This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/SPI.h b/azaleasource/WPILibCProgramming/trunk/WPILib/SPI.h
new file mode 100644
index 0000000..ac89bbc
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/SPI.h
@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* 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. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef __SPI_H__
+#define __SPI_H__
+
+#include "ChipObject.h"
+#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.
+ *
+ * The FPGA only supports a single SPI interface.
+ */
+class SPI : public SensorBase
+{
+public:
+ enum tFrameMode {kChipSelect, kPreLatchPulse, kPostLatchPulse, kPreAndPostLatchPulse};
+ enum tSPIConstants {kReceiveFIFODepth=512, kTransmitFIFODepth=512};
+
+ SPI(DigitalOutput &clk, DigitalOutput &mosi, DigitalInput &miso);
+ SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso);
+ SPI(DigitalOutput &clk, DigitalOutput &mosi);
+ SPI(DigitalOutput *clk, DigitalOutput *mosi);
+ SPI(DigitalOutput &clk, DigitalInput &miso);
+ SPI(DigitalOutput *clk, DigitalInput *miso);
+ virtual ~SPI();
+
+ void SetBitsPerWord(UINT32 bits);
+ UINT32 GetBitsPerWord();
+ void SetClockRate(double hz);
+
+ void SetMSBFirst();
+ void SetLSBFirst();
+
+ void SetSampleDataOnFalling();
+ void SetSampleDataOnRising();
+
+ void SetSlaveSelect(DigitalOutput *ss, tFrameMode mode=kChipSelect, bool activeLow=false);
+ void SetSlaveSelect(DigitalOutput &ss, tFrameMode mode=kChipSelect, bool activeLow=false);
+ DigitalOutput *GetSlaveSelect(tFrameMode *mode=NULL, bool *activeLow=NULL);
+
+ void SetClockActiveLow();
+ void SetClockActiveHigh();
+
+ virtual void ApplyConfig();
+
+ virtual UINT16 GetOutputFIFOAvailable();
+ virtual UINT16 GetNumReceived();
+
+ virtual bool IsDone();
+ bool HadReceiveOverflow();
+
+ virtual void Write(UINT32 data);
+ virtual UINT32 Read(bool initiate = false);
+
+ virtual void Reset();
+ virtual void ClearReceivedData();
+
+protected:
+ static SEM_ID m_semaphore;
+
+ tSPI* m_spi;
+ tSPI::tConfig m_config;
+ tSPI::tChannels m_channels;
+ DigitalOutput *m_ss;
+
+private:
+ void Init(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso);
+
+ DISALLOW_COPY_AND_ASSIGN(SPI);
+};
+
+#endif