mirror of
https://github.com/wpilibsuite/allwpilib
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049be6870c
The HAL functions often call NI functions that may expect status to be initialized on entry. Java does not guarantee direct pointer allocation memory to be initialized, although that may have been occurring by accident. Change-Id: I5e3a553f3a7be8de3716ccfc13e6ca1cb4f2a552
174 lines
5.7 KiB
C++
174 lines
5.7 KiB
C++
#include <jni.h>
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#include <assert.h>
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#include "Log.hpp"
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#include "edu_wpi_first_wpilibj_hal_SPIJNI.h"
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#include "HAL/Digital.hpp"
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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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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiInitialize
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* Signature: (BLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize
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(JNIEnv * env, jclass, jbyte port, jobject status)
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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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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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*statusPtr = 0;
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spiInitialize(port, statusPtr);
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SPIJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiTransaction
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* Signature: (BLjava/nio/ByteBuffer;Ljava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction
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(JNIEnv * env, jclass, jbyte port, jobject dataToSend, jobject dataReceived, 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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jbyte * dataToSendPtr = NULL;
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jbyte * dataReceivedPtr = NULL;
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if(dataToSend != 0){
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dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
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}
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dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*) dataReceivedPtr;
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jbyte retVal = spiTransaction(port, (uint8_t*)dataToSendPtr, (uint8_t*)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_wpilibj_hal_SPIJNI
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* Method: spiWrite
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* Signature: (BLjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite
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(JNIEnv * env, jclass, jbyte 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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jbyte * dataToSendPtr = NULL;
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if(dataToSend != 0){
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dataToSendPtr = (jbyte*)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 = " << (jint*)dataToSendPtr;
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jbyte retVal = spiWrite(port, (uint8_t*)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_wpilibj_hal_SPIJNI
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* Method: spiRead
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* Signature: (BLjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead
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(JNIEnv * env, jclass, jbyte port, jobject dataReceived, 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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jbyte * dataReceivedPtr = NULL;
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dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*) dataReceivedPtr;
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jbyte retVal = spiRead(port, (uint8_t*)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_wpilibj_hal_SPIJNI
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* Method: spiClose
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose
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(JNIEnv *, jclass, jbyte 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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spiClose(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetSpeed
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* Signature: (BI)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed
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(JNIEnv *, jclass, jbyte 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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spiSetSpeed(port, speed);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetOpts
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* Signature: (BIII)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts
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(JNIEnv *, jclass, jbyte port, jint msb_first, jint sample_on_trailing, 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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spiSetOpts(port, msb_first, sample_on_trailing, clk_idle_high);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetChipSelectActiveHigh
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* Signature: (BLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh
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(JNIEnv * env, jclass, jbyte port, jobject status)
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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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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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*statusPtr = 0;
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spiSetChipSelectActiveHigh(port, statusPtr);
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SPIJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetChipSelectActiveLow
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* Signature: (BLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow
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(JNIEnv * env, jclass, jbyte port, jobject status)
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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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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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*statusPtr = 0;
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spiSetChipSelectActiveLow(port, statusPtr);
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SPIJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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