mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
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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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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uint32_t GetAccumulatorCount() const;
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double GetAccumulatorAverage() const;
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void GetAccumulatorOutput(int64_t& value, uint32_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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