mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
dcbf02a1ec
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.
76 lines
2.3 KiB
C++
76 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 FIRST. 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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#include <iostream>
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#include "../PortsInternal.h"
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#include "SPIDataInternal.h"
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using namespace hal;
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namespace hal {
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namespace init {
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void InitializeSPIData() {
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static SPIData ssd[5];
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::hal::SimSPIData = ssd;
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}
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} // namespace init
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} // namespace hal
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SPIData* hal::SimSPIData;
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void SPIData::ResetData() {
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initialized.Reset(false);
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read.Reset();
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write.Reset();
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autoReceivedData.Reset();
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}
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int32_t SPIData::Read(uint8_t* buffer, int32_t count) {
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read(buffer, count);
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return count;
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}
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int32_t SPIData::Write(const uint8_t* dataToSend, int32_t sendSize) {
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write(dataToSend, sendSize);
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return sendSize;
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}
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int32_t SPIData::Transaction(const uint8_t* dataToSend, uint8_t* dataReceived,
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int32_t size) {
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write(dataToSend, size);
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read(dataReceived, size);
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return size;
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}
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int32_t SPIData::ReadAutoReceivedData(uint32_t* buffer, int32_t numToRead,
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double timeout, int32_t* status) {
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int32_t outputCount = 0;
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autoReceivedData(buffer, numToRead, &outputCount);
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return outputCount;
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}
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extern "C" {
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void HALSIM_ResetSPIData(int32_t index) { SimSPIData[index].ResetData(); }
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, SPI##CAPINAME, SimSPIData, \
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LOWERNAME)
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DEFINE_CAPI(HAL_Bool, Initialized, initialized)
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#undef DEFINE_CAPI
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMCALLBACKREGISTRY_DEFINE_CAPI(TYPE, HALSIM, SPI##CAPINAME, SimSPIData, \
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LOWERNAME)
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DEFINE_CAPI(HAL_BufferCallback, Read, read)
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DEFINE_CAPI(HAL_ConstBufferCallback, Write, write)
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DEFINE_CAPI(HAL_SpiReadAutoReceiveBufferCallback, ReadAutoReceivedData,
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autoReceivedData)
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} // extern "C"
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