commit 9776b3955bf2e8df127e6174ed458c235039bcd7
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Jan 14 14:08:08 2023 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Jan 14 15:34:08 2023 -0800
tree 3b113e9a1adf0b476bb8a4bda8c05fa2e2f37350
parent 43fca42ccedf224517f6efb026ac15b0922652b9
parent cf32412550e07365bb2afb6faed18e0e4c0ff7c1

Update WPILib, roborio compilers, and CTRE Phoenix libraries

This borrows heavily from work that Ravago did to initially get this
stuff working.

Tested rudimentary functionality on a test bench, ensured that we could:
* Enable the robot.
* Read joystick and button values.
* Switch between auto and teleop modes.
* Read sensor values (encoder, absolute encoder, potentiometer).
* Read PDP values.
* Drive PWM motors.
* Drive CANivore motors.

Non-WPILib changes are made to accommodate the upgrade roborio
compiler's improved pickiness.

Merge commit '125aac16d9bf03c833ffa18de2f113a33758a4b8' into HEAD

Change-Id: I8648956fb7517b2d784bf58e0a236742af7a306a
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/wpilib/ahal/SPI.cc

diff --git a/frc971/wpilib/ahal/SPI.cc b/frc971/wpilib/ahal/SPI.cc
index d51b20f..8568210 100644
--- a/frc971/wpilib/ahal/SPI.cc
+++ b/frc971/wpilib/ahal/SPI.cc
@@ -7,13 +7,13 @@
 
 #include "frc971/wpilib/ahal/SPI.h"
 
-#include <cstring>
-#include <utility>
-
 #include <hal/SPI.h>
 #include <wpi/SmallVector.h>
 #include <wpi/mutex.h>
 
+#include <cstring>
+#include <utility>
+
 #include "absl/types/span.h"
 #include "frc971/wpilib/ahal/DigitalSource.h"
 #include "frc971/wpilib/ahal/WPIErrors.h"
@@ -30,44 +30,37 @@
 
 void SPI::SetClockRate(int hz) { HAL_SetSPISpeed(m_port, hz); }
 
-void SPI::SetMSBFirst() {
-  m_msbFirst = true;
-  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
-}
-
-void SPI::SetLSBFirst() {
-  m_msbFirst = false;
-  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
+void SPI::SetMode(Mode mode) {
+  m_mode = static_cast<HAL_SPIMode>(mode & 0x3);
+  HAL_SetSPIMode(m_port, m_mode);
 }
 
 void SPI::SetSampleDataOnLeadingEdge() {
-  m_sampleOnTrailing = false;
-  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
+  int mode = m_mode;
+  mode &= 2;
+  m_mode = static_cast<HAL_SPIMode>(mode);
+  HAL_SetSPIMode(m_port, m_mode);
 }
 
 void SPI::SetSampleDataOnTrailingEdge() {
-  m_sampleOnTrailing = true;
-  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
-}
-
-void SPI::SetSampleDataOnFalling() {
-  m_sampleOnTrailing = true;
-  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
-}
-
-void SPI::SetSampleDataOnRising() {
-  m_sampleOnTrailing = false;
-  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
+  int mode = m_mode;
+  mode |= 2;
+  m_mode = static_cast<HAL_SPIMode>(mode);
+  HAL_SetSPIMode(m_port, m_mode);
 }
 
 void SPI::SetClockActiveLow() {
-  m_clockIdleHigh = true;
-  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
+  int mode = m_mode;
+  mode |= 1;
+  m_mode = static_cast<HAL_SPIMode>(mode);
+  HAL_SetSPIMode(m_port, m_mode);
 }
 
 void SPI::SetClockActiveHigh() {
-  m_clockIdleHigh = false;
-  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
+  int mode = m_mode;
+  mode &= 1;
+  m_mode = static_cast<HAL_SPIMode>(mode);
+  HAL_SetSPIMode(m_port, m_mode);
 }
 
 void SPI::SetChipSelectActiveHigh() {
@@ -82,13 +75,13 @@
   wpi_setHALError(status);
 }
 
-int SPI::Write(uint8_t* data, int size) {
+int SPI::Write(uint8_t *data, int size) {
   int retVal = 0;
   retVal = HAL_WriteSPI(m_port, data, size);
   return retVal;
 }
 
-int SPI::Read(bool initiate, uint8_t* dataReceived, int size) {
+int SPI::Read(bool initiate, uint8_t *dataReceived, int size) {
   int retVal = 0;
   if (initiate) {
     wpi::SmallVector<uint8_t, 32> dataToSend;
@@ -100,7 +93,7 @@
   return retVal;
 }
 
-int SPI::Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size) {
+int SPI::Transaction(uint8_t *dataToSend, uint8_t *dataReceived, int size) {
   int retVal = 0;
   retVal = HAL_TransactionSPI(m_port, dataToSend, dataReceived, size);
   return retVal;
@@ -132,7 +125,7 @@
   wpi_setHALError(status);
 }
 
-void SPI::StartAutoTrigger(DigitalSource& source, bool rising, bool falling) {
+void SPI::StartAutoTrigger(DigitalSource &source, bool rising, bool falling) {
   int32_t status = 0;
   HAL_StartSPIAutoTrigger(
       m_port, source.GetPortHandleForRouting(),
@@ -155,8 +148,8 @@
 
 int SPI::ReadAutoReceivedData(uint32_t *buffer, int numToRead, double timeout) {
   int32_t status = 0;
-  int32_t val = HAL_ReadSPIAutoReceivedData(m_port, buffer, numToRead,
-                                            timeout, &status);
+  int32_t val =
+      HAL_ReadSPIAutoReceivedData(m_port, buffer, numToRead, timeout, &status);
   wpi_setHALError(status);
   return val;
 }