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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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43
wpilibc/src/main/native/include/frc/SPI.h
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@@ -211,15 +211,20 @@ class SPI : public ErrorBase {
* 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.
*
* Blocks until numToRead bytes have been read or timeout expires.
* May be called with numToRead=0 to retrieve how many bytes are available.
* 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().
*
* @param buffer buffer where read bytes are stored
* @param numToRead number of bytes to read
* 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 in seconds (ms resolution)
* @return Number of bytes remaining to be read
* @return Number of words remaining to be read
*/
int ReadAutoReceivedData(uint8_t* buffer, int numToRead, double timeout);
int ReadAutoReceivedData(uint32_t* buffer, int numToRead, double timeout);
/**
* Get the number of bytes dropped by the automatic SPI transfer engine due
@@ -313,6 +318,32 @@ class SPI : public ErrorBase {
*/
void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
/**
* Set the center value of the accumulator integrator.
*
* The center value is subtracted from each value*dt before it is added to the
* integrated value. This is used for the center value of devices like gyros
* and accelerometers to take the device offset into account when integrating.
*/
void SetAccumulatorIntegratedCenter(double center);
/**
* Read the integrated value. This is the sum of (each value * time between
* values).
*
* @return The integrated value accumulated since the last Reset().
*/
double GetAccumulatorIntegratedValue() const;
/**
* Read the average of the integrated value. This is the sum of (each value
* times the time between values), divided by the count.
*
* @return The average of the integrated value accumulated since the last
* Reset().
*/
double GetAccumulatorIntegratedAverage() const;
protected:
HAL_SPIPort m_port = HAL_SPI_kInvalid;
bool m_msbFirst = false; // Default little-endian