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FRC2016-old/Robot2016/wpilib/cpp/current/include/SPI.h
Jason 6d0e75aa64 Added new Robot project using PWM drive train... Much simpler...
Signed-off-by: Jason <jason@dublinschool.org>
2016-02-09 16:23:45 -05:00

74 lines
2.3 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "HAL/HAL.hpp"
#include "SensorBase.h"
class DigitalOutput;
class DigitalInput;
/**
* SPI bus interface class.
*
* This class is intended to be used by sensor (and other SPI device) drivers.
* It probably should not be used directly.
*
*/
class SPI : public SensorBase {
public:
enum Port { kOnboardCS0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
SPI(Port SPIport);
virtual ~SPI();
SPI(const SPI&) = delete;
SPI& operator=(const SPI&) = delete;
void SetClockRate(double hz);
void SetMSBFirst();
void SetLSBFirst();
void SetSampleDataOnFalling();
void SetSampleDataOnRising();
void SetClockActiveLow();
void SetClockActiveHigh();
void SetChipSelectActiveHigh();
void SetChipSelectActiveLow();
virtual int32_t Write(uint8_t* data, uint8_t size);
virtual int32_t Read(bool initiate, uint8_t* dataReceived, uint8_t size);
virtual int32_t Transaction(uint8_t* dataToSend, uint8_t* dataReceived,
uint8_t size);
void InitAccumulator(double period, uint32_t cmd, uint8_t xfer_size,
uint32_t valid_mask, uint32_t valid_value,
uint8_t data_shift, uint8_t data_size, bool is_signed,
bool big_endian);
void FreeAccumulator();
void ResetAccumulator();
void SetAccumulatorCenter(int32_t center);
void SetAccumulatorDeadband(int32_t deadband);
int32_t GetAccumulatorLastValue() const;
int64_t GetAccumulatorValue() const;
uint32_t GetAccumulatorCount() const;
double GetAccumulatorAverage() const;
void GetAccumulatorOutput(int64_t &value, uint32_t &count) const;
protected:
uint8_t m_port;
bool m_msbFirst = false; // default little-endian
bool m_sampleOnTrailing = false; // default data updated on falling edge
bool m_clk_idle_high = false; // default clock active high
private:
void Init();
};