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[hal,wpilib] Fix SPI Mode Setting (#4434)

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SPI Mode setting was very broken. MSB and LSB sets did not work (MSB is the only one supported)
and if LSB was set (which was the default) the ioct to set clock phase would fail. This
deprecates all the individual functions, the LSB/MSB functions, and adds an SPI mode selection
function. This is usually more understandable, and shows up in a lot more documentation
This commit is contained in:
Thad House
2022-09-24 00:11:37 -07:00
committed by GitHub
parent 773198537c
commit 17f504f548
19 changed files with 243 additions and 95 deletions
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38
wpilibc/src/main/native/cpp/SPI.cpp
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@@ -158,6 +158,7 @@ void SPI::Accumulator::Update() {
SPI::SPI(Port port) : m_port(static_cast<HAL_SPIPort>(port)) {
int32_t status = 0;
HAL_InitializeSPI(m_port, &status);
HAL_SetSPIMode(m_port, m_mode);
FRC_CheckErrorStatus(status, "Port {}", static_cast<int>(m_port));
HAL_Report(HALUsageReporting::kResourceType_SPI,
@@ -177,33 +178,46 @@ void SPI::SetClockRate(int hz) {
}
void SPI::SetMSBFirst() {
m_msbFirst = true;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
FRC_ReportError(1, "SetMSBFirst not supported by roboRIO {}",
static_cast<int>(m_port));
}
void SPI::SetLSBFirst() {
m_msbFirst = false;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
FRC_ReportError(1, "SetLSBFirst not supported by roboRIO {}",
static_cast<int>(m_port));
}
void SPI::SetSampleDataOnLeadingEdge() {
m_sampleOnTrailing = false;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
int mode = m_mode;
mode &= 2;
m_mode = static_cast<HAL_SPIMode>(mode);
HAL_SetSPIMode(m_port, m_mode);
}
void SPI::SetSampleDataOnTrailingEdge() {
m_sampleOnTrailing = true;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
int mode = m_mode;
mode |= 2;
m_mode = static_cast<HAL_SPIMode>(mode);
HAL_SetSPIMode(m_port, m_mode);
}
void SPI::SetClockActiveLow() {
m_clockIdleHigh = true;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
int mode = m_mode;
mode |= 1;
m_mode = static_cast<HAL_SPIMode>(mode);
HAL_SetSPIMode(m_port, m_mode);
}
void SPI::SetClockActiveHigh() {
m_clockIdleHigh = false;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
int mode = m_mode;
mode &= 1;
m_mode = static_cast<HAL_SPIMode>(mode);
HAL_SetSPIMode(m_port, m_mode);
}
void SPI::SetMode(Mode mode) {
m_mode = static_cast<HAL_SPIMode>(mode & 0x3);
HAL_SetSPIMode(m_port, m_mode);
}
void SPI::SetChipSelectActiveHigh() {