mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
87 lines
3.3 KiB
C++
87 lines
3.3 KiB
C++
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#include "HAL/Interrupts.h"
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#include "ChipObject.h"
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struct interrupt_t {
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tInterrupt *anInterrupt;
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tInterruptManager *manager;
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};
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typedef struct interrupt_t Interrupt;
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void* initializeInterrupts(uint32_t interruptIndex, bool watcher, int32_t *status) {
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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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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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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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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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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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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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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,
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void* param, int32_t *status) {
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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, int32_t *status) {
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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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