#include <SPI.h>

Inheritance diagram for SPI:

Public Types
enum	tFrameMode { kChipSelect, kPreLatchPulse, kPostLatchPulse, kPreAndPostLatchPulse }

enum	tSPIConstants { kReceiveFIFODepth =512, kTransmitFIFODepth =512 }

Public Member Functions
	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 ()

Public Member Functions inherited from SensorBase
	SensorBase ()

virtual	~SensorBase ()

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Protected Attributes
tSPI *	m_spi

tSPI::tConfig	m_config

tSPI::tChannels	m_channels

DigitalOutput *	m_ss

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes
static SEM_ID	m_semaphore = NULL

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Additional Inherited Members
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()

static uint32_t	GetDefaultAnalogModule ()

static uint32_t	GetDefaultDigitalModule ()

static uint32_t	GetDefaultSolenoidModule ()

static bool	CheckAnalogModule (uint8_t moduleNumber)

static bool	CheckDigitalModule (uint8_t moduleNumber)

static bool	CheckPWMModule (uint8_t moduleNumber)

static bool	CheckRelayModule (uint8_t moduleNumber)

static bool	CheckSolenoidModule (uint8_t moduleNumber)

static bool	CheckDigitalChannel (uint32_t channel)

static bool	CheckRelayChannel (uint32_t channel)

static bool	CheckPWMChannel (uint32_t channel)

static bool	CheckAnalogChannel (uint32_t channel)

static bool	CheckSolenoidChannel (uint32_t channel)

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Static Public Attributes inherited from SensorBase
static const uint32_t	kSystemClockTicksPerMicrosecond = 40

static const uint32_t	kDigitalChannels = 14

static const uint32_t	kAnalogChannels = 8

static const uint32_t	kAnalogModules = 2

static const uint32_t	kDigitalModules = 2

static const uint32_t	kSolenoidChannels = 8

static const uint32_t	kSolenoidModules = 2

static const uint32_t	kPwmChannels = 10

static const uint32_t	kRelayChannels = 8

static const uint32_t	kChassisSlots = 8

Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Detailed Description

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.

Constructor & Destructor Documentation

SPI::SPI	(	DigitalOutput &	clk,
		DigitalOutput &	mosi,
		DigitalInput &	miso
	)

Constructor for input and output.

Parameters

clk	The digital output for the clock signal.
mosi	The digital output for the written data to the slave (master-out slave-in).
miso	The digital input for the input data from the slave (master-in slave-out).

SPI::SPI	(	DigitalOutput *	clk,
		DigitalOutput *	mosi,
		DigitalInput *	miso
	)

Constructor for input and output.

Parameters

clk	The digital output for the clock signal.
mosi	The digital output for the written data to the slave (master-out slave-in).
miso	The digital input for the input data from the slave (master-in slave-out).

SPI::SPI	(	DigitalOutput &	clk,
		DigitalOutput &	mosi
	)

Constructor for output only.

Parameters

clk	The digital output for the clock signal.
mosi	The digital output for the written data to the slave (master-out slave-in).

SPI::SPI	(	DigitalOutput *	clk,
		DigitalOutput *	mosi
	)

Constructor for output only.

Parameters

clk	The digital output for the clock signal.
mosi	The digital output for the written data to the slave (master-out slave-in).

SPI::SPI	(	DigitalOutput &	clk,
		DigitalInput &	miso
	)

Constructor for input only.

Parameters

clk	The digital output for the clock signal.
miso	The digital input for the input data from the slave (master-in slave-out).

SPI::SPI	(	DigitalOutput *	clk,
		DigitalInput *	miso
	)

Constructor for input only.

Parameters

clk	The digital output for the clock signal.
miso	The digital input for the input data from the slave (master-in slave-out).

SPI::~SPI ( )

virtual

Destructor.

Member Function Documentation

void SPI::ApplyConfig ( )

virtual

Apply configuration settings and reset the SPI logic.

void SPI::ClearReceivedData ( )

virtual

Empty the receive FIFO.

uint32_t SPI::GetBitsPerWord ( )

Get the number of bits from each word that the slave transmits or receives.

Returns: The number of bits in one frame (1 to 32 bits).

uint16_t SPI::GetNumReceived ( )

virtual

Get the number of words received and currently available to be read from the receive FIFO.

Returns: The number of words available to read.

uint16_t SPI::GetOutputFIFOAvailable ( )

virtual

Get the number of words that can currently be stored before being transmitted to the device.

Returns: The number of words available to be written.

DigitalOutput * SPI::GetSlaveSelect	(	tFrameMode *	mode = `NULL`,
		bool *	activeLow = `NULL`
	)

Get the slave select line behavior.

Parameters

mode	Frame mode: kChipSelect: active for the duration of the frame. kPreLatchPulse: pulses before the transfer of each frame. kPostLatchPulse: pulses after the transfer of each frame. kPreAndPostLatchPulse: pulses before and after each frame.
activeLow	True if slave select line is active low.

Returns: The slave select digital output.

bool SPI::HadReceiveOverflow ( )

Determine if the receive FIFO was full when attempting to add new data at end of a transfer.

Returns: True if the receive FIFO overflowed.

bool SPI::IsDone ( )

virtual

Have all pending transfers completed?

Returns: True if no transfers are pending.

uint32_t SPI::Read ( bool initiate = false )

virtual

Read a word from the receive FIFO.

Waits for the current transfer to complete if the receive FIFO is empty.

If the receive FIFO is empty, there is no active transfer, and initiate is false, errors.

Parameters

initiate If true, this function pushes "0" into the transmit buffer and initiates a transfer. If false, this function assumes that data is already in the receive FIFO from a previous write.

void SPI::Reset ( )

virtual

Stop any transfer in progress and empty the transmit FIFO.

void SPI::SetBitsPerWord ( uint32_t bits )

Configure the number of bits from each word that the slave transmits or receives.

Parameters

bits	The number of bits in one frame (1 to 32 bits).

void SPI::SetClockActiveHigh ( )

Configure the clock output line to be active high. This is sometimes called clock polarity low.

void SPI::SetClockActiveLow ( )

Configure the clock output line to be active low. This is sometimes called clock polarity high.

void SPI::SetClockRate ( double hz )

Configure the rate of the generated clock signal. The default and maximum value is 76,628.4 Hz.

Parameters

hz	The clock rate in Hertz.

void SPI::SetLSBFirst ( )

Configure the order that bits are sent and received on the wire to be least significant bit first.

void SPI::SetMSBFirst ( )

Configure the order that bits are sent and received on the wire to be most significant bit first.

void SPI::SetSampleDataOnFalling ( )

Configure that the data is stable on the falling edge and the data changes on the rising edge.

void SPI::SetSampleDataOnRising ( )

Configure that the data is stable on the rising edge and the data changes on the falling edge.

void SPI::SetSlaveSelect	(	DigitalOutput *	ss,
		tFrameMode	mode = `kChipSelect`,
		bool	activeLow = `false`
	)

Configure the slave select line behavior.

Parameters

ss	slave select digital output.
mode	Frame mode: kChipSelect: active for the duration of the frame. kPreLatchPulse: pulses before the transfer of each frame. kPostLatchPulse: pulses after the transfer of each frame. kPreAndPostLatchPulse: pulses before and after each frame.
activeLow	True if slave select line is active low.

void SPI::SetSlaveSelect	(	DigitalOutput &	ss,
		tFrameMode	mode = `kChipSelect`,
		bool	activeLow = `false`
	)

Configure the slave select line behavior.

Parameters

ss	slave select digital output.
mode	Frame mode: kChipSelect: active for the duration of the frame. kPreLatchPulse: pulses before the transfer of each frame. kPostLatchPulse: pulses after the transfer of each frame. kPreAndPostLatchPulse: pulses before and after each frame.
activeLow	True if slave select line is active low.

void SPI::Write ( uint32_t data )

virtual

Write a word to the slave device. Blocks until there is space in the output FIFO.

If not running in output only mode, also saves the data received on the MISO input during the transfer into the receive FIFO.

The documentation for this class was generated from the following files:

SPI.h
SPI.cpp

Public Types

Public Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation