/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiClose
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose
(JNIEnv *, jclass, jbyte port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
spiClose(port);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetSpeed
* Signature: (BI)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed(
JNIEnv *, jclass, jbyte port, jint speed) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Speed = " << (jint)speed;
HAL_SetSPISpeed(port, speed);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiInitialize
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize(
JNIEnv *env, jclass, jbyte port) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_InitializeSPI(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiResetAccumulator
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiResetAccumulator
(JNIEnv *env, jclass, jbyte port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiResetAccumulator";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
spiResetAccumulator(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetChipSelectActiveLow
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow
(JNIEnv * env, jclass, jbyte port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
spiSetChipSelectActiveLow(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetOpts
* Signature: (BIII)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts
(JNIEnv *, jclass, jbyte port, jint msb_first, jint sample_on_trailing, jint clk_idle_high)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetOpts";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
spiSetOpts(port, msb_first, sample_on_trailing, clk_idle_high);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetAccumulatorDeadband
* Signature: (BI)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorDeadband
(JNIEnv *env, jclass, jbyte port, jint deadband)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorDeadband";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
SPIJNI_LOG(logDEBUG) << "Deadband = " << deadband;
int32_t status = 0;
spiSetAccumulatorDeadband(port, deadband, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiSetAccumulatorCenter
* Signature: (BI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorCenter(
JNIEnv *env, jclass, jbyte port, jint center) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAccumulatorCenter";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Center = " << center;
int32_t status = 0;
HAL_SetSPIAccumulatorCenter(port, center, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiRead
* Signature: (BLjava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead
(JNIEnv * env, jclass, jbyte port, jobject dataReceived, jbyte size)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiRead";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
uint8_t* dataReceivedPtr = (uint8_t*)env->GetDirectBufferAddress(dataReceived);
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
jint retVal = spiRead(port, (uint8_t*)dataReceivedPtr, size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorAverage
* Signature: (B)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorAverage
(JNIEnv *env, jclass, jbyte port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorAverage";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
jdouble retVal = spiGetAccumulatorAverage(port, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
CheckStatus(env, status);
return retVal;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiWrite
* Signature: (BLjava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite(
JNIEnv *env, jclass, jbyte port, jobject dataToSend, jbyte size) {
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWrite";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
uint8_t *dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr = (uint8_t *)env->GetDirectBufferAddress(dataToSend);
}
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
jint retVal = HAL_WriteSPI(port, dataToSendPtr, size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiGetAccumulatorOutput
* Signature: (BLjava/nio/LongBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorOutput
(JNIEnv *env, jclass, jbyte port, jobject value, jobject count)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorOutput";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
int32_t status = 0;
jlong * valuePtr = (jlong*)env->GetDirectBufferAddress(value);
uint32_t * countPtr = (uint32_t*)env->GetDirectBufferAddress(count);
spiGetAccumulatorOutput(port, valuePtr, countPtr, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "Value = " << *valuePtr;
SPIJNI_LOG(logDEBUG) << "Count = " << *countPtr;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiInitAccumulator
* Signature: (BIIBIIBBZZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAccumulator
(JNIEnv *env, jclass, jbyte port, jint period, jint cmd, jbyte xferSize, jint validMask, jint validValue, jbyte dataShift, jbyte dataSize, jboolean isSigned, jboolean bigEndian)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAccumulator";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
SPIJNI_LOG(logDEBUG) << "Period = " << period;
SPIJNI_LOG(logDEBUG) << "Cmd = " << cmd;
SPIJNI_LOG(logDEBUG) << "XferSize = " << (jint) xferSize;
SPIJNI_LOG(logDEBUG) << "ValidMask = " << validMask;
SPIJNI_LOG(logDEBUG) << "ValidValue = " << validValue;
SPIJNI_LOG(logDEBUG) << "DataShift = " << (jint) dataShift;
SPIJNI_LOG(logDEBUG) << "DataSize = " << (jint) dataSize;
SPIJNI_LOG(logDEBUG) << "IsSigned = " << (jint) isSigned;
SPIJNI_LOG(logDEBUG) << "BigEndian = " << (jint) bigEndian;
int32_t status = 0;
spiInitAccumulator(port, period, cmd, xferSize, validMask, validValue,
dataShift, dataSize, isSigned, bigEndian, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
