mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
122 lines
3.7 KiB
C++
122 lines
3.7 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 "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 "HALUtil.h"
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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 = " << (HalPortHandle)id;
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int32_t status = 0;
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auto pwm = initializePWMPort((HalPortHandle)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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CheckStatus(env, status);
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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_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 = " << (HalDigitalHandle)id;
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int32_t status = 0;
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freePWMPort((HalDigitalHandle)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_PWMJNI
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* Method: setPWM
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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_setPWM(
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JNIEnv* env, jclass, jint id, jshort value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
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PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
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int32_t status = 0;
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setPWM((HalDigitalHandle)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: getPWM
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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_getPWM(JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
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int32_t status = 0;
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jshort returnValue = getPWM((HalDigitalHandle)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: 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 = " << (HalDigitalHandle)id;
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int32_t status = 0;
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latchPWMZero((HalDigitalHandle)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 = " << (HalDigitalHandle)id;
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PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
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int32_t status = 0;
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setPWMPeriodScale((HalDigitalHandle)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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