mirror of
https://github.com/wpilibsuite/allwpilib
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120 lines
2.9 KiB
C++
120 lines
2.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <jni.h>
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#include <cassert>
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#include "HALUtil.h"
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#include "org_wpilib_hardware_hal_PWMJNI.h"
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#include "wpi/hal/DIO.h"
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#include "wpi/hal/PWM.h"
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#include "wpi/hal/Ports.h"
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#include "wpi/hal/handles/HandlesInternal.h"
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#include "wpi/util/jni_util.hpp"
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using namespace wpi::hal;
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extern "C" {
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/*
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* Class: org_wpilib_hardware_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_org_wpilib_hardware_hal_PWMJNI_initializePWMPort
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(JNIEnv* env, jclass, jint channel)
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{
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int32_t status = 0;
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auto stack = wpi::util::java::GetJavaStackTrace(env, "edu.wpi.first");
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auto pwm = HAL_InitializePWMPort(channel, stack.c_str(), &status);
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CheckStatusForceThrow(env, status);
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return (jint)pwm;
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}
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/*
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* Class: org_wpilib_hardware_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
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Java_org_wpilib_hardware_hal_PWMJNI_checkPWMChannel
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(JNIEnv* env, jclass, jint channel)
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{
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return HAL_CheckPWMChannel(channel);
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}
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/*
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* Class: org_wpilib_hardware_hal_PWMJNI
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* Method: freePWMPort
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_PWMJNI_freePWMPort
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(JNIEnv* env, jclass, jint id)
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{
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if (id != HAL_kInvalidHandle) {
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HAL_FreePWMPort((HAL_DigitalHandle)id);
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}
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}
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/*
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* Class: org_wpilib_hardware_hal_PWMJNI
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* Method: setPWMSimDevice
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_PWMJNI_setPWMSimDevice
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(JNIEnv* env, jclass, jint handle, jint device)
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{
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HAL_SetPWMSimDevice((HAL_DigitalHandle)handle, (HAL_SimDeviceHandle)device);
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}
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/*
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* Class: org_wpilib_hardware_hal_PWMJNI
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* Method: setPulseTimeMicroseconds
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_PWMJNI_setPulseTimeMicroseconds
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(JNIEnv* env, jclass, jint id, jint value)
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{
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int32_t status = 0;
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HAL_SetPWMPulseTimeMicroseconds((HAL_DigitalHandle)id, value, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: org_wpilib_hardware_hal_PWMJNI
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* Method: getPulseTimeMicroseconds
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_org_wpilib_hardware_hal_PWMJNI_getPulseTimeMicroseconds
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(JNIEnv* env, jclass, jint id)
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{
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int32_t status = 0;
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int32_t returnValue =
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HAL_GetPWMPulseTimeMicroseconds((HAL_DigitalHandle)id, &status);
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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: org_wpilib_hardware_hal_PWMJNI
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* Method: setPWMOutputPeriod
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_PWMJNI_setPWMOutputPeriod
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(JNIEnv* env, jclass, jint id, jint value)
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{
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int32_t status = 0;
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HAL_SetPWMOutputPeriod((HAL_DigitalHandle)id, value, &status);
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CheckStatus(env, status);
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}
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} // extern "C"
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