/*----------------------------------------------------------------------------*/
/* 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.  */
/*----------------------------------------------------------------------------*/
#pragma once

#include "HAL/HAL.hpp"
#include "SensorBase.h"

class DigitalOutput;
class DigitalInput;

/**
 * SPI bus interface class.
 *
 * This class is intended to be used by sensor (and other SPI device) drivers.
 * It probably should not be used directly.
 *
 */
class SPI : public SensorBase {
 public:
  enum Port { kOnboardCS0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
  SPI(Port SPIport);
  virtual ~SPI();

  SPI(const SPI&) = delete;
  SPI& operator=(const SPI&) = delete;

  void SetClockRate(double hz);

  void SetMSBFirst();
  void SetLSBFirst();

  void SetSampleDataOnFalling();
  void SetSampleDataOnRising();

  void SetClockActiveLow();
  void SetClockActiveHigh();

  void SetChipSelectActiveHigh();
  void SetChipSelectActiveLow();

  virtual int32_t Write(uint8_t* data, uint8_t size);
  virtual int32_t Read(bool initiate, uint8_t* dataReceived, uint8_t size);
  virtual int32_t Transaction(uint8_t* dataToSend, uint8_t* dataReceived,
                              uint8_t size);

 protected:
  uint8_t m_port;
  bool m_msbFirst;
  bool m_sampleOnTrailing;
  bool m_clk_idle_high;

 private:
  void Init();
};