Initial checkin of unified hierarchy of WPILib 2015

wpilibc/src/main/native/SPI.cpp

@@ -0,0 +1,424 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "SPI.h"
+
+#include "DigitalModule.h"
+#include "DigitalInput.h"
+#include "DigitalOutput.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "HAL/cpp/Synchronized.h"
+#include "WPIErrors.h"
+
+#include <math.h>
+
+/**
+ * Constructor for input and output.
+ *
+ * @param clk	The digital output for the clock signal.
+ * @param mosi	The digital output for the written data to the slave
+ *				(master-out slave-in).
+ * @param miso	The digital input for the input data from the slave
+ *				(master-in slave-out).
+ */
+SPI::SPI(DigitalOutput &clk, DigitalOutput &mosi, DigitalInput &miso)
+{
+	Init(&clk, &mosi, &miso);
+}
+
+/**
+ * Constructor for input and output.
+ *
+ * @param clk	The digital output for the clock signal.
+ * @param mosi	The digital output for the written data to the slave
+ *				(master-out slave-in).
+ * @param miso	The digital input for the input data from the slave
+ *				(master-in slave-out).
+ */
+SPI::SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso)
+{
+	Init(clk, mosi, miso);
+}
+
+/**
+ * Constructor for output only.
+ *
+ * @param clk	The digital output for the clock signal.
+ * @param mosi	The digital output for the written data to the slave
+ *				(master-out slave-in).
+ */
+SPI::SPI(DigitalOutput &clk, DigitalOutput &mosi)
+{
+	Init(&clk, &mosi, NULL);
+}
+
+/**
+ * Constructor for output only.
+ *
+ * @param clk	The digital output for the clock signal.
+ * @param mosi	The digital output for the written data to the slave
+ *				(master-out slave-in).
+ */
+SPI::SPI(DigitalOutput *clk, DigitalOutput *mosi)
+{
+	Init(clk, mosi, NULL);
+}
+
+/**
+ * Constructor for input only.
+ *
+ * @param clk	The digital output for the clock signal.
+ * @param miso	The digital input for the input data from the slave
+ *				(master-in slave-out).
+ */
+SPI::SPI(DigitalOutput &clk, DigitalInput &miso)
+{
+	Init(&clk, NULL, &miso);
+}
+
+/**
+ * Constructor for input only.
+ *
+ * @param clk	The digital output for the clock signal.
+ * @param miso	The digital input for the input data from the slave
+ *				(master-in slave-out).
+ */
+SPI::SPI(DigitalOutput *clk, DigitalInput *miso)
+{
+	Init(clk, NULL, miso);
+}
+
+/**
+ * Destructor.
+ */
+SPI::~SPI()
+{
+	int32_t status = 0;
+	cleanSPI(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Initialize SPI channel configuration.
+ *
+ * @param clk	The digital output for the clock signal.
+ * @param mosi	The digital output for the written data to the slave
+ *				(master-out slave-in).
+ * @param miso	The digital input for the input data from the slave
+ *				(master-in slave-out).
+ */
+void SPI::Init(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso)
+{
+  	int32_t status = 0;
+	m_spi = initializeSPI(clk->GetModuleForRouting(), clk->GetChannelForRouting(),
+						  mosi->GetModuleForRouting(), mosi->GetChannelForRouting(),
+						  miso->GetModuleForRouting(), miso->GetChannelForRouting(), &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+	m_ss = NULL;
+
+	static int32_t instances = 0;
+	instances++;
+	nUsageReporting::report(nUsageReporting::kResourceType_SPI, instances);
+}
+
+/**
+ * Configure the number of bits from each word that the slave transmits
+ * or receives.
+ *
+ * @param bits	The number of bits in one frame (1 to 32 bits).
+ */
+void SPI::SetBitsPerWord(uint32_t bits)
+{
+	int32_t status = 0;
+	setSPIBitsPerWord(m_spi, bits, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));	
+}
+
+/**
+ * Get the number of bits from each word that the slave transmits
+ * or receives.
+ *
+ * @return The number of bits in one frame (1 to 32 bits).
+ */
+uint32_t SPI::GetBitsPerWord()
+{
+	int32_t status = 0;
+	uint32_t bits = getSPIBitsPerWord(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));	
+	return bits;
+}
+
+/**
+ * Configure the rate of the generated clock signal.
+ * The default and maximum value is 76,628.4 Hz.
+ *
+ * @param hz	The clock rate in Hertz.
+ */
+void SPI::SetClockRate(double hz)
+{
+	int32_t status = 0;
+	setSPIClockRate(m_spi, hz, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Configure the order that bits are sent and received on the wire
+ * to be most significant bit first.
+ */
+void SPI::SetMSBFirst()
+{
+	int32_t status = 0;
+	setSPIMSBFirst(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Configure the order that bits are sent and received on the wire
+ * to be least significant bit first.
+ */
+void SPI::SetLSBFirst()
+{
+	int32_t status = 0;
+	setSPILSBFirst(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Configure that the data is stable on the falling edge and the data
+ * changes on the rising edge.
+ */
+void SPI::SetSampleDataOnFalling()
+{
+	int32_t status = 0;
+	setSPISampleDataOnFalling(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Configure that the data is stable on the rising edge and the data
+ * changes on the falling edge.
+ */
+void SPI::SetSampleDataOnRising()
+{
+	int32_t status = 0;
+	setSPISampleDataOnRising(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Configure the slave select line behavior.
+ *
+ * @param ss slave select digital output.
+ * @param mode Frame mode:
+ *			   kChipSelect: active for the duration of the frame.
+ *			   kPreLatchPulse: pulses before the transfer of each frame.
+ *			   kPostLatchPulse: pulses after the transfer of each frame.
+ *			   kPreAndPostLatchPulse: pulses before and after each frame.
+ * @param activeLow True if slave select line is active low.
+ */
+void SPI::SetSlaveSelect(DigitalOutput *ss, tFrameMode mode, bool activeLow)
+{
+	int32_t status = 0;
+
+	if (ss)
+	{
+		setSPISlaveSelect(m_spi, ss->GetModuleForRouting(), ss->GetChannelForRouting(), &status);
+	}
+	else
+	{
+		setSPISlaveSelect(m_spi, 0, 0, &status);
+	}
+	m_ss = ss;
+
+	setSPILatchMode(m_spi, mode, &status);
+	setSPIFramePolarity(m_spi, activeLow, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Configure the slave select line behavior.
+ *
+ * @param ss slave select digital output.
+ * @param mode Frame mode:
+ *			   kChipSelect: active for the duration of the frame.
+ *			   kPreLatchPulse: pulses before the transfer of each frame.
+ *			   kPostLatchPulse: pulses after the transfer of each frame.
+ *			   kPreAndPostLatchPulse: pulses before and after each frame.
+ * @param activeLow True if slave select line is active low.
+ */
+void SPI::SetSlaveSelect(DigitalOutput &ss, tFrameMode mode, bool activeLow)
+{
+	SetSlaveSelect(&ss, mode, activeLow);
+}
+
+/**
+ * Get the slave select line behavior.
+ *
+ * @param mode Frame mode:
+ *			   kChipSelect: active for the duration of the frame.
+ *			   kPreLatchPulse: pulses before the transfer of each frame.
+ *			   kPostLatchPulse: pulses after the transfer of each frame.
+ *			   kPreAndPostLatchPulse: pulses before and after each frame.
+ * @param activeLow True if slave select line is active low.
+ * @return The slave select digital output.
+ */
+DigitalOutput *SPI::GetSlaveSelect(tFrameMode *mode, bool *activeLow)
+{
+	int32_t status = 0;
+	if (mode != NULL)
+	{
+		*mode = getSPILatchMode(m_spi, &status);
+	}
+	if (activeLow != NULL)
+	{
+		*activeLow = getSPIFramePolarity(m_spi, &status);
+	}
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return m_ss;
+}
+
+/**
+ * Configure the clock output line to be active low.
+ * This is sometimes called clock polarity high.
+ */
+void SPI::SetClockActiveLow()
+{
+	int32_t status = 0;
+	setSPIClockActiveLow(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Configure the clock output line to be active high.
+ * This is sometimes called clock polarity low.
+ */
+void SPI::SetClockActiveHigh()
+{
+	int32_t status = 0;
+	setSPIClockActiveHigh(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Apply configuration settings and reset the SPI logic.
+ */
+void SPI::ApplyConfig()
+{
+	int32_t status = 0;
+	applySPIConfig(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Get the number of words that can currently be stored before being
+ * transmitted to the device.
+ *
+ * @return The number of words available to be written.
+ */
+uint16_t SPI::GetOutputFIFOAvailable()
+{
+	int32_t status = 0;
+	uint16_t result = getSPIOutputFIFOAvailable(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return result;
+}
+
+/**
+ * Get the number of words received and currently available to be read from
+ * the receive FIFO.
+ *
+ * @return The number of words available to read.
+ */
+uint16_t SPI::GetNumReceived()
+{
+	int32_t status = 0;
+	uint16_t result = getSPINumReceived(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return result;
+}
+
+/**
+ * Have all pending transfers completed?
+ *
+ * @return True if no transfers are pending.
+ */
+bool SPI::IsDone()
+{
+	int32_t status = 0;
+	bool result = isSPIDone(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return result;
+}
+
+/**
+ * Determine if the receive FIFO was full when attempting to add new data at
+ * end of a transfer.
+ *
+ * @return True if the receive FIFO overflowed.
+ */
+bool SPI::HadReceiveOverflow()
+{
+	int32_t status = 0;
+	bool result = hadSPIReceiveOverflow(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return result;
+}
+
+/**
+ * Write a word to the slave device.  Blocks until there is space in the
+ * output FIFO.
+ *
+ * If not running in output only mode, also saves the data received
+ * on the MISO input during the transfer into the receive FIFO.
+ */
+void SPI::Write(uint32_t data)
+{
+	int32_t status = 0;
+	writeSPI(m_spi, data, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Read a word from the receive FIFO.
+ *
+ * Waits for the current transfer to complete if the receive FIFO is empty.
+ *
+ * If the receive FIFO is empty, there is no active transfer, and initiate
+ * is false, errors.
+ *
+ * @param initiate	If true, this function pushes "0" into the
+ *				    transmit buffer and initiates a transfer.
+ *				    If false, this function assumes that data is
+ *				    already in the receive FIFO from a previous write.
+ */
+uint32_t SPI::Read(bool initiate)
+{
+	int32_t status = 0;
+	uint32_t value = readSPI(m_spi, initiate, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return value;
+}
+
+/**
+ * Stop any transfer in progress and empty the transmit FIFO.
+ */
+void SPI::Reset()
+{
+	int32_t status = 0;
+	resetSPI(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Empty the receive FIFO.
+ */
+void SPI::ClearReceivedData()
+{
+	int32_t status = 0;
+	clearSPIReceivedData(m_spi, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}