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