mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
b51e85ae26
* Switches HAL to fixed length signed integers, and adds our own HAL_Bool type * Replaces HAL Floats with Doubles Doubles are just as fast as floats with optimizations turned on, so switches to all doubles. All made doubles for consistency. * Prepends HAL/ to HAL include files. Also fixes some range errors
73 lines
2.3 KiB
C++
73 lines
2.3 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 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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void InitAccumulator(double period, uint32_t cmd, uint8_t xfer_size,
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uint32_t valid_mask, uint32_t valid_value,
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uint8_t data_shift, uint8_t data_size, bool is_signed,
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bool big_endian);
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void FreeAccumulator();
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void ResetAccumulator();
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void SetAccumulatorCenter(int32_t center);
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void SetAccumulatorDeadband(int32_t deadband);
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int32_t 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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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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