mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
dcbf02a1ec
The 2019 FPGA image switched the output of auto SPI from plain bytes to a sequence of 32-bit words (timestamp, then words with the byte values in the least significant byte of each word). In addition to changing the HAL and simulators to reflect this, add piecewise integration support to wpilibc/wpilibj SPI to take advantage of the timestamps and use it in the ADXRS450 gyro.
48 lines
1.7 KiB
C++
48 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <jni.h>
|
|
|
|
#include <wpi/jni_util.h>
|
|
|
|
#include "SimulatorJNI.h"
|
|
#include "hal/Types.h"
|
|
#include "hal/handles/UnlimitedHandleResource.h"
|
|
#include "mockdata/HAL_Value.h"
|
|
#include "mockdata/NotifyListener.h"
|
|
#include "mockdata/SPIData.h"
|
|
|
|
namespace sim {
|
|
class SpiReadAutoReceiveBufferCallbackStore {
|
|
public:
|
|
void create(JNIEnv* env, jobject obj);
|
|
int32_t performCallback(const char* name, uint32_t* buffer,
|
|
int32_t numToRead);
|
|
void free(JNIEnv* env);
|
|
void setCallbackId(int32_t id) { callbackId = id; }
|
|
int32_t getCallbackId() { return callbackId; }
|
|
|
|
private:
|
|
wpi::java::JGlobal<jobject> m_call;
|
|
int32_t callbackId;
|
|
};
|
|
|
|
void InitializeSpiBufferStore();
|
|
|
|
typedef int32_t (*RegisterSpiBufferCallbackFunc)(
|
|
int32_t index, HAL_SpiReadAutoReceiveBufferCallback callback, void* param);
|
|
typedef void (*FreeSpiBufferCallbackFunc)(int32_t index, int32_t uid);
|
|
|
|
SIM_JniHandle AllocateSpiBufferCallback(
|
|
JNIEnv* env, jint index, jobject callback,
|
|
RegisterSpiBufferCallbackFunc createCallback);
|
|
void FreeSpiBufferCallback(JNIEnv* env, SIM_JniHandle handle, jint index,
|
|
FreeSpiBufferCallbackFunc freeCallback);
|
|
} // namespace sim
|