mirror of
https://github.com/wpilibsuite/allwpilib
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8ba0eada17
Implements the JNI bindings for java Adds integration tests for Digital Inputs and AnalogTriggers. Adds the ability to get the value and message from errno in java using the HALUtil JNI class. Change-Id: I853529fdab9744ce95ee15d4cc73dc3953265552
97 lines
3.2 KiB
C++
97 lines
3.2 KiB
C++
#include "HAL/Interrupts.hpp"
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#include "ChipObject.h"
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struct Interrupt // FIXME: why is this internal?
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{
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tInterrupt *anInterrupt;
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tInterruptManager *manager;
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};
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void* initializeInterrupts(uint32_t interruptIndex, bool watcher, int32_t *status)
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{
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Interrupt* anInterrupt = new Interrupt();
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// Expects the calling leaf class to allocate an interrupt index.
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anInterrupt->anInterrupt = tInterrupt::create(interruptIndex, status);
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anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
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anInterrupt->manager = new tInterruptManager(1 << interruptIndex, watcher, status);
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return anInterrupt;
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}
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void cleanInterrupts(void* interrupt_pointer, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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delete anInterrupt->anInterrupt;
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delete anInterrupt->manager;
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anInterrupt->anInterrupt = NULL;
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anInterrupt->manager = NULL;
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}
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/**
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* In synchronous mode, wait for the defined interrupt to occur.
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* @param timeout Timeout in seconds
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*/
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void waitForInterrupt(void* interrupt_pointer, double timeout, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->manager->watch((int32_t)(timeout * 1e3), status);
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}
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/**
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* Enable interrupts to occur on this input.
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* oInterrupts are disabled when the RequestInterrupt call is made. This gives time to do the
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* setup of the other options before starting to field interrupts.
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*/
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void enableInterrupts(void* interrupt_pointer, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->manager->enable(status);
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}
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/**
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* Disable Interrupts without without deallocating structures.
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*/
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void disableInterrupts(void* interrupt_pointer, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->manager->disable(status);
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}
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/**
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* Return the timestamp for the interrupt that occurred most recently.
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* This is in the same time domain as GetClock().
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* @return Timestamp in seconds since boot.
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*/
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double readInterruptTimestamp(void* interrupt_pointer, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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uint32_t timestamp = anInterrupt->anInterrupt->readTimeStamp(status);
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return timestamp * 1e-6;
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}
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void requestInterrupts(void* interrupt_pointer, uint8_t routing_module, uint32_t routing_pin,
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bool routing_analog_trigger, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
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anInterrupt->anInterrupt->writeConfig_Source_AnalogTrigger(routing_analog_trigger, status);
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anInterrupt->anInterrupt->writeConfig_Source_Channel(routing_pin, status);
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anInterrupt->anInterrupt->writeConfig_Source_Module(routing_module, status);
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}
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void attachInterruptHandler(void* interrupt_pointer, InterruptHandlerFunction handler, void* param,
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int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->manager->registerHandler(handler, param, status);
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}
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void setInterruptUpSourceEdge(void* interrupt_pointer, bool risingEdge, bool fallingEdge,
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int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->anInterrupt->writeConfig_RisingEdge(risingEdge, status);
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anInterrupt->anInterrupt->writeConfig_FallingEdge(fallingEdge, status);
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}
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