wpilibc/athena/include/SPI.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2017. 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 "SensorBase.h"

namespace frc {

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 };
  explicit 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 int Write(uint8_t* data, int size);
  virtual int Read(bool initiate, uint8_t* dataReceived, int size);
  virtual int Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size);

  void InitAccumulator(double period, int cmd, int xfer_size, int valid_mask,
                       int valid_value, int data_shift, int data_size,
                       bool is_signed, bool big_endian);
  void FreeAccumulator();
  void ResetAccumulator();
  void SetAccumulatorCenter(int center);
  void SetAccumulatorDeadband(int deadband);
  int GetAccumulatorLastValue() const;
  int64_t GetAccumulatorValue() const;
  int64_t GetAccumulatorCount() const;
  double GetAccumulatorAverage() const;
  void GetAccumulatorOutput(int64_t& value, int64_t& count) const;

 protected:
  int 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();
};

}  // namespace frc