mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
301 lines
9.8 KiB
C++
301 lines
9.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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 <assert.h>
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#include <jni.h>
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#include "HAL/cpp/Log.h"
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#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
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#include "HAL/DIO.h"
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#include "HAL/PWM.h"
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#include "HAL/Ports.h"
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#include "HALUtil.h"
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#include "HAL/handles/HandlesInternal.h"
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using namespace frc;
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// set the logging level
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TLogLevel pwmJNILogLevel = logWARNING;
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#define PWMJNI_LOG(level) \
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if (level > pwmJNILogLevel) \
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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_wpilibj_hal_PWMJNI
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* Method: initializePWMPort
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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_wpilibj_hal_PWMJNI_initializePWMPort(
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JNIEnv *env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI initializePWMPort";
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PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
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int32_t status = 0;
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auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << pwm;
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CheckStatusRange(env, status, 0, HAL_GetNumPWMChannels(),
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hal::getPortHandleChannel((HAL_PortHandle)id));
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return (jint)pwm;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: checkPWMChannel
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* Signature: (I)Z;
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_checkPWMChannel(
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JNIEnv *env, jclass, jint channel) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI checkPWMChannel";
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PWMJNI_LOG(logDEBUG) << "Channel = " << channel;
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return HAL_CheckPWMChannel(channel);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: freeDIOPort
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* Signature: (I)V;
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMPort(
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JNIEnv *env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMPort";
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PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_FreePWMPort((HAL_DigitalHandle)id, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: setPWMConfigRaw
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* Signature: (IIIIII)V;
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfigRaw(
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JNIEnv *env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm,
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jint centerPwm, jint deadbandMinPwm, jint minPwm) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfigRaw";
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PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
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deadbandMinPwm, minPwm, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: setPWMConfig
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* Signature: (IDDDDD)V;
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfig(
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JNIEnv *env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm,
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jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfig";
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PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
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deadbandMinPwm, minPwm, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: getPWMConfigRaw
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* Signature: (I)Ledu/wpi/first/wpilibj/PWMConfigDataResult;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw(
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JNIEnv *env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI getPWMConfigRaw";
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PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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int32_t maxPwm = 0;
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int32_t deadbandMaxPwm = 0;
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int32_t centerPwm = 0;
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int32_t deadbandMinPwm = 0;
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int32_t minPwm = 0;
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HAL_GetPWMConfigRaw((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm, ¢erPwm,
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&deadbandMinPwm, &minPwm, &status);
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CheckStatus(env, status);
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return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm,
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deadbandMinPwm, minPwm);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMEliminateDeadband
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMEliminateDeadband(
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JNIEnv* env, jclass, jint id, jboolean value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_SetPWMEliminateDeadband((HAL_DigitalHandle)id, value, &status);
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PWMJNI_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_wpilibj_hal_PWMJNI
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* Method: getPWMEliminateDeadband
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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auto val = HAL_GetPWMEliminateDeadband((HAL_DigitalHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return (jboolean)val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMRaw
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* Signature: (IS)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw(
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JNIEnv* env, jclass, jint id, jshort value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
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int32_t status = 0;
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HAL_SetPWMRaw((HAL_DigitalHandle)id, value, &status);
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PWMJNI_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_wpilibj_hal_PWMJNI
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* Method: setPWMSpeed
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed(
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JNIEnv* env, jclass, jint id, jdouble value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
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int32_t status = 0;
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HAL_SetPWMSpeed((HAL_DigitalHandle)id, value, &status);
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PWMJNI_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_wpilibj_hal_PWMJNI
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* Method: setPWMPosition
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition(
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JNIEnv* env, jclass, jint id, jdouble value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
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int32_t status = 0;
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HAL_SetPWMPosition((HAL_DigitalHandle)id, value, &status);
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PWMJNI_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_wpilibj_hal_PWMJNI
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* Method: getPWMRaw
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* Signature: (I)S
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*/
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JNIEXPORT jshort JNICALL
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Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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jshort returnValue = HAL_GetPWMRaw((HAL_DigitalHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: getPWMSpeed
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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jdouble returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: getPWMPosition
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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jdouble returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMDisabled
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDisabled(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_SetPWMDisabled((HAL_DigitalHandle)id, &status);
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PWMJNI_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_wpilibj_hal_PWMJNI
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* Method: latchPWMZero
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_LatchPWMZero((HAL_DigitalHandle)id, &status);
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PWMJNI_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_wpilibj_hal_PWMJNI
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* Method: setPWMPeriodScale
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale(
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JNIEnv* env, jclass, jint id, jint value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
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int32_t status = 0;
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HAL_SetPWMPeriodScale((HAL_DigitalHandle)id, value, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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} // extern "C"
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