allwpilib/hal/include/HAL/SPI.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. 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.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <stdint.h>

#include "HAL/cpp/priority_mutex.h"

priority_recursive_mutex& spiGetSemaphore(uint8_t port);

extern "C" {
void spiInitialize(uint8_t port, int32_t* status);
int32_t spiTransaction(uint8_t port, uint8_t* dataToSend, uint8_t* dataReceived,
                       uint8_t size);
int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
int32_t spiRead(uint8_t port, uint8_t* buffer, uint8_t count);
void spiClose(uint8_t port);
void spiSetSpeed(uint8_t port, uint32_t speed);
void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing,
                int clk_idle_high);
void spiSetChipSelectActiveHigh(uint8_t port, int32_t* status);
void spiSetChipSelectActiveLow(uint8_t port, int32_t* status);
int32_t spiGetHandle(uint8_t port);
void spiSetHandle(uint8_t port, int32_t handle);

void spiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
                        uint8_t xfer_size, uint32_t valid_mask,
                        uint32_t valid_value, uint8_t data_shift,
                        uint8_t data_size, bool is_signed, bool big_endian,
                        int32_t* status);
void spiFreeAccumulator(uint8_t port, int32_t* status);
void spiResetAccumulator(uint8_t port, int32_t* status);
void spiSetAccumulatorCenter(uint8_t port, int32_t center, int32_t* status);
void spiSetAccumulatorDeadband(uint8_t port, int32_t deadband, int32_t* status);
int32_t spiGetAccumulatorLastValue(uint8_t port, int32_t* status);
int64_t spiGetAccumulatorValue(uint8_t port, int32_t* status);
uint32_t spiGetAccumulatorCount(uint8_t port, int32_t* status);
double spiGetAccumulatorAverage(uint8_t port, int32_t* status);
void spiGetAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count,
                             int32_t* status);
}