mirror of
https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
73 lines
2.0 KiB
C++
73 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(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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* The FPGA only supports a single SPI interface.
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*/
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class SPI : public SensorBase
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{
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public:
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SPI(DigitalOutput &clk, DigitalOutput &mosi, DigitalInput &miso);
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SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso);
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SPI(DigitalOutput &clk, DigitalOutput &mosi);
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SPI(DigitalOutput *clk, DigitalOutput *mosi);
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SPI(DigitalOutput &clk, DigitalInput &miso);
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SPI(DigitalOutput *clk, DigitalInput *miso);
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virtual ~SPI();
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void SetBitsPerWord(uint32_t bits);
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uint32_t GetBitsPerWord();
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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 SetSlaveSelect(DigitalOutput *ss, tFrameMode mode = kChipSelect, bool activeLow = false);
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void SetSlaveSelect(DigitalOutput &ss, tFrameMode mode = kChipSelect, bool activeLow = false);
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DigitalOutput *GetSlaveSelect(tFrameMode *mode = NULL, bool *activeLow = NULL);
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void SetClockActiveLow();
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void SetClockActiveHigh();
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virtual void ApplyConfig();
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virtual uint16_t GetOutputFIFOAvailable();
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virtual uint16_t GetNumReceived();
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virtual bool IsDone();
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bool HadReceiveOverflow();
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virtual void Write(uint32_t data);
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virtual uint32_t Read(bool initiate = false);
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virtual void Reset();
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virtual void ClearReceivedData();
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protected:
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void* m_spi;
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DigitalOutput *m_ss;
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private:
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void Init(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso);
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DISALLOW_COPY_AND_ASSIGN(SPI);
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};
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