Use units in SPI

wpilibc/src/main/native/include/frc/SPI.h

@@ -12,6 +12,7 @@
 #include <memory>
 
 #include <hal/SPITypes.h>
+#include <units/units.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/deprecated.h>
 
@@ -173,6 +174,16 @@ class SPI : public ErrorBase {
    */
   void SetAutoTransmitData(wpi::ArrayRef<uint8_t> dataToSend, int zeroSize);
 
+  /**
+   * Start running the automatic SPI transfer engine at a periodic rate.
+   *
+   * InitAuto() and SetAutoTransmitData() must be called before calling this
+   * function.
+   *
+   * @param period period between transfers (us resolution)
+   */
+  void StartAutoRate(units::second_t period);
+
   /**
    * Start running the automatic SPI transfer engine at a periodic rate.
    *
@@ -181,6 +192,7 @@ class SPI : public ErrorBase {
    *
    * @param period period between transfers, in seconds (us resolution)
    */
+  WPI_DEPRECATED("Use StartAutoRate with unit-safety instead")
   void StartAutoRate(double period);
 
   /**
@@ -205,6 +217,28 @@ class SPI : public ErrorBase {
    */
   void ForceAutoRead();
 
+  /**
+   * Read data that has been transferred by the automatic SPI transfer engine.
+   *
+   * Transfers may be made a byte at a time, so it's necessary for the caller
+   * to handle cases where an entire transfer has not been completed.
+   *
+   * Each received data sequence consists of a timestamp followed by the
+   * received data bytes, one byte per word (in the least significant byte).
+   * The length of each received data sequence is the same as the combined
+   * size of the data and zeroSize set in SetAutoTransmitData().
+   *
+   * Blocks until numToRead words have been read or timeout expires.
+   * May be called with numToRead=0 to retrieve how many words are available.
+   *
+   * @param buffer buffer where read words are stored
+   * @param numToRead number of words to read
+   * @param timeout timeout (ms resolution)
+   * @return Number of words remaining to be read
+   */
+  int ReadAutoReceivedData(uint32_t* buffer, int numToRead,
+                           units::second_t timeout);
+
   /**
    * Read data that has been transferred by the automatic SPI transfer engine.
    *
@@ -224,6 +258,7 @@ class SPI : public ErrorBase {
    * @param timeout timeout in seconds (ms resolution)
    * @return Number of words remaining to be read
    */
+  WPI_DEPRECATED("Use ReadAutoReceivedData with unit-safety instead")
   int ReadAutoReceivedData(uint32_t* buffer, int numToRead, double timeout);
 
   /**
@@ -249,6 +284,26 @@ class SPI : public ErrorBase {
    * @param isSigned  Is data field signed?
    * @param bigEndian Is device big endian?
    */
+  void InitAccumulator(units::second_t period, int cmd, int xferSize,
+                       int validMask, int validValue, int dataShift,
+                       int dataSize, bool isSigned, bool bigEndian);
+
+  /**
+   * Initialize the accumulator.
+   *
+   * @param period    Time between reads
+   * @param cmd       SPI command to send to request data
+   * @param xferSize  SPI transfer size, in bytes
+   * @param validMask Mask to apply to received data for validity checking
+   * @param validData After valid_mask is applied, required matching value for
+   *                  validity checking
+   * @param dataShift Bit shift to apply to received data to get actual data
+   *                  value
+   * @param dataSize  Size (in bits) of data field
+   * @param isSigned  Is data field signed?
+   * @param bigEndian Is device big endian?
+   */
+  WPI_DEPRECATED("Use InitAccumulator with unit-safety instead")
   void InitAccumulator(double period, int cmd, int xferSize, int validMask,
                        int validValue, int dataShift, int dataSize,
                        bool isSigned, bool bigEndian);