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Port SPI to roboRIO. Java SPIDevice renamed to SPI and rewritten to match C++ API.

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Change-Id: I9b2c05a05cbe443331a5b6da6a6d7c7be751a5e7
This commit is contained in:
Kevin O'Connor
2014-07-16 16:24:44 -04:00
parent 80c5c09f77
commit 343c7f4f3e
11 changed files with 883 additions and 1150 deletions
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62
hal/include/HAL/Digital.hpp
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@@ -4,6 +4,7 @@
#else
#include <stdint.h>
#endif
#include "HAL/cpp/Synchronized.hpp"
enum Mode
{
@@ -12,18 +13,7 @@ enum Mode
kPulseLength = 2,
kExternalDirection = 3
};
enum tSPIConstants
{
kReceiveFIFODepth = 512,
kTransmitFIFODepth = 512
};
enum tFrameMode
{
kChipSelect,
kPreLatchPulse,
kPostLatchPulse,
kPreAndPostLatchPulse
};
extern "C"
{
void* initializeDigitalPort(void* port_pointer, int32_t *status);
@@ -112,39 +102,25 @@ extern "C"
uint16_t getLoopTiming(int32_t *status);
uint16_t getLoopTimingWithModule(uint8_t module, int32_t *status);
void* initializeSPI(uint8_t sclk_routing_module, uint32_t sclk_routing_pin,
uint8_t mosi_routing_module, uint32_t mosi_routing_pin, uint8_t miso_routing_module,
uint32_t miso_routing_pin, int32_t *status);
void cleanSPI(void* spi_pointer, int32_t *status);
void setSPIBitsPerWord(void* spi_pointer, uint32_t bits, int32_t *status);
uint32_t getSPIBitsPerWord(void* spi_pointer, int32_t *status);
void setSPIClockRate(void* spi_pointer, double hz, int32_t *status);
void setSPIMSBFirst(void* spi_pointer, int32_t *status);
void setSPILSBFirst(void* spi_pointer, int32_t *status);
void setSPISampleDataOnFalling(void* spi_pointer, int32_t *status);
void setSPISampleDataOnRising(void* spi_pointer, int32_t *status);
void setSPISlaveSelect(void* spi_pointer, uint8_t ss_routing_module, uint32_t ss_routing_pin,
int32_t *status);
void setSPILatchMode(void* spi_pointer, tFrameMode mode, int32_t *status);
tFrameMode getSPILatchMode(void* spi_pointer, int32_t *status);
void setSPIFramePolarity(void* spi_pointer, bool activeLow, int32_t *status);
bool getSPIFramePolarity(void* spi_pointer, int32_t *status);
void setSPIClockActiveLow(void* spi_pointer, int32_t *status);
void setSPIClockActiveHigh(void* spi_pointer, int32_t *status);
void applySPIConfig(void* spi_pointer, int32_t *status);
uint16_t getSPIOutputFIFOAvailable(void* spi_pointer, int32_t *status);
uint16_t getSPINumReceived(void* spi_pointer, int32_t *status);
bool isSPIDone(void* spi_pointer, int32_t *status);
bool hadSPIReceiveOverflow(void* spi_pointer, int32_t *status);
void writeSPI(void* spi_pointer, uint32_t data, int32_t *status);
uint32_t readSPI(void* spi_pointer, bool initiate, int32_t *status);
void resetSPI(void* spi_pointer, int32_t *status);
void clearSPIReceivedData(void* spi_pointer, int32_t *status);
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 spiSetBitsPerWord(uint8_t port, uint8_t bpw);
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);
MUTEX_ID spiGetSemaphore(uint8_t port);
void spiSetSemaphore(uint8_t port, MUTEX_ID semaphore);
void i2CInitialize(uint8_t port, int32_t *status);
int i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
int i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
int i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
void i2CClose(uint8_t port);
//// Float JNA Hack