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605148456e
Change-Id: If6082f6b92b4be5e328278ba536d5a7681082c9f (+4 squashed commit) Squashed commit: [86b4ae7] * Port I2C to roboRIO in JNI and Java. Left read method as a transaction and added readOnly. Left write as a single byte and added writeBulk. Need to go back to C++ and update to match. Change-Id: I290d84211a4b7bb942d785730c0e6929449cf69f [7d37419] * Remove HiTechnic sensors from Java. May be added back later as examples Change-Id: Ie93e23a70fd953c99c03d50d9529220f86d32e03 [e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++ Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915 [1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282 (+2 squashed commit) Squashed commit: [e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++ Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915 [1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282
112 lines
3.9 KiB
C++
112 lines
3.9 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_I2CJNI.h"
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#include "HAL/Digital.hpp"
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// set the logging level
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TLogLevel i2cJNILogLevel = logWARNING;
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#define I2CJNI_LOG(level) \
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if (level > i2cJNILogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2cInitialize
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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_I2CJNI_i2CInitialize
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(JNIEnv * env, jclass, jbyte value, jobject status)
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{
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize";
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I2CJNI_LOG(logDEBUG) << "Port: " << (jint) value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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i2CInitialize(value, statusPtr);
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I2CJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CTransaction
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* Signature: (BBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;B)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction
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(JNIEnv * env, jclass, jbyte port, jbyte address, jobject dataToSend, jbyte sendSize, jobject dataReceived, jbyte receiveSize)
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{
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransaction";
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I2CJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
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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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I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
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I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
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dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
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I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
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I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
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jbyte returnValue = i2CTransaction(port, address, (uint8_t*)dataToSendPtr, sendSize, (uint8_t*) dataReceivedPtr, receiveSize);
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CWrite
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* Signature: (BBLjava/nio/ByteBuffer;B)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite
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(JNIEnv * env, jclass, jbyte port, jbyte address, jobject dataToSend, jbyte sendSize)
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{
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
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I2CJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
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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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I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
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I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)dataToSend;
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jbyte returnValue = i2CWrite(port, address, (uint8_t*)dataToSendPtr, sendSize);
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CRead
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* Signature: (BBLjava/nio/ByteBuffer;B)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead
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(JNIEnv * env, jclass, jbyte port, jbyte address, jobject dataReceived, jbyte receiveSize)
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{
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
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I2CJNI_LOG(logDEBUG) << "Port = " << port;
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I2CJNI_LOG(logDEBUG) << "Address = " << address;
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jbyte * dataReceivedPtr = NULL;
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dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
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I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
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I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
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jbyte returnValue = i2CRead(port, address, (uint8_t*) dataReceivedPtr, receiveSize);
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CClose
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose
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(JNIEnv *, jclass, jbyte value)
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{
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2cClose";
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i2CClose(value);
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}
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