mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
792e3b6ccc
Modules aren't used anymore in wpilibc and wpilibj, so the hal functions that references them and and JNI bindings for these functions have been pulled out. Both Counter classes were also modified because they still referenced modules. Change-Id: Ic01feb145a4ed5f08cd55f140867c721f5ee7b10
119 lines
6.1 KiB
C++
119 lines
6.1 KiB
C++
#pragma once
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#ifdef __vxworks
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#include <vxWorks.h>
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#else
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#include <stdint.h>
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#endif
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#include "HAL/cpp/Synchronized.hpp"
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enum Mode
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{
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kTwoPulse = 0,
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kSemiperiod = 1,
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kPulseLength = 2,
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kExternalDirection = 3
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};
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extern "C"
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{
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void* initializeDigitalPort(void* port_pointer, int32_t *status);
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bool checkPWMChannel(void* digital_port_pointer);
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bool checkRelayChannel(void* digital_port_pointer);
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void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status);
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unsigned short getPWM(void* digital_port_pointer, int32_t *status);
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void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status);
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void* allocatePWM(int32_t *status);
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void freePWM(void* pwmGenerator, int32_t *status);
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void setPWMRate(double rate, int32_t *status);
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void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status);
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void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status);
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void setRelayForward(void* digital_port_pointer, bool on, int32_t *status);
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void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status);
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bool getRelayForward(void* digital_port_pointer, int32_t *status);
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bool getRelayReverse(void* digital_port_pointer, int32_t *status);
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bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status);
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void freeDIO(void* digital_port_pointer, int32_t *status);
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void setDIO(void* digital_port_pointer, short value, int32_t *status);
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bool getDIO(void* digital_port_pointer, int32_t *status);
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bool getDIODirection(void* digital_port_pointer, int32_t *status);
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void pulse(void* digital_port_pointer, double pulseLength, int32_t *status);
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bool isPulsing(void* digital_port_pointer, int32_t *status);
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bool isAnyPulsing(int32_t *status);
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void* initializeCounter(Mode mode, uint32_t *index, int32_t *status);
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void freeCounter(void* counter_pointer, int32_t *status);
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void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status);
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void setCounterUpSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
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void setCounterUpSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
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int32_t *status);
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void clearCounterUpSource(void* counter_pointer, int32_t *status);
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void setCounterDownSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
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void setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
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int32_t *status);
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void clearCounterDownSource(void* counter_pointer, int32_t *status);
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void setCounterUpDownMode(void* counter_pointer, int32_t *status);
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void setCounterExternalDirectionMode(void* counter_pointer, int32_t *status);
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void setCounterSemiPeriodMode(void* counter_pointer, bool highSemiPeriod, int32_t *status);
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void setCounterPulseLengthMode(void* counter_pointer, double threshold, int32_t *status);
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int32_t getCounterSamplesToAverage(void* counter_pointer, int32_t *status);
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void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int32_t *status);
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void startCounter(void* counter_pointer, int32_t *status);
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void stopCounter(void* counter_pointer, int32_t *status);
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void resetCounter(void* counter_pointer, int32_t *status);
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int32_t getCounter(void* counter_pointer, int32_t *status);
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double getCounterPeriod(void* counter_pointer, int32_t *status);
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void setCounterMaxPeriod(void* counter_pointer, double maxPeriod, int32_t *status);
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void setCounterUpdateWhenEmpty(void* counter_pointer, bool enabled, int32_t *status);
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bool getCounterStopped(void* counter_pointer, int32_t *status);
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bool getCounterDirection(void* counter_pointer, int32_t *status);
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void setCounterReverseDirection(void* counter_pointer, bool reverseDirection, int32_t *status);
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void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
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uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
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bool reverseDirection, int32_t *index, int32_t *status); // TODO: fix routing
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void freeEncoder(void* encoder_pointer, int32_t *status);
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void startEncoder(void* encoder_pointer, int32_t *status);
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void stopEncoder(void* encoder_pointer, int32_t *status);
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void resetEncoder(void* encoder_pointer, int32_t *status);
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int32_t getEncoder(void* encoder_pointer, int32_t *status); // Raw value
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double getEncoderPeriod(void* encoder_pointer, int32_t *status);
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void setEncoderMaxPeriod(void* encoder_pointer, double maxPeriod, int32_t *status);
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bool getEncoderStopped(void* encoder_pointer, int32_t *status);
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bool getEncoderDirection(void* encoder_pointer, int32_t *status);
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void setEncoderReverseDirection(void* encoder_pointer, bool reverseDirection, int32_t *status);
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void setEncoderSamplesToAverage(void* encoder_pointer, uint32_t samplesToAverage,
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int32_t *status);
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uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status);
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uint16_t getLoopTiming(int32_t *status);
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void spiInitialize(uint8_t port, int32_t *status);
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int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived, uint8_t size);
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int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
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int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count);
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void spiClose(uint8_t port);
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void spiSetSpeed(uint8_t port, uint32_t speed);
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void spiSetBitsPerWord(uint8_t port, uint8_t bpw);
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void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idle_high);
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void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status);
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void spiSetChipSelectActiveLow(uint8_t port, int32_t *status);
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int32_t spiGetHandle(uint8_t port);
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void spiSetHandle(uint8_t port, int32_t handle);
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MUTEX_ID spiGetSemaphore(uint8_t port);
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void spiSetSemaphore(uint8_t port, MUTEX_ID semaphore);
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void i2CInitialize(uint8_t port, int32_t *status);
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int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
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int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
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int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
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void i2CClose(uint8_t port);
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//// Float JNA Hack
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// double
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void setPWMRateIntHack(int rate, int32_t *status);
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void setPWMDutyCycleIntHack(void* pwmGenerator, int32_t dutyCycle, int32_t *status);
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}
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