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https://github.com/wpilibsuite/allwpilib
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ad53fb19b4
Theres is now a built in HMB api, but you have to dlopen it to access it. Moved our existing infrastructure for this to its own class, added the new functions, then updated interrupts and LEDs to use it.
67 lines
2.3 KiB
C++
67 lines
2.3 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 "FPGACalls.h"
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#include <cerrno>
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#include "dlfcn.h"
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#include "hal/Errors.h"
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static void* NiFpgaLibrary = nullptr;
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namespace hal {
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HAL_NiFpga_ReserveIrqContextFunc HAL_NiFpga_ReserveIrqContext;
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HAL_NiFpga_UnreserveIrqContextFunc HAL_NiFpga_UnreserveIrqContext;
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HAL_NiFpga_WaitOnIrqsFunc HAL_NiFpga_WaitOnIrqs;
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HAL_NiFpga_AcknowledgeIrqsFunc HAL_NiFpga_AcknowledgeIrqs;
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HAL_NiFpga_OpenHmbFunc HAL_NiFpga_OpenHmb;
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HAL_NiFpga_CloseHmbFunc HAL_NiFpga_CloseHmb;
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namespace init {
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int InitializeFPGA() {
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NiFpgaLibrary = dlopen("libNiFpga.so", RTLD_LAZY);
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if (!NiFpgaLibrary) {
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return errno;
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}
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wpedantic"
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HAL_NiFpga_ReserveIrqContext =
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reinterpret_cast<HAL_NiFpga_ReserveIrqContextFunc>(
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dlsym(NiFpgaLibrary, "NiFpgaDll_ReserveIrqContext"));
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HAL_NiFpga_UnreserveIrqContext =
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reinterpret_cast<HAL_NiFpga_UnreserveIrqContextFunc>(
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dlsym(NiFpgaLibrary, "NiFpgaDll_UnreserveIrqContext"));
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HAL_NiFpga_WaitOnIrqs = reinterpret_cast<HAL_NiFpga_WaitOnIrqsFunc>(
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dlsym(NiFpgaLibrary, "NiFpgaDll_WaitOnIrqs"));
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HAL_NiFpga_AcknowledgeIrqs = reinterpret_cast<HAL_NiFpga_AcknowledgeIrqsFunc>(
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dlsym(NiFpgaLibrary, "NiFpgaDll_AcknowledgeIrqs"));
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HAL_NiFpga_OpenHmb = reinterpret_cast<HAL_NiFpga_OpenHmbFunc>(
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dlsym(NiFpgaLibrary, "NiFpgaDll_OpenHmb"));
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HAL_NiFpga_CloseHmb = reinterpret_cast<HAL_NiFpga_CloseHmbFunc>(
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dlsym(NiFpgaLibrary, "NiFpgaDll_CloseHmb"));
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#pragma GCC diagnostic pop
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if (HAL_NiFpga_ReserveIrqContext == nullptr ||
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HAL_NiFpga_UnreserveIrqContext == nullptr ||
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HAL_NiFpga_WaitOnIrqs == nullptr ||
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HAL_NiFpga_AcknowledgeIrqs == nullptr || HAL_NiFpga_OpenHmb == nullptr ||
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HAL_NiFpga_CloseHmb == nullptr) {
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HAL_NiFpga_ReserveIrqContext = nullptr;
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HAL_NiFpga_UnreserveIrqContext = nullptr;
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HAL_NiFpga_WaitOnIrqs = nullptr;
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HAL_NiFpga_AcknowledgeIrqs = nullptr;
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HAL_NiFpga_OpenHmb = nullptr;
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HAL_NiFpga_CloseHmb = nullptr;
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dlclose(NiFpgaLibrary);
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NiFpgaLibrary = nullptr;
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return NO_AVAILABLE_RESOURCES;
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}
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return HAL_SUCCESS;
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}
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} // namespace init
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} // namespace hal
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