Namespaces
namespace	hal
	WPILib Hardware Abstraction Layer (HAL) namespace.

Enumerations
enum	HAL_SPIPort : int32_t { HAL_SPI_kInvalid = -1 , HAL_SPI_kOnboardCS0 , HAL_SPI_kOnboardCS1 , HAL_SPI_kOnboardCS2 , HAL_SPI_kOnboardCS3 , HAL_SPI_kMXP }

enum	HAL_SPIMode : int32_t { HAL_SPI_kMode0 = 0 , HAL_SPI_kMode1 = 1 , HAL_SPI_kMode2 = 2 , HAL_SPI_kMode3 = 3 }

Functions
void	HAL_InitializeSPI (HAL_SPIPort port, int32_t *status)
	Initializes the SPI port. More...

int32_t	HAL_TransactionSPI (HAL_SPIPort port, const uint8_t dataToSend, uint8_t dataReceived, int32_t size)
	Performs an SPI send/receive transaction. More...

int32_t	HAL_WriteSPI (HAL_SPIPort port, const uint8_t *dataToSend, int32_t sendSize)
	Executes a write transaction with the device. More...

int32_t	HAL_ReadSPI (HAL_SPIPort port, uint8_t *buffer, int32_t count)
	Executes a read from the device. More...

void	HAL_CloseSPI (HAL_SPIPort port)
	Closes the SPI port. More...

void	HAL_SetSPISpeed (HAL_SPIPort port, int32_t speed)
	Sets the clock speed for the SPI bus. More...

void	HAL_SetSPIMode (HAL_SPIPort port, HAL_SPIMode mode)
	Sets the SPI Mode. More...

HAL_SPIMode	HAL_GetSPIMode (HAL_SPIPort port)
	Gets the SPI Mode. More...

void	HAL_SetSPIChipSelectActiveHigh (HAL_SPIPort port, int32_t *status)
	Sets the CS Active high for a SPI port. More...

void	HAL_SetSPIChipSelectActiveLow (HAL_SPIPort port, int32_t *status)
	Sets the CS Active low for a SPI port. More...

int32_t	HAL_GetSPIHandle (HAL_SPIPort port)
	Gets the stored handle for a SPI port. More...

void	HAL_SetSPIHandle (HAL_SPIPort port, int32_t handle)
	Sets the stored handle for a SPI port. More...

void	HAL_InitSPIAuto (HAL_SPIPort port, int32_t bufferSize, int32_t *status)
	Initializes the SPI automatic accumulator. More...

void	HAL_FreeSPIAuto (HAL_SPIPort port, int32_t *status)
	Frees an SPI automatic accumulator. More...

void	HAL_StartSPIAutoRate (HAL_SPIPort port, double period, int32_t *status)
	Sets the period for automatic SPI accumulation. More...

void	HAL_StartSPIAutoTrigger (HAL_SPIPort port, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, HAL_Bool triggerRising, HAL_Bool triggerFalling, int32_t *status)
	Starts the auto SPI accumulator on a specific trigger. More...

void	HAL_StopSPIAuto (HAL_SPIPort port, int32_t *status)
	Stops an automatic SPI accumulation. More...

void	HAL_SetSPIAutoTransmitData (HAL_SPIPort port, const uint8_t dataToSend, int32_t dataSize, int32_t zeroSize, int32_t status)
	Sets the data to be transmitted to the device to initiate a read. More...

void	HAL_ForceSPIAutoRead (HAL_SPIPort port, int32_t *status)
	Immediately forces an SPI read to happen. More...

int32_t	HAL_ReadSPIAutoReceivedData (HAL_SPIPort port, uint32_t buffer, int32_t numToRead, double timeout, int32_t status)
	Reads data received by the SPI accumulator. More...

int32_t	HAL_GetSPIAutoDroppedCount (HAL_SPIPort port, int32_t *status)
	Gets the count of how many SPI accumulations have been missed. More...

void	HAL_ConfigureSPIAutoStall (HAL_SPIPort port, int32_t csToSclkTicks, int32_t stallTicks, int32_t pow2BytesPerRead, int32_t *status)
	Configure the Auto SPI Stall time between reads. More...

Detailed Description

Enumeration Type Documentation

◆ HAL_SPIMode

enum HAL_SPIMode : int32_t

Enumerator
HAL_SPI_kMode0
HAL_SPI_kMode1
HAL_SPI_kMode2
HAL_SPI_kMode3

◆ HAL_SPIPort

enum HAL_SPIPort : int32_t

Enumerator
HAL_SPI_kInvalid
HAL_SPI_kOnboardCS0
HAL_SPI_kOnboardCS1
HAL_SPI_kOnboardCS2
HAL_SPI_kOnboardCS3
HAL_SPI_kMXP

Function Documentation

◆ HAL_CloseSPI()

void HAL_CloseSPI ( HAL_SPIPort port )

Closes the SPI port.

Parameters

port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP

◆ HAL_ConfigureSPIAutoStall()

void HAL_ConfigureSPIAutoStall	(	HAL_SPIPort	port,
		int32_t	csToSclkTicks,
		int32_t	stallTicks,
		int32_t	pow2BytesPerRead,
		int32_t *	status
	)

Configure the Auto SPI Stall time between reads.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
[in]	csToSclkTicks	the number of ticks to wait before asserting the cs pin
[in]	stallTicks	the number of ticks to stall for
[in]	pow2BytesPerRead	the number of bytes to read before stalling
[out]	status	the error code, or 0 for success

◆ HAL_ForceSPIAutoRead()

void HAL_ForceSPIAutoRead	(	HAL_SPIPort	port,
		int32_t *	status
	)

Immediately forces an SPI read to happen.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
[out]	status	the error code, or 0 for success

◆ HAL_FreeSPIAuto()

void HAL_FreeSPIAuto	(	HAL_SPIPort	port,
		int32_t *	status
	)

Frees an SPI automatic accumulator.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
[out]	status	the error code, or 0 for success

◆ HAL_GetSPIAutoDroppedCount()

int32_t HAL_GetSPIAutoDroppedCount	(	HAL_SPIPort	port,
		int32_t *	status
	)

Gets the count of how many SPI accumulations have been missed.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
[out]	status	the error code, or 0 for success

Returns: The number of missed accumulations.

◆ HAL_GetSPIHandle()

int32_t HAL_GetSPIHandle ( HAL_SPIPort port )

Gets the stored handle for a SPI port.

Parameters

port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP

Returns: The stored handle for the SPI port. 0 represents no stored handle.

◆ HAL_GetSPIMode()

HAL_SPIMode HAL_GetSPIMode ( HAL_SPIPort port )

Gets the SPI Mode.

Parameters

port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP

Returns: The SPI mode currently set

◆ HAL_InitializeSPI()

void HAL_InitializeSPI	(	HAL_SPIPort	port,
		int32_t *	status
	)

Initializes the SPI port.

Opens the port if necessary and saves the handle.

If opening the MXP port, also sets up the channel functions appropriately.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP
[out]	status	the error code, or 0 for success

◆ HAL_InitSPIAuto()

void HAL_InitSPIAuto	(	HAL_SPIPort	port,
		int32_t	bufferSize,
		int32_t *	status
	)

Initializes the SPI automatic accumulator.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
[in]	bufferSize	The accumulator buffer size.
[out]	status	the error code, or 0 for success

◆ HAL_ReadSPI()

int32_t HAL_ReadSPI	(	HAL_SPIPort	port,
		uint8_t *	buffer,
		int32_t	count
	)

Executes a read from the device.

This method does not write any data out to the device.

Most spi devices will require a register address to be written before they begin returning data.

Parameters

port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
buffer	A pointer to the array of bytes to store the data read from the device.
count	The number of bytes to read in the transaction. [1..7]

Returns: Number of bytes read. -1 for error.

◆ HAL_ReadSPIAutoReceivedData()

int32_t HAL_ReadSPIAutoReceivedData	(	HAL_SPIPort	port,
		uint32_t *	buffer,
		int32_t	numToRead,
		double	timeout,
		int32_t *	status
	)

Reads data received by the SPI accumulator.

Each received data sequence consists of a timestamp followed by the received data bytes, one byte per word (in the least significant byte). The length of each received data sequence is the same as the combined dataSize + zeroSize set in HAL_SetSPIAutoTransmitData.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
[out]	buffer	The buffer to store the data into.
[in]	numToRead	The number of words to read.
[in]	timeout	The read timeout (in seconds).
[out]	status	the error code, or 0 for success

Returns: The number of words actually read.

◆ HAL_SetSPIAutoTransmitData()

void HAL_SetSPIAutoTransmitData	(	HAL_SPIPort	port,
		const uint8_t *	dataToSend,
		int32_t	dataSize,
		int32_t	zeroSize,
		int32_t *	status
	)

Sets the data to be transmitted to the device to initiate a read.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
[in]	dataToSend	Pointer to the data to send (Gets copied for continue use, so no need to keep alive).
[in]	dataSize	The length of the data to send.
[in]	zeroSize	The number of zeros to send after the data.
[out]	status	the error code, or 0 for success

◆ HAL_SetSPIChipSelectActiveHigh()

void HAL_SetSPIChipSelectActiveHigh	(	HAL_SPIPort	port,
		int32_t *	status
	)

Sets the CS Active high for a SPI port.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
[out]	status	the error code, or 0 for success

◆ HAL_SetSPIChipSelectActiveLow()

void HAL_SetSPIChipSelectActiveLow	(	HAL_SPIPort	port,
		int32_t *	status
	)

Sets the CS Active low for a SPI port.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
[out]	status	the error code, or 0 for success

◆ HAL_SetSPIHandle()

void HAL_SetSPIHandle	(	HAL_SPIPort	port,
		int32_t	handle
	)

Sets the stored handle for a SPI port.

Parameters

port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
handle	The value of the handle for the port.

◆ HAL_SetSPIMode()

void HAL_SetSPIMode	(	HAL_SPIPort	port,
		HAL_SPIMode	mode
	)

Sets the SPI Mode.

Parameters

port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
mode	The SPI mode to use

◆ HAL_SetSPISpeed()

void HAL_SetSPISpeed	(	HAL_SPIPort	port,
		int32_t	speed
	)

Sets the clock speed for the SPI bus.

Parameters

port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
speed	The speed in Hz (500KHz-10MHz)

◆ HAL_StartSPIAutoRate()

void HAL_StartSPIAutoRate	(	HAL_SPIPort	port,
		double	period,
		int32_t *	status
	)

Sets the period for automatic SPI accumulation.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
[in]	period	The accumulation period (seconds).
[out]	status	the error code, or 0 for success

◆ HAL_StartSPIAutoTrigger()

void HAL_StartSPIAutoTrigger	(	HAL_SPIPort	port,
		HAL_Handle	digitalSourceHandle,
		HAL_AnalogTriggerType	analogTriggerType,
		HAL_Bool	triggerRising,
		HAL_Bool	triggerFalling,
		int32_t *	status
	)

Starts the auto SPI accumulator on a specific trigger.

Note that triggering on both rising and falling edges is a valid configuration.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
[in]	digitalSourceHandle	The trigger source to use (Either HAL_AnalogTriggerHandle or HAL_DigitalHandle).
[in]	analogTriggerType	The analog trigger type, if the source is an analog trigger.
[in]	triggerRising	Trigger on the rising edge if true.
[in]	triggerFalling	Trigger on the falling edge if true.
[out]	status	the error code, or 0 for success

◆ HAL_StopSPIAuto()

void HAL_StopSPIAuto	(	HAL_SPIPort	port,
		int32_t *	status
	)

Stops an automatic SPI accumulation.

Parameters

[in]	port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
[out]	status	the error code, or 0 for success

◆ HAL_TransactionSPI()

int32_t HAL_TransactionSPI	(	HAL_SPIPort	port,
		const uint8_t *	dataToSend,
		uint8_t *	dataReceived,
		int32_t	size
	)

Performs an SPI send/receive transaction.

This is a lower-level interface to the spi hardware giving you more control over each transaction.

Parameters

port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
dataToSend	Buffer of data to send as part of the transaction.
dataReceived	Buffer to read data into.
size	Number of bytes to transfer. [0..7]

Returns: Number of bytes transferred, -1 for error

◆ HAL_WriteSPI()

int32_t HAL_WriteSPI	(	HAL_SPIPort	port,
		const uint8_t *	dataToSend,
		int32_t	sendSize
	)

Executes a write transaction with the device.

Writes to a device and wait until the transaction is complete.

Parameters

port	The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
dataToSend	The data to write to the register on the device.
sendSize	The number of bytes to be written

Returns: The number of bytes written. -1 for an error

Namespaces

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ HAL_SPIMode

◆ HAL_SPIPort

Function Documentation

◆ HAL_CloseSPI()

◆ HAL_ConfigureSPIAutoStall()

◆ HAL_ForceSPIAutoRead()

◆ HAL_FreeSPIAuto()

◆ HAL_GetSPIAutoDroppedCount()

◆ HAL_GetSPIHandle()

◆ HAL_GetSPIMode()

◆ HAL_InitializeSPI()

◆ HAL_InitSPIAuto()

◆ HAL_ReadSPI()

◆ HAL_ReadSPIAutoReceivedData()

◆ HAL_SetSPIAutoTransmitData()

◆ HAL_SetSPIChipSelectActiveHigh()

◆ HAL_SetSPIChipSelectActiveLow()

◆ HAL_SetSPIHandle()

◆ HAL_SetSPIMode()

◆ HAL_SetSPISpeed()

◆ HAL_StartSPIAutoRate()

◆ HAL_StartSPIAutoTrigger()

◆ HAL_StopSPIAuto()

◆ HAL_TransactionSPI()

◆ HAL_WriteSPI()