <typename THandle, typename TStruct, int16_t size,
          HAL_HandleEnum enumValue>
 THandle
--- a/hal/src/main/native/include/HAL/handles/IndexedHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/IndexedHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/handles/LimitedClassedHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/LimitedClassedHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/handles/LimitedHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/LimitedHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 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.                                                               */
--- a/hal/src/main/native/include/HAL/handles/UnlimitedHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/UnlimitedHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/AccelerometerData.h
+++ b/hal/src/main/native/include/MockData/AccelerometerData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/AnalogGyroData.h
+++ b/hal/src/main/native/include/MockData/AnalogGyroData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/AnalogInData.h
+++ b/hal/src/main/native/include/MockData/AnalogInData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/AnalogOutData.h
+++ b/hal/src/main/native/include/MockData/AnalogOutData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/AnalogTriggerData.h
+++ b/hal/src/main/native/include/MockData/AnalogTriggerData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/CanData.h
+++ b/hal/src/main/native/include/MockData/CanData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/DIOData.h
+++ b/hal/src/main/native/include/MockData/DIOData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/DigitalPWMData.h
+++ b/hal/src/main/native/include/MockData/DigitalPWMData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/DriverStationData.h
+++ b/hal/src/main/native/include/MockData/DriverStationData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/EncoderData.h
+++ b/hal/src/main/native/include/MockData/EncoderData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/hal/src/main/native/include/MockData/HAL_Value.h
+++ b/hal/src/main/native/include/MockData/HAL_Value.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 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.                                                               */
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Tyler Veness	96e9a6989c	Improved Command-based examples (#906 ) Robot.cpp has been split into header-source pairs and the Command-based examples now define an example subsystem in the Robot class.	2018-03-05 22:06:40 -08:00
Thad House	14228d82f3	Adds Direct port name Serial API (#956 )	2018-03-05 19:41:09 -08:00
Peter Johnson	5175829bab	PWM: Use getRaw and setRaw for Sendable "Value" property. (#963 ) Also change type to "PWM". Move old PWM Sendable behavior for both value and type to PWMSpeedController.	2018-03-03 21:36:25 -08:00
Peter Johnson	9d7293734a	SendableChooser: Do not automatically add to LiveWindow. (#964 ) SendableChooser::InitSendable() is written such that it saves the table being used in an instance variable. This doesn't work if the chooser is added to both LiveWindow and SmartDashboard. Normally it is not added to LiveWindow because the name is empty, but if setName() is called this could still happen. Note adding the same SendableChooser to SmartDashboard with two different names is also not currently supported, for the same reason. The correct solution will be to remove the instance variable, but this is too high risk to implement mid-season, so instead just remove from LiveWindow.	2018-03-03 21:34:42 -08:00
Peter Johnson	1e5ec362f7	CameraServer: catch VideoExceptions in video listener. (#949 ) We don't want failures here to stop other video properties from updating. Reported here: https://www.chiefdelphi.com/forums/showthread.php?t=162860	2018-03-03 01:58:28 -08:00
Tyler Veness	7bb3e4efc3	Made documentation for RobotDriveBase::SetDeadband() clearer (#953 ) It now mentions that the deadband is applied to the drive inputs.	2018-03-03 01:57:59 -08:00
PJ Reiniger	67de595c85	ADXRS450_Gyro: Add null check around reset (#948 ) Reset() is the only function without a null check around it. We call the function on startup, which means if it is unplugged the robot crashes. Also added an accessor for checking if it is connected, as some teams (us) would like to handle the case where it was not connected on startup.	2018-03-03 01:57:45 -08:00
Thad House	82152e90fe	Adds defaults to PWM config (#961 )	2018-03-03 01:56:49 -08:00
Dustin Spicuzza	1e7d439899	HAL Notifier: Don't disable the notifier manager when the last handle is cleaned up (#960 ) - Addresses #959, but not a good long term solution	2018-03-03 01:56:24 -08:00
Tyler Veness	979984fa6b	Fix Travis CI wpiformat install (#947 )	2018-02-20 23:01:57 -08:00
Thad House	57e9fb33d2	Fixes C++ SendableChooser using invalid temp variable (#945 )	2018-02-15 23:00:46 -08:00
Thad House	f5a292dadd	Adds TriState JNI entry point (#938 ) Also adds missing sim TriState DIO HAL call, and a ToDo for later	2018-02-12 16:05:10 -08:00
Sam Carlberg	77d6c11743	Invert right side motors in MecanumDrive sendable (#933 ) This aligns with the current behavior of DifferentialDrive Fixes shuffleboard#404	2018-02-09 08:30:12 -08:00
Tyler Veness	67f9c9a5b3	Fixed TimedRobot.java hanging if an exception was thrown (#926 )	2018-02-04 22:38:19 -08:00
Thad House	f720cbb121	Switches CtreCanNode to use locking and std::chrono for time (#909 )	2018-02-01 21:39:06 -08:00
Tyler Veness	64a7e57fe0	Added output normalization to DifferentialDrive::CurvatureDrive() (#924 ) This normalizes within -1..1 to avoid clipping and maintain the ratio between wheel speeds, since that ratio determines the center of rotation. Fixes #923.	2018-02-01 21:17:04 -08:00
Tyler Veness	5ca00dddbe	Added TimedRobot::GetPeriod() (#915 ) Fixes #914.	2018-01-27 01:01:15 -08:00
Tyler Veness	120ceb3427	Fix channel reassignments for C++ Joystick twist and throttle axes (#903 )	2018-01-26 17:26:10 -08:00
Thad House	5cbafc1382	Updates to image 17 (#913 ) These should be binary compatible, so safe to use with image 16.	2018-01-26 17:21:13 -08:00
Thad House	39d1650d51	Fixes double to int to double cast in encoderJNI (#918 ) Fixes #916	2018-01-26 17:20:20 -08:00
Thad House	02336fc478	Makes FMS data never be a null string. (#900 ) Fixes #895	2018-01-19 23:49:34 -08:00
Thad House	c00848c060	Fixes indexed classed handle resource (#899 ) Nothing in WPILib uses it, so it was not tested	2018-01-19 22:31:59 -08:00
Dustin Spicuzza	738a1c015c	PIDController: setContinuous should only check input range if continuous is true (#896 )	2018-01-19 22:31:08 -08:00
Thad House	48ae6c954a	Publishes match specific data and other FMS info to NT (#874 ) This is so products like SB can present the current setup.	2018-01-18 23:17:28 -08:00
Thad House	07f70cf784	Fixes control data packet delay (#875 ) Because of an expected change in 2018 that didn't happen, we had a race condition causing a 1 packet delay on all DS values. This fixes that.	2018-01-18 21:54:33 -08:00
sciencewhiz	e4e1eab413	Fix cancel of inner commands in ConditionalCommands (#858 )	2018-01-18 20:04:33 -08:00
Nic Hodlofski	0e8ff4663d	SpeedControllerGroup: Call set() from pidWrite() This means pidWrite() now takes m_isInverted into account. Fixes #887.	2018-01-18 20:03:13 -08:00
HeroCC	54a0a7654a	Link to replacements for RobotDrive in JavaDocs (#879 ) In smart IDEs, this will allow users to easily view source for these two classes by linking to it	2018-01-11 22:17:33 -08:00
Rohit Vighne	59f938b584	Invert when getting motor speed in SpeedControllerGroup (#886 )	2018-01-11 22:16:42 -08:00
sciencewhiz	5513888457	Fix PIDController with Continous and no Input Range set. (#883 )	2018-01-11 21:06:25 -08:00
Peter Johnson	02b6615042	RobotController: Make getBatteryVoltage() static. (#869 )	2018-01-04 23:12:13 -06:00
Tyler Veness	1f4822f332	Replaced Talon motor controller in DifferentialDrive class docs with Spark (#868 )	2018-01-03 20:27:34 -06:00
Peter Johnson	bb38ef5642	DifferentialDrive: Invert right motor in LiveWindow. (#867 )	2018-01-02 21:15:15 -06:00
PJ Reiniger	ca36d1dce6	Adding callbacks for notifying when the distance per pulse changes (#861 )	2018-01-02 16:53:39 -06:00
Sam Carlberg	ee33296e1f	SmartDashboard override .name entry in putData(String, Sendable) (#866 ) Fixes #865	2018-01-02 16:39:16 -06:00
Tyler Veness	0ef9803363	Update copyright year to 2018 (#864 ) Also fix a few files with incorrect line endings.	2018-01-02 11:20:21 -06:00
Tyler Veness	eedb8910c3	Removed extra newlines from beginning of Java classes (#859 ) The content of this PR was generated by styleguide#111.	2018-01-02 11:17:46 -06:00
Sam Carlberg	8346caed9c	Move subsystem command metadata to metadata key format (#863 )	2018-01-01 17:05:03 -05:00
PJ Reiniger	55b6764d50	Fix bugs in simulation libraries (#853 ) Some thing got broken in the past couple of weeks with updates to the HAL.	2017-12-31 14:37:14 -06:00
Thad House	2c4faee667	Fixes -Og compile and strip binaries (#838 )	2017-12-29 22:18:35 -06:00
Jaci R	8d1dee16be	Add DriverStation NetworkTables HAL Extension (#829 )	2017-12-29 21:55:31 -06:00
Jaci R	76b182600a	Add Low Fidelity NetworkTables simulation extension (#823 )	2017-12-29 21:54:18 -06:00
sciencewhiz	c647a801ad	Add Encoder Index as a child (#857 )	2017-12-29 21:48:39 -06:00
sciencewhiz	02131639bc	Add Digilent DMC 60 Speed Controller (#855 )	2017-12-28 21:42:19 -06:00
Noah Gleason	566e283694	Make setDefaultCommand public (#854 )	2017-12-28 12:48:15 -06:00
Peter Johnson	40eb6dfc9b	Fix SmartDashboard PutData to hook setters. (#851 ) * Fix SmartDashboard PutData to hook setters. Also update all PutData values in main periodic loop (same as LiveWindow). * Improve SmartDashboard.putData() repeat call handling.	2017-12-26 18:18:02 -05:00
Dustin Spicuzza	a3e5378d14	SPI: Check for null (#850 )	2017-12-25 22:03:22 -06:00
Thad House	691741cfcb	Fixes non public static methods in RobotController. (#852 )	2017-12-25 20:26:05 -06:00
Thad House	166d9e01bf	Add PWMVictorSPX (#842 )	2017-12-17 19:59:30 -08:00
Thad House	7eab4371f4	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.	2017-12-14 00:17:29 -08:00
Peter Johnson	de134a5c60	Add deprecated shims for LiveWindowSendable and NamedSendable. (#834 ) This will help prevent old code from breaking (not all cases, but should help).	2017-12-13 23:45:12 -08:00
Peter Johnson	7f074563d0	Add support for automatic SPI transfer engine. (#836 ) The SPI Accumulator functions have been moved from HAL to wpilib and rewritten to use the automatic transfer engine.	2017-12-13 23:41:37 -08:00
Thad House	d3dd586362	Revert "Fixes SPI bad chip select (#818 )" (#822 ) This is no longer required for image 2018v16. This reverts commit `b42285fddd`.	2017-12-12 11:31:20 -08:00
Thad House	9c85105591	Update to image 2018v16 (#833 )	2017-12-12 11:03:53 -08:00