mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
dcbf02a1ec
The 2019 FPGA image switched the output of auto SPI from plain bytes to a sequence of 32-bit words (timestamp, then words with the byte values in the least significant byte of each word). In addition to changing the HAL and simulators to reflect this, add piecewise integration support to wpilibc/wpilibj SPI to take advantage of the timestamps and use it in the ADXRS450 gyro.
501 lines
16 KiB
C++
501 lines
16 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <jni.h>
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#include <cassert>
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#include <wpi/jni_util.h>
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#include "HALUtil.h"
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#include "edu_wpi_first_hal_SPIJNI.h"
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#include "hal/SPI.h"
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#include "hal/cpp/Log.h"
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using namespace frc;
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using namespace wpi::java;
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// set the logging level
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TLogLevel spiJNILogLevel = logWARNING;
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#define SPIJNI_LOG(level) \
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if (level > spiJNILogLevel) \
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; \
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else \
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Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiInitialize
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiInitialize
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(JNIEnv* env, jclass, jint port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_InitializeSPI(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatusForceThrow(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiTransaction
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* Signature: (ILjava/lang/Object;Ljava/lang/Object;B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiTransaction
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(JNIEnv* env, jclass, jint port, jobject dataToSend, jobject dataReceived,
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jbyte size)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransaction";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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uint8_t* dataToSendPtr = nullptr;
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if (dataToSend != 0) {
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dataToSendPtr =
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reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
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}
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uint8_t* dataReceivedPtr =
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reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataReceived));
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
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jint retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port),
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dataToSendPtr, dataReceivedPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiTransactionB
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* Signature: (I[B[BB)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiTransactionB
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(JNIEnv* env, jclass, jint port, jbyteArray dataToSend,
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jbyteArray dataReceived, jbyte size)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransactionB";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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wpi::SmallVector<uint8_t, 128> recvBuf;
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recvBuf.resize(size);
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jint retVal =
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HAL_TransactionSPI(static_cast<HAL_SPIPort>(port),
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reinterpret_cast<const uint8_t*>(
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JByteArrayRef(env, dataToSend).array().data()),
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recvBuf.data(), size);
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env->SetByteArrayRegion(dataReceived, 0, size,
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reinterpret_cast<const jbyte*>(recvBuf.data()));
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiWrite
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* Signature: (ILjava/lang/Object;B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiWrite
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(JNIEnv* env, jclass, jint port, jobject dataToSend, jbyte size)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWrite";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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uint8_t* dataToSendPtr = nullptr;
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if (dataToSend != 0) {
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dataToSendPtr =
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reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
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}
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
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jint retVal =
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HAL_WriteSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiWriteB
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* Signature: (I[BB)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiWriteB
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(JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jbyte size)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWriteB";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port),
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reinterpret_cast<const uint8_t*>(
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JByteArrayRef(env, dataToSend).array().data()),
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size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiRead
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* Signature: (IZLjava/lang/Object;B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiRead
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(JNIEnv* env, jclass, jint port, jboolean initiate, jobject dataReceived,
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jbyte size)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiRead";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Initiate = " << (jboolean)initiate;
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uint8_t* dataReceivedPtr =
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reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataReceived));
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
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jint retVal;
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if (initiate) {
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wpi::SmallVector<uint8_t, 128> sendBuf;
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sendBuf.resize(size);
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retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), sendBuf.data(),
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dataReceivedPtr, size);
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} else {
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retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port),
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reinterpret_cast<uint8_t*>(dataReceivedPtr), size);
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}
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiReadB
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* Signature: (IZ[BB)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiReadB
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(JNIEnv* env, jclass, jint port, jboolean initiate, jbyteArray dataReceived,
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jbyte size)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadB";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Initiate = " << (jboolean)initiate;
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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jint retVal;
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wpi::SmallVector<uint8_t, 128> recvBuf;
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recvBuf.resize(size);
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if (initiate) {
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wpi::SmallVector<uint8_t, 128> sendBuf;
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sendBuf.resize(size);
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retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), sendBuf.data(),
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recvBuf.data(), size);
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} else {
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retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port), recvBuf.data(), size);
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}
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env->SetByteArrayRegion(dataReceived, 0, size,
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reinterpret_cast<const jbyte*>(recvBuf.data()));
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiClose
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiClose
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(JNIEnv*, jclass, jint port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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HAL_CloseSPI(static_cast<HAL_SPIPort>(port));
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiSetSpeed
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiSetSpeed
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(JNIEnv*, jclass, jint port, jint speed)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Speed = " << (jint)speed;
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HAL_SetSPISpeed(static_cast<HAL_SPIPort>(port), speed);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiSetOpts
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* Signature: (IIII)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiSetOpts
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(JNIEnv*, jclass, jint port, jint msb_first, jint sample_on_trailing,
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jint clk_idle_high)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetOpts";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
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SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
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SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
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HAL_SetSPIOpts(static_cast<HAL_SPIPort>(port), msb_first, sample_on_trailing,
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clk_idle_high);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiSetChipSelectActiveHigh
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiSetChipSelectActiveHigh
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(JNIEnv* env, jclass, jint port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_SetSPIChipSelectActiveHigh(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiSetChipSelectActiveLow
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiSetChipSelectActiveLow
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(JNIEnv* env, jclass, jint port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_SetSPIChipSelectActiveLow(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiInitAuto
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiInitAuto
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(JNIEnv* env, jclass, jint port, jint bufferSize)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAuto";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "BufferSize = " << bufferSize;
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int32_t status = 0;
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HAL_InitSPIAuto(static_cast<HAL_SPIPort>(port), bufferSize, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiFreeAuto
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiFreeAuto
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(JNIEnv* env, jclass, jint port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAuto";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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HAL_FreeSPIAuto(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiStartAutoRate
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiStartAutoRate
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(JNIEnv* env, jclass, jint port, jdouble period)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoRate";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "Period = " << period;
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int32_t status = 0;
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HAL_StartSPIAutoRate(static_cast<HAL_SPIPort>(port), period, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiStartAutoTrigger
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* Signature: (IIIZZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiStartAutoTrigger
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(JNIEnv* env, jclass, jint port, jint digitalSourceHandle,
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jint analogTriggerType, jboolean triggerRising, jboolean triggerFalling)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoTrigger";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "DigitalSourceHandle = " << digitalSourceHandle;
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SPIJNI_LOG(logDEBUG) << "AnalogTriggerType = " << analogTriggerType;
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SPIJNI_LOG(logDEBUG) << "TriggerRising = " << (jint)triggerRising;
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SPIJNI_LOG(logDEBUG) << "TriggerFalling = " << (jint)triggerFalling;
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int32_t status = 0;
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HAL_StartSPIAutoTrigger(static_cast<HAL_SPIPort>(port), digitalSourceHandle,
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static_cast<HAL_AnalogTriggerType>(analogTriggerType),
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triggerRising, triggerFalling, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiStopAuto
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiStopAuto
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(JNIEnv* env, jclass, jint port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStopAuto";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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HAL_StopSPIAuto(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiSetAutoTransmitData
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* Signature: (I[BI)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiSetAutoTransmitData
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(JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jint zeroSize)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAutoTransmitData";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "ZeroSize = " << zeroSize;
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JByteArrayRef jarr(env, dataToSend);
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int32_t status = 0;
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HAL_SetSPIAutoTransmitData(
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static_cast<HAL_SPIPort>(port),
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reinterpret_cast<const uint8_t*>(jarr.array().data()),
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jarr.array().size(), zeroSize, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiForceAutoRead
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiForceAutoRead
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(JNIEnv* env, jclass, jint port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiForceAutoRead";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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HAL_ForceSPIAutoRead(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiReadAutoReceivedData
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* Signature: (ILjava/lang/Object;ID)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiReadAutoReceivedData__ILjava_nio_ByteBuffer_2ID
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(JNIEnv* env, jclass, jint port, jobject buffer, jint numToRead,
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jdouble timeout)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
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SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
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uint32_t* recvBuf =
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reinterpret_cast<uint32_t*>(env->GetDirectBufferAddress(buffer));
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int32_t status = 0;
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jint retval = HAL_ReadSPIAutoReceivedData(
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static_cast<HAL_SPIPort>(port), recvBuf, numToRead, timeout, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "Return = " << retval;
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CheckStatus(env, status);
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return retval;
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiReadAutoReceivedData
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* Signature: (I[IID)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiReadAutoReceivedData__I_3IID
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(JNIEnv* env, jclass, jint port, jintArray buffer, jint numToRead,
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jdouble timeout)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
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SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
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wpi::SmallVector<uint32_t, 128> recvBuf;
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recvBuf.resize(numToRead);
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int32_t status = 0;
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jint retval =
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HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port),
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recvBuf.data(), numToRead, timeout, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "Return = " << retval;
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if (!CheckStatus(env, status)) return retval;
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if (numToRead > 0) {
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env->SetIntArrayRegion(buffer, 0, numToRead,
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reinterpret_cast<const jint*>(recvBuf.data()));
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}
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return retval;
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}
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/*
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* Class: edu_wpi_first_hal_SPIJNI
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* Method: spiGetAutoDroppedCount
|
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_SPIJNI_spiGetAutoDroppedCount
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(JNIEnv* env, jclass, jint port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAutoDroppedCount";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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auto retval =
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HAL_GetSPIAutoDroppedCount(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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SPIJNI_LOG(logDEBUG) << "Return = " << retval;
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|
CheckStatus(env, status);
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return retval;
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}
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} // extern "C"
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