SPI.h

/*----------------------------------------------------------------------------*/
/* 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;

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_t bits);
        uint32_t 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_t GetOutputFIFOAvailable();
        virtual uint16_t GetNumReceived();

        virtual bool IsDone();
        bool HadReceiveOverflow();

        virtual void Write(uint32_t data);
        virtual uint32_t 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