Allowed sharing of common C++ code between RoboRIO and Simulation.

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

wpilibc/wpilibC++Devices/src/SPI.cpp

@@ -0,0 +1,183 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "WPIErrors.h"
+#include "HAL/Digital.hpp"
+
+#include <string.h>
+
+
+/**
+ * Constructor
+ *
+ * @param SPIport the physical SPI port
+ */
+SPI::SPI(Port SPIport)
+{
+	m_port = SPIport;
+  	int32_t status = 0;
+  	spiInitialize(m_port, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+	static int32_t instances = 0;
+	instances++;
+	HALReport(HALUsageReporting::kResourceType_SPI, instances);
+}
+
+/**
+ * Destructor.
+ */
+SPI::~SPI()
+{
+	spiClose(m_port);
+}
+
+/**
+ * Configure the rate of the generated clock signal.
+ * The default and maximum value is 500,000 Hz.
+ *
+ * @param hz	The clock rate in Hertz.
+ */
+void SPI::SetClockRate(double hz)
+{
+	spiSetSpeed(m_port, hz);
+}
+
+/**
+ * Configure the order that bits are sent and received on the wire
+ * to be most significant bit first.
+ */
+void SPI::SetMSBFirst()
+{
+	m_msbFirst = true;
+	spiSetOpts(m_port, (int) m_msbFirst, (int) m_sampleOnTrailing, (int) m_clk_idle_high);
+}
+
+/**
+ * Configure the order that bits are sent and received on the wire
+ * to be least significant bit first.
+ */
+void SPI::SetLSBFirst()
+{
+	m_msbFirst = false;
+	spiSetOpts(m_port, (int) m_msbFirst, (int) m_sampleOnTrailing, (int) m_clk_idle_high);
+}
+
+/**
+ * Configure that the data is stable on the falling edge and the data
+ * changes on the rising edge.
+ */
+void SPI::SetSampleDataOnFalling()
+{
+	m_sampleOnTrailing = true;
+	spiSetOpts(m_port, (int) m_msbFirst, (int) m_sampleOnTrailing, (int) m_clk_idle_high);
+}
+
+/**
+ * Configure that the data is stable on the rising edge and the data
+ * changes on the falling edge.
+ */
+void SPI::SetSampleDataOnRising()
+{
+	m_sampleOnTrailing = false;
+	spiSetOpts(m_port, (int) m_msbFirst, (int) m_sampleOnTrailing, (int) m_clk_idle_high);
+}
+
+/**
+ * Configure the clock output line to be active low.
+ * This is sometimes called clock polarity high or clock idle high.
+ */
+void SPI::SetClockActiveLow()
+{
+	m_clk_idle_high = true;
+	spiSetOpts(m_port, (int) m_msbFirst, (int) m_sampleOnTrailing, (int) m_clk_idle_high);
+}
+
+/**
+ * Configure the clock output line to be active high.
+ * This is sometimes called clock polarity low or clock idle low.
+ */
+void SPI::SetClockActiveHigh()
+{
+	m_clk_idle_high = false;
+	spiSetOpts(m_port, (int) m_msbFirst, (int) m_sampleOnTrailing, (int) m_clk_idle_high);
+}
+
+/**
+ * Configure the chip select line to be active high.
+ */
+void SPI::SetChipSelectActiveHigh()
+{
+	int32_t status = 0;
+	spiSetChipSelectActiveHigh(m_port, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Configure the chip select line to be active low.
+ */
+void SPI::SetChipSelectActiveLow()
+{
+	int32_t status = 0;
+	spiSetChipSelectActiveLow(m_port, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+
+/**
+ * Write data 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.
+ */
+int32_t SPI::Write(uint8_t* data, uint8_t size)
+{
+	int32_t retVal = 0;
+	retVal = spiWrite(m_port, data, size);
+	return retVal;
+}
+
+/**
+ * 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.
+ */
+int32_t SPI::Read(bool initiate, uint8_t* dataReceived, uint8_t size)
+{
+	int32_t retVal = 0;
+	if(initiate){
+		uint8_t* dataToSend = new uint8_t[size];
+		memset(dataToSend, 0, size);
+		retVal = spiTransaction(m_port, dataToSend, dataReceived, size);
+	}
+	else
+		retVal = spiRead(m_port, dataReceived, size);
+	return retVal;
+}
+
+/**
+ * Perform a simultaneous read/write transaction with the device
+ *
+ * @param dataToSend The data to be written out to the device
+ * @param dataReceived Buffer to receive data from the device
+ * @param size The length of the transaction, in bytes
+ */
+int32_t SPI::Transaction(uint8_t* dataToSend, uint8_t* dataReceived, uint8_t size){
+	int32_t retVal = 0;
+	retVal = spiTransaction(m_port, dataToSend, dataReceived, size);
+	return retVal;
+}