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[hal, wpilib] Add initial systemcore counter implementation (#7723)
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@ThadHouse
ThadHouse authored Jan 28, 2025
1 parent b799b28 commit 48ce2dc
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196 changes: 4 additions & 192 deletions hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
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package edu.wpi.first.hal;

import java.nio.IntBuffer;

/**
* Counter HAL JNI functions.
*
* @see "hal/Counter.h"
*/
public class CounterJNI extends JNIWrapper {
/** Two pulse mode. */
public static final int TWO_PULSE = 0;

/** Semi-period mode. */
public static final int SEMI_PERIOD = 1;

/** Pulse length mode. */
public static final int PULSE_LENGTH = 2;

/** External direction mode. */
public static final int EXTERNAL_DIRECTION = 3;

/**
* Initializes a counter.
*
* @param mode the counter mode
* @param index the compressor index (output)
* @param channel the DIO channel
* @param risingEdge true to trigger on rising
* @return the created handle
* @see "HAL_InitializeCounter"
*/
public static native int initializeCounter(int mode, IntBuffer index);
public static native int initializeCounter(int channel, boolean risingEdge);

/**
* Frees a counter.
Expand All @@ -42,145 +28,16 @@ public class CounterJNI extends JNIWrapper {
*/
public static native void freeCounter(int counterHandle);

/**
* Sets the average sample size of a counter.
*
* @param counterHandle the counter handle
* @param size the size of samples to average
* @see "HAL_SetCounterAverageSize"
*/
public static native void setCounterAverageSize(int counterHandle, int size);

/**
* Sets the source object that causes the counter to count up.
*
* @param counterHandle the counter handle
* @param digitalSourceHandle the digital source handle (either a HAL_AnalogTriggerHandle or a
* HAL_DigitalHandle)
* @param analogTriggerType the analog trigger type if the source is an analog trigger
* @see "HAL_SetCounterUpSource"
*/
public static native void setCounterUpSource(
int counterHandle, int digitalSourceHandle, int analogTriggerType);

/**
* Sets the up source to either detect rising edges or falling edges.
*
* <p>Note that both are allowed to be set true at the same time without issues.
*
* @param counterHandle the counter handle
* @param risingEdge true to trigger on rising
* @param fallingEdge true to trigger on falling
* @see "HAL_SetCounterUpSourceEdge"
*/
public static native void setCounterUpSourceEdge(
int counterHandle, boolean risingEdge, boolean fallingEdge);

/**
* Disables the up counting source to the counter.
*
* @param counterHandle the counter handle
* @see "HAL_ClearCounterUpSource"
*/
public static native void clearCounterUpSource(int counterHandle);

/**
* Sets the source object that causes the counter to count down.
*
* @param counterHandle the counter handle
* @param digitalSourceHandle the digital source handle (either a HAL_AnalogTriggerHandle or a
* HAL_DigitalHandle)
* @param analogTriggerType the analog trigger type if the source is an analog trigger
* @see "HAL_SetCounterDownSource"
*/
public static native void setCounterDownSource(
int counterHandle, int digitalSourceHandle, int analogTriggerType);

/**
* Sets the down source to either detect rising edges or falling edges. Note that both are allowed
* to be set true at the same time without issues.
*
* @param counterHandle the counter handle
* @param risingEdge true to trigger on rising
* @param fallingEdge true to trigger on falling
* @see "HAL_SetCounterDownSourceEdge"
*/
public static native void setCounterDownSourceEdge(
int counterHandle, boolean risingEdge, boolean fallingEdge);

/**
* Disables the down counting source to the counter.
*
* @param counterHandle the counter handle
* @see "HAL_ClearCounterDownSource"
*/
public static native void clearCounterDownSource(int counterHandle);

/**
* Sets standard up / down counting mode on this counter.
*
* <p>Up and down counts are sourced independently from two inputs.
*
* @param counterHandle the counter handle
* @see "HAL_SetCounterUpDownMode"
*/
public static native void setCounterUpDownMode(int counterHandle);

/**
* Sets directional counting mode on this counter.
*
* <p>The direction is determined by the B input, with counting happening with the A input.
*
* @param counterHandle the counter handle
* @see "HAL_SetCounterExternalDirectionMode"
*/
public static native void setCounterExternalDirectionMode(int counterHandle);

/**
* Sets Semi-period mode on this counter.
*
* <p>The counter counts up based on the time the input is triggered. High or Low depends on the
* highSemiPeriod parameter.
*
* @param counterHandle the counter handle
* @param highSemiPeriod true for counting when the input is high, false for low
* @see "HAL_SetCounterSemiPeriodMode"
*/
public static native void setCounterSemiPeriodMode(int counterHandle, boolean highSemiPeriod);

/**
* Configures the counter to count in up or down based on the length of the input pulse.
*
* <p>This mode is most useful for direction sensitive gear tooth sensors.
*
* @param counterHandle the counter handle
* @param threshold The pulse length beyond which the counter counts the opposite direction
* (seconds)
* @see "HAL_SetCounterPulseLengthMode"
*/
public static native void setCounterPulseLengthMode(int counterHandle, double threshold);

/**
* Gets the Samples to Average which specifies the number of samples of the timer to average when
* calculating the period. Perform averaging to account for mechanical imperfections or as
* oversampling to increase resolution.
*
* @param counterHandle the counter handle
* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
* @see "HAL_GetCounterSamplesToAverage"
*/
public static native int getCounterSamplesToAverage(int counterHandle);

/**
* Sets the Samples to Average which specifies the number of samples of the timer to average when
* calculating the period. Perform averaging to account for mechanical imperfections or as
* oversampling to increase resolution.
*
* @param counterHandle the counter handle
* @param samplesToAverage The number of samples to average from 1 to 127
* @see "HAL_SetCounterSamplesToAverage"
*/
public static native void setCounterSamplesToAverage(int counterHandle, int samplesToAverage);
public static native void setCounterEdgeConfiguration(int counterHandle, boolean risingEdge);

/**
* Resets the Counter to zero.
Expand Down Expand Up @@ -229,30 +86,6 @@ public static native void setCounterDownSourceEdge(
*/
public static native void setCounterMaxPeriod(int counterHandle, double maxPeriod);

/**
* Selects whether you want to continue updating the event timer output when there are no samples
* captured.
*
* <p>The output of the event timer has a buffer of periods that are averaged and posted to a
* register on the FPGA. When the timer detects that the event source has stopped (based on the
* MaxPeriod) the buffer of samples to be averaged is emptied.
*
* <p>If you enable the update when empty, you will be notified of the stopped source and the
* event time will report 0 samples.
*
* <p>If you disable update when empty, the most recent average will remain on the output until a
* new sample is acquired.
*
* <p>You will never see 0 samples output (except when there have been no events since an FPGA
* reset) and you will likely not see the stopped bit become true (since it is updated at the end
* of an average and there are no samples to average).
*
* @param counterHandle the counter handle
* @param enabled true to enable counter updating with no samples
* @see "HAL_SetCounterUpdateWhenEmpty"
*/
public static native void setCounterUpdateWhenEmpty(int counterHandle, boolean enabled);

/**
* Determines if the clock is stopped.
*
Expand All @@ -266,27 +99,6 @@ public static native void setCounterDownSourceEdge(
*/
public static native boolean getCounterStopped(int counterHandle);

/**
* Gets the last direction the counter value changed.
*
* @param counterHandle the counter handle
* @return the last direction the counter value changed
* @see "HAL_GetCounterDirection"
*/
public static native boolean getCounterDirection(int counterHandle);

/**
* Sets the Counter to return reversed sensing on the direction.
*
* <p>This allows counters to change the direction they are counting in the case of 1X and 2X
* quadrature encoding only. Any other counter mode isn't supported.
*
* @param counterHandle the counter handle
* @param reverseDirection true if the value counted should be negated.
* @see "HAL_SetCounterReverseDirection"
*/
public static native void setCounterReverseDirection(int counterHandle, boolean reverseDirection);

/** Utility class. */
private CounterJNI() {}
}
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