/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAccumulatorCenter
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter
(JNIEnv * env, jclass, jobject id, jint center, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setAccumulatorCenter(*javaId, center, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/**
* Initialize the accumulator.
*/
void initAccumulator(void* analog_port_pointer, int32_t *status) {
setAccumulatorCenter(analog_port_pointer, 0, status);
resetAccumulator(analog_port_pointer, status);
}
/**
* Set the center value of the accumulator.
*
* The center value is subtracted from each A/D value before it is added to the
* accumulator. This
* is used for the center value of devices like gyros and accelerometers to
* take the device offset into account when integrating.
*
* This center value is based on the output of the oversampled and averaged
* source from the accumulator
* channel. Because of this, any non-zero oversample bits will affect the size
* of the value for this field.
*/
void AnalogInput::SetAccumulatorCenter(int32_t center) {
if (StatusIsFatal()) return;
int32_t status = 0;
setAccumulatorCenter(m_port, center, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
