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https://github.com/wpilibsuite/allwpilib
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71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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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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explicit 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 int Write(uint8_t* data, int size);
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virtual int Read(bool initiate, uint8_t* dataReceived, int size);
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virtual int Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size);
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void InitAccumulator(double period, int cmd, int xfer_size, int valid_mask,
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int valid_value, int data_shift, int data_size,
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bool is_signed, bool big_endian);
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void FreeAccumulator();
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void ResetAccumulator();
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void SetAccumulatorCenter(int center);
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void SetAccumulatorDeadband(int deadband);
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int GetAccumulatorLastValue() const;
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int64_t GetAccumulatorValue() const;
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int64_t GetAccumulatorCount() const;
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double GetAccumulatorAverage() const;
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void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
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protected:
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int 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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