mirror of
https://github.com/wpilibsuite/allwpilib
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96 lines
2.8 KiB
C++
96 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 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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#pragma once
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#include <stdint.h>
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#include <memory>
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#include <llvm/ArrayRef.h>
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#include "ErrorBase.h"
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enum HAL_SPIPort : int32_t;
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namespace frc {
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class DigitalSource;
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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 ErrorBase {
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public:
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enum Port { kOnboardCS0 = 0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
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explicit SPI(Port port);
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~SPI() override;
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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 int Write(uint8_t* data, int size);
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virtual int Read(bool initiate, uint8_t* dataReceived, int size);
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virtual int Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size);
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void InitAuto(int bufferSize);
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void FreeAuto();
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void SetAutoTransmitData(llvm::ArrayRef<uint8_t> dataToSend, int zeroSize);
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void StartAutoRate(double period);
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void StartAutoTrigger(DigitalSource& source, bool rising, bool falling);
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void StopAuto();
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void ForceAutoRead();
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int ReadAutoReceivedData(uint8_t* buffer, int numToRead, double timeout);
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int GetAutoDroppedCount();
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void InitAccumulator(double period, int cmd, int xferSize, int validMask,
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int validValue, int dataShift, int dataSize,
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bool isSigned, bool bigEndian);
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void FreeAccumulator();
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void ResetAccumulator();
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void SetAccumulatorCenter(int center);
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void SetAccumulatorDeadband(int deadband);
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int 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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HAL_SPIPort 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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class Accumulator;
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std::unique_ptr<Accumulator> m_accum;
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};
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} // namespace frc
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