Squashed 'third_party/allwpilib/' content from commit b0167e633
Change-Id: I5653017a690eec1917e8fff9017195d8af307926
git-subtree-dir: third_party/allwpilib
git-subtree-split: b0167e6337135545e7053acb89dd5726accc7dec
diff --git a/hal/src/main/native/athena/AddressableLED.cpp b/hal/src/main/native/athena/AddressableLED.cpp
new file mode 100644
index 0000000..64b6457
--- /dev/null
+++ b/hal/src/main/native/athena/AddressableLED.cpp
@@ -0,0 +1,243 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "hal/AddressableLED.h"
+
+#include <cstring>
+
+#include <FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga_HMB.h>
+
+#include "ConstantsInternal.h"
+#include "DigitalInternal.h"
+#include "HALInitializer.h"
+#include "PortsInternal.h"
+#include "hal/ChipObject.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/handles/LimitedHandleResource.h"
+
+using namespace hal;
+
+namespace {
+struct AddressableLED {
+ std::unique_ptr<tLED> led;
+ void* ledBuffer;
+ size_t ledBufferSize;
+ int32_t stringLength = 1;
+};
+} // namespace
+
+static LimitedHandleResource<
+ HAL_AddressableLEDHandle, AddressableLED, kNumAddressableLEDs,
+ HAL_HandleEnum::AddressableLED>* addressableLEDHandles;
+
+namespace hal {
+namespace init {
+void InitializeAddressableLED() {
+ static LimitedHandleResource<HAL_AddressableLEDHandle, AddressableLED,
+ kNumAddressableLEDs,
+ HAL_HandleEnum::AddressableLED>
+ alH;
+ addressableLEDHandles = &alH;
+}
+} // namespace init
+} // namespace hal
+
+extern "C" {
+
+HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
+ HAL_DigitalHandle outputPort, int32_t* status) {
+ hal::init::CheckInit();
+
+ auto digitalPort =
+ hal::digitalChannelHandles->Get(outputPort, hal::HAL_HandleEnum::PWM);
+
+ if (!digitalPort) {
+ // If DIO was passed, channel error, else generic error
+ if (getHandleType(outputPort) == hal::HAL_HandleEnum::DIO) {
+ *status = HAL_LED_CHANNEL_ERROR;
+ } else {
+ *status = HAL_HANDLE_ERROR;
+ }
+ return HAL_kInvalidHandle;
+ }
+
+ if (digitalPort->channel >= kNumPWMHeaders) {
+ *status = HAL_LED_CHANNEL_ERROR;
+ return HAL_kInvalidHandle;
+ }
+
+ auto handle = addressableLEDHandles->Allocate();
+
+ if (handle == HAL_kInvalidHandle) {
+ *status = NO_AVAILABLE_RESOURCES;
+ return HAL_kInvalidHandle;
+ }
+
+ auto led = addressableLEDHandles->Get(handle);
+
+ if (!led) {
+ *status = HAL_HANDLE_ERROR;
+ return HAL_kInvalidHandle;
+ }
+
+ led->led.reset(tLED::create(status));
+
+ if (*status != 0) {
+ addressableLEDHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
+
+ led->led->writeOutputSelect(digitalPort->channel, status);
+
+ if (*status != 0) {
+ addressableLEDHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
+
+ led->ledBuffer = nullptr;
+ led->ledBufferSize = 0;
+
+ uint32_t session = led->led->getSystemInterface()->getHandle();
+
+ *status = NiFpga_OpenHostMemoryBuffer(session, "HMB_0_LED", &led->ledBuffer,
+ &led->ledBufferSize);
+
+ if (*status != 0) {
+ addressableLEDHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
+
+ return handle;
+}
+
+void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {
+ addressableLEDHandles->Free(handle);
+}
+
+void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
+ HAL_DigitalHandle outputPort,
+ int32_t* status) {
+ auto digitalPort =
+ hal::digitalChannelHandles->Get(outputPort, hal::HAL_HandleEnum::PWM);
+
+ if (!digitalPort) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ auto led = addressableLEDHandles->Get(handle);
+ if (!led) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ led->led->writeOutputSelect(digitalPort->channel, status);
+}
+
+void HAL_SetAddressableLEDLength(HAL_AddressableLEDHandle handle,
+ int32_t length, int32_t* status) {
+ auto led = addressableLEDHandles->Get(handle);
+ if (!led) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ if (length > HAL_kAddressableLEDMaxLength) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ return;
+ }
+
+ led->led->strobeReset(status);
+
+ while (led->led->readPixelWriteIndex(status) != 0) {
+ }
+
+ if (*status != 0) {
+ return;
+ }
+
+ led->led->writeStringLength(length, status);
+
+ led->stringLength = length;
+}
+
+static_assert(sizeof(HAL_AddressableLEDData) == sizeof(uint32_t),
+ "LED Data must be 32 bit");
+
+void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
+ const struct HAL_AddressableLEDData* data,
+ int32_t length, int32_t* status) {
+ auto led = addressableLEDHandles->Get(handle);
+ if (!led) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ if (length > led->stringLength) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ return;
+ }
+
+ std::memcpy(led->ledBuffer, data, length * sizeof(HAL_AddressableLEDData));
+
+ asm("dmb");
+
+ led->led->strobeLoad(status);
+}
+
+void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
+ int32_t lowTime0NanoSeconds,
+ int32_t highTime0NanoSeconds,
+ int32_t lowTime1NanoSeconds,
+ int32_t highTime1NanoSeconds,
+ int32_t* status) {
+ auto led = addressableLEDHandles->Get(handle);
+ if (!led) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ led->led->writeLowBitTickTiming(1, highTime0NanoSeconds / 25, status);
+ led->led->writeLowBitTickTiming(0, lowTime0NanoSeconds / 25, status);
+ led->led->writeHighBitTickTiming(1, highTime1NanoSeconds / 25, status);
+ led->led->writeHighBitTickTiming(0, lowTime1NanoSeconds / 25, status);
+}
+
+void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
+ int32_t syncTimeMicroSeconds,
+ int32_t* status) {
+ auto led = addressableLEDHandles->Get(handle);
+ if (!led) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ led->led->writeSyncTiming(syncTimeMicroSeconds, status);
+}
+
+void HAL_StartAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+ int32_t* status) {
+ auto led = addressableLEDHandles->Get(handle);
+ if (!led) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ led->led->strobeStart(status);
+}
+
+void HAL_StopAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+ int32_t* status) {
+ auto led = addressableLEDHandles->Get(handle);
+ if (!led) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ led->led->strobeAbort(status);
+}
+} // extern "C"