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https://github.com/wpilibsuite/allwpilib
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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.
66 lines
3.0 KiB
C++
66 lines
3.0 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 "hal/SPI.h"
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#include "HALInitializer.h"
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#include "mockdata/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 InitializeSPI() {}
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} // namespace init
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} // namespace hal
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void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
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hal::init::CheckInit();
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SimSPIData[port].initialized = true;
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}
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int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
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uint8_t* dataReceived, int32_t size) {
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return SimSPIData[port].Transaction(dataToSend, dataReceived, size);
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}
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int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend,
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int32_t sendSize) {
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return SimSPIData[port].Write(dataToSend, sendSize);
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}
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int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) {
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return SimSPIData[port].Read(buffer, count);
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}
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void HAL_CloseSPI(HAL_SPIPort port) { SimSPIData[port].initialized = false; }
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void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) {}
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void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
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HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh) {}
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void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {}
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void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {}
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int32_t HAL_GetSPIHandle(HAL_SPIPort port) { return 0; }
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void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) {}
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void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status) {}
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void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status) {}
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void HAL_StartSPIAutoRate(HAL_SPIPort port, double period, int32_t* status) {}
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void HAL_StartSPIAutoTrigger(HAL_SPIPort port, HAL_Handle digitalSourceHandle,
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HAL_AnalogTriggerType analogTriggerType,
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HAL_Bool triggerRising, HAL_Bool triggerFalling,
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int32_t* status) {}
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void HAL_StopSPIAuto(HAL_SPIPort port, int32_t* status) {}
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void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
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int32_t dataSize, int32_t zeroSize,
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int32_t* status) {}
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void HAL_ForceSPIAutoRead(HAL_SPIPort port, int32_t* status) {}
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int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint32_t* buffer,
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int32_t numToRead, double timeout,
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int32_t* status) {
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return SimSPIData[port].ReadAutoReceivedData(buffer, numToRead, timeout,
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status);
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}
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int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status) {
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return 0;
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}
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