Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/include/SPI.h b/wpilibc/Athena/include/SPI.h
new file mode 100644
index 0000000..7b33dd7
--- /dev/null
+++ b/wpilibc/Athena/include/SPI.h
@@ -0,0 +1,72 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+#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();
+};