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https://github.com/wpilibsuite/allwpilib
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59 lines
1.6 KiB
C++
59 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "HAL/HAL.hpp"
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#include "SensorBase.h"
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class DigitalOutput;
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class DigitalInput;
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/**
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* SPI bus interface class.
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*
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* This class is intended to be used by sensor (and other SPI device) drivers.
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* It probably should not be used directly.
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*
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*/
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class SPI : public SensorBase {
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public:
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enum Port { kOnboardCS0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
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SPI(Port SPIport);
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virtual ~SPI();
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SPI(const SPI&) = delete;
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SPI& operator=(const SPI&) = delete;
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void SetClockRate(double hz);
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void SetMSBFirst();
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void SetLSBFirst();
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void SetSampleDataOnFalling();
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void SetSampleDataOnRising();
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void SetClockActiveLow();
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void SetClockActiveHigh();
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void SetChipSelectActiveHigh();
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void SetChipSelectActiveLow();
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virtual int32_t Write(uint8_t* data, uint8_t size);
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virtual int32_t Read(bool initiate, uint8_t* dataReceived, uint8_t size);
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virtual int32_t Transaction(uint8_t* dataToSend, uint8_t* dataReceived,
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uint8_t size);
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protected:
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uint8_t m_port;
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bool m_msbFirst = false; // default little-endian
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bool m_sampleOnTrailing = false; // default data updated on falling edge
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bool m_clk_idle_high = false; // default clock active high
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private:
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void Init();
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};
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