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https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
f84018af5f
During shared library loading, a different libLLVM can be pulled in, causing llvm symbols from dependent libraries to resolve to that library instead of this one. This has been seen in the wild with the Mesa OpenGL implementation in JavaFX applications (see wpilibsuite/shuffleboard#361). This is clearly a very breaking change. For some level of backwards compatibility, a namespace alias from llvm to wpi is performed in the "llvm" headers. Unfortunately, forward declarations of llvm classes will still break, but compilers seem to generate clear error messages in those cases ("namespace alias 'llvm' not allowed here, assuming 'wpi'"). This change also moves all the wpiutil headers to a single "wpi" subdirectory from the previously split "llvm", "support", "tcpsockets", and "udpsockets". Shim headers will be added for backwards compatibility in a later commit.
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 <wpi/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(wpi::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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