Package edu.wpi.first.wpilibj

Class DMA

java.lang.Object
edu.wpi.first.wpilibj.DMA
All Implemented Interfaces:
AutoCloseable
public class DMA
extends Object
implements AutoCloseable
Class for configuring Direct Memory Access (DMA) of FPGA inputs.

  • Constructor Details

    • DMA

      public DMA()
      Default constructor.

  • Method Details

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • setPause

      public void setPause​(boolean pause)
      Sets whether DMA is paused.
      Parameters:
      pause - True pauses DMA.

    • setTimedTrigger

      public void setTimedTrigger​(double periodSeconds)
      Sets DMA to trigger at an interval.
      Parameters:
      periodSeconds - Period at which to trigger DMA in seconds.

    • setTimedTriggerCycles

      public void setTimedTriggerCycles​(int cycles)
      Sets number of DMA cycles to trigger.
      Parameters:
      cycles - Number of cycles.

    • addEncoder

      public void addEncoder​(Encoder encoder)
      Adds position data for an encoder to be collected by DMA.

      This can only be called if DMA is not started.

      Parameters:
      encoder - Encoder to add to DMA.

    • addEncoderPeriod

      public void addEncoderPeriod​(Encoder encoder)
      Adds timer data for an encoder to be collected by DMA.

      This can only be called if DMA is not started.

      Parameters:
      encoder - Encoder to add to DMA.

    • addCounter

      public void addCounter​(Counter counter)
      Adds position data for an counter to be collected by DMA.

      This can only be called if DMA is not started.

      Parameters:
      counter - Counter to add to DMA.

    • addCounterPeriod

      public void addCounterPeriod​(Counter counter)
      Adds timer data for an counter to be collected by DMA.

      This can only be called if DMA is not started.

      Parameters:
      counter - Counter to add to DMA.

    • addDigitalSource

      public void addDigitalSource​(DigitalSource digitalSource)
      Adds a digital source to be collected by DMA.

      This can only be called if DMA is not started.

      Parameters:
      digitalSource - DigitalSource to add to DMA.

    • addDutyCycle

      public void addDutyCycle​(DutyCycle dutyCycle)
      Adds a duty cycle input to be collected by DMA.

      This can only be called if DMA is not started.

      Parameters:
      dutyCycle - DutyCycle to add to DMA.

    • addAnalogInput

      public void addAnalogInput​(AnalogInput analogInput)
      Adds an analog input to be collected by DMA.

      This can only be called if DMA is not started.

      Parameters:
      analogInput - AnalogInput to add to DMA.

    • addAveragedAnalogInput

      public void addAveragedAnalogInput​(AnalogInput analogInput)
      Adds averaged data of an analog input to be collected by DMA.

      This can only be called if DMA is not started.

      Parameters:
      analogInput - AnalogInput to add to DMA.

    • addAnalogAccumulator

      public void addAnalogAccumulator​(AnalogInput analogInput)
      Adds accumulator data of an analog input to be collected by DMA.

      This can only be called if DMA is not started.

      Parameters:
      analogInput - AnalogInput to add to DMA.

    • setExternalTrigger

      public int setExternalTrigger​(DigitalSource source, boolean rising, boolean falling)
      Sets an external DMA trigger.
      Parameters:
      source - the source to trigger from.
      rising - trigger on rising edge.
      falling - trigger on falling edge.
      Returns:
      the index of the trigger

    • setPwmEdgeTrigger

      public int setPwmEdgeTrigger​(PWM pwm, boolean rising, boolean falling)
      Sets a DMA PWM edge trigger.
      Parameters:
      pwm - the PWM to trigger from.
      rising - trigger on rising edge.
      falling - trigger on falling edge.
      Returns:
      the index of the trigger

    • setPwmEdgeTrigger

      public int setPwmEdgeTrigger​(PWMMotorController pwm, boolean rising, boolean falling)
      Sets a DMA PWMMotorController edge trigger.
      Parameters:
      pwm - the PWMMotorController to trigger from.
      rising - trigger on rising edge.
      falling - trigger on falling edge.
      Returns:
      the index of the trigger

    • clearSensors

      public void clearSensors()
      Clear all sensors from the DMA collection list.

      This can only be called if DMA is not started.

    • clearExternalTriggers

      public void clearExternalTriggers()
      Clear all external triggers from the DMA trigger list.

      This can only be called if DMA is not started.

    • start

      public void start​(int queueDepth)
      Starts DMA Collection.
      Parameters:
      queueDepth - The number of objects to be able to queue.

    • stop

      public void stop()
      Stops DMA Collection.