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Update auto SPI for timestamp changes (#1457)

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The 2019 FPGA image switched the output of auto SPI from plain bytes to a
sequence of 32-bit words (timestamp, then words with the byte values in the
least significant byte of each word).

In addition to changing the HAL and simulators to reflect this, add piecewise
integration support to wpilibc/wpilibj SPI to take advantage of the timestamps
and use it in the ADXRS450 gyro.
This commit is contained in:
Peter Johnson
2018-12-06 22:29:20 -08:00
committed by GitHub
parent 7e1ec28839
commit dcbf02a1ec
19 changed files with 271 additions and 88 deletions
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12
hal/src/main/native/include/hal/SPI.h
View File

@@ -218,16 +218,20 @@ void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
void HAL_ForceSPIAutoRead(HAL_SPIPort port, int32_t* status);
/**
* Reads data received by the SPI accumulator.
* Reads data received by the SPI accumulator. 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 dataSize + zeroSize set in
* HAL_SetSPIAutoTransmitData.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
* for MXP.
* @param buffer The buffer to store the data into.
* @param numToRead The number of bytes to read.
* @param numToRead The number of words to read.
* @param timeout The read timeout (in seconds).
* @return The number of bytes actually read.
* @return The number of words actually read.
*/
int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint8_t* buffer,
int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint32_t* buffer,
int32_t numToRead, double timeout,
int32_t* status);

2
hal/src/main/native/include/mockdata/SPIData.h
View File

@@ -14,7 +14,7 @@
typedef void (*HAL_SpiReadAutoReceiveBufferCallback)(const char* name,
void* param,
unsigned char* buffer,
uint32_t* buffer,
int32_t numToRead,
int32_t* outputCount);