Package edu.wpi.first.hal

Class SPIJNI

java.lang.Object
edu.wpi.first.hal.JNIWrapper
edu.wpi.first.hal.SPIJNI
public class SPIJNI
extends JNIWrapper
SPI HAL JNI functions.
See Also:
"SPI.h"

  • Nested Class Summary

    Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

    JNIWrapper.Helper

  • Field Summary

    Fields 
    Modifier and Type Field Description
    static int INVALID_PORT  
    static int MXP_PORT  
    static int ONBOARD_CS0_PORT  
    static int ONBOARD_CS1_PORT  
    static int ONBOARD_CS2_PORT  
    static int ONBOARD_CS3_PORT  
    static int SPI_MODE0  
    static int SPI_MODE1  
    static int SPI_MODE2  
    static int SPI_MODE3  

  • Constructor Summary

    Constructors 
    Constructor Description
    SPIJNI()  

  • Method Summary

    Modifier and Type Method Description
    static void spiClose​(int port)
    Closes the SPI port.
    static void spiConfigureAutoStall​(int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead)
    Configure the Auto SPI Stall time between reads.
    static void spiForceAutoRead​(int port)
    Immediately forces an SPI read to happen.
    static void spiFreeAuto​(int port)
    Frees an SPI automatic accumulator.
    static int spiGetAutoDroppedCount​(int port)
    Gets the count of how many SPI accumulations have been missed.
    static int spiGetMode​(int port)
    Gets the SPI Mode.
    static void spiInitAuto​(int port, int bufferSize)
    Initializes the SPI automatic accumulator.
    static void spiInitialize​(int port)
    Initializes the SPI port.
    static int spiRead​(int port, boolean initiate, ByteBuffer dataReceived, byte size)
    Executes a read from the device.
    static int spiReadAutoReceivedData​(int port, int[] buffer, int numToRead, double timeout)
    Reads data received by the SPI accumulator.
    static int spiReadAutoReceivedData​(int port, ByteBuffer buffer, int numToRead, double timeout)
    Reads data received by the SPI accumulator.
    static int spiReadB​(int port, boolean initiate, byte[] dataReceived, byte size)
    Executes a read from the device.
    static void spiSetAutoTransmitData​(int port, byte[] dataToSend, int zeroSize)
    Sets the data to be transmitted to the device to initiate a read.
    static void spiSetChipSelectActiveHigh​(int port)
    Sets the CS Active high for a SPI port.
    static void spiSetChipSelectActiveLow​(int port)
    Sets the CS Active low for a SPI port.
    static void spiSetMode​(int port, int mode)
    Sets the SPI Mode.
    static void spiSetSpeed​(int port, int speed)
    Sets the clock speed for the SPI bus.
    static void spiStartAutoRate​(int port, double period)
    Sets the period for automatic SPI accumulation.
    static void spiStartAutoTrigger​(int port, int digitalSourceHandle, int analogTriggerType, boolean triggerRising, boolean triggerFalling)
    Starts the auto SPI accumulator on a specific trigger.
    static void spiStopAuto​(int port)
    Stops an automatic SPI accumulation.
    static int spiTransaction​(int port, ByteBuffer dataToSend, ByteBuffer dataReceived, byte size)
    Performs an SPI send/receive transaction.
    static int spiTransactionB​(int port, byte[] dataToSend, byte[] dataReceived, byte size)
    Performs an SPI send/receive transaction.
    static int spiWrite​(int port, ByteBuffer dataToSend, byte sendSize)
    Executes a write transaction with the device.
    static int spiWriteB​(int port, byte[] dataToSend, byte sendSize)
    Executes a write transaction with the device.

    Methods inherited from class edu.wpi.first.hal.JNIWrapper

    forceLoad, suppressUnused

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

  • Constructor Details

  • Method Details

    • spiInitialize

      public static void spiInitialize​(int port)
      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:
      port - The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP
      See Also:
      "HAL_InitializeSPI"

    • spiTransaction

      public static int spiTransaction​(int port, ByteBuffer dataToSend, ByteBuffer dataReceived, byte 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
      See Also:
      "HAL_TransactionSPI"

    • spiTransactionB

      public static int spiTransactionB​(int port, byte[] dataToSend, byte[] dataReceived, byte 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
      See Also:
      "HAL_TransactionSPI"

    • spiWrite

      public static int spiWrite​(int port, ByteBuffer dataToSend, byte 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
      See Also:
      "HAL_WriteSPI"

    • spiWriteB

      public static int spiWriteB​(int port, byte[] dataToSend, byte 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
      See Also:
      "HAL_WriteSPI"

    • spiRead

      public static int spiRead​(int port, boolean initiate, ByteBuffer dataReceived, byte size)
      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
      initiate - initiates a transaction when true. Just reads when false.
      dataReceived - A pointer to the array of bytes to store the data read from the device.
      size - The number of bytes to read in the transaction. [1..7]
      Returns:
      Number of bytes read. -1 for error.
      See Also:
      "HAL_ReadSPI"

    • spiReadB

      public static int spiReadB​(int port, boolean initiate, byte[] dataReceived, byte size)
      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
      initiate - initiates a transaction when true. Just reads when false.
      dataReceived - A pointer to the array of bytes to store the data read from the device.
      size - The number of bytes to read in the transaction. [1..7]
      Returns:
      Number of bytes read. -1 for error.
      See Also:
      "HAL_ReadSPI"

    • spiClose

      public static void spiClose​(int port)
      Closes the SPI port.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
      See Also:
      "HAL_CloseSPI"

    • spiSetSpeed

      public static void spiSetSpeed​(int port, int 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)
      See Also:
      "HAL_SetSPISpeed"

    • spiSetMode

      public static void spiSetMode​(int port, int 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
      See Also:
      "HAL_SetSPIMode"

    • spiGetMode

      public static int spiGetMode​(int 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
      See Also:
      "HAL_GetSPIMode"

    • spiSetChipSelectActiveHigh

      public static void spiSetChipSelectActiveHigh​(int port)
      Sets the CS Active high for a SPI port.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
      See Also:
      "HAL_SetSPIChipSelectActiveHigh"

    • spiSetChipSelectActiveLow

      public static void spiSetChipSelectActiveLow​(int port)
      Sets the CS Active low for a SPI port.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
      See Also:
      "HAL_SetSPIChipSelectActiveLow"

    • spiInitAuto

      public static void spiInitAuto​(int port, int bufferSize)
      Initializes the SPI automatic accumulator.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      bufferSize - The accumulator buffer size.
      See Also:
      "HAL_InitSPIAuto"

    • spiFreeAuto

      public static void spiFreeAuto​(int port)
      Frees an SPI automatic accumulator.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      See Also:
      "HAL_FreeSPIAuto"

    • spiStartAutoRate

      public static void spiStartAutoRate​(int port, double period)
      Sets the period for automatic SPI accumulation.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      period - The accumulation period (seconds).
      See Also:
      "HAL_StartSPIAutoRate"

    • spiStartAutoTrigger

      public static void spiStartAutoTrigger​(int port, int digitalSourceHandle, int analogTriggerType, boolean triggerRising, boolean triggerFalling)
      Starts the auto SPI accumulator on a specific trigger.

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

      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      digitalSourceHandle - The trigger source to use (Either HAL_AnalogTriggerHandle or HAL_DigitalHandle).
      analogTriggerType - The analog trigger type, if the source is an analog trigger.
      triggerRising - Trigger on the rising edge if true.
      triggerFalling - Trigger on the falling edge if true.
      See Also:
      "HAL_StartSPIAutoTrigger"

    • spiStopAuto

      public static void spiStopAuto​(int port)
      Stops an automatic SPI accumulation.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      See Also:
      "HAL_StopSPIAuto"

    • spiSetAutoTransmitData

      public static void spiSetAutoTransmitData​(int port, byte[] dataToSend, int zeroSize)
      Sets the data to be transmitted to the device to initiate a read.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      dataToSend - Pointer to the data to send (Gets copied for continue use, so no need to keep alive).
      zeroSize - The number of zeros to send after the data.
      See Also:
      "HAL_SetSPIAutoTransmitData"

    • spiForceAutoRead

      public static void spiForceAutoRead​(int port)
      Immediately forces an SPI read to happen.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      See Also:
      "HAL_ForceSPIAutoRead"

    • spiReadAutoReceivedData

      public static int spiReadAutoReceivedData​(int port, ByteBuffer buffer, int numToRead, double timeout)
      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 spiSetAutoTransmitData.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      buffer - The buffer to store the data into.
      numToRead - The number of words to read.
      timeout - The read timeout (in seconds).
      Returns:
      The number of words actually read.
      See Also:
      "HAL_ReadSPIAutoReceivedData"

    • spiReadAutoReceivedData

      public static int spiReadAutoReceivedData​(int port, int[] buffer, int numToRead, double timeout)
      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 spiSetAutoTransmitData.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      buffer - The buffer to store the data into.
      numToRead - The number of words to read.
      timeout - The read timeout (in seconds).
      Returns:
      The number of words actually read.
      See Also:
      "HAL_ReadSPIAutoReceivedData"

    • spiGetAutoDroppedCount

      public static int spiGetAutoDroppedCount​(int port)
      Gets the count of how many SPI accumulations have been missed.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      Returns:
      The number of missed accumulations.
      See Also:
      "HAL_GetSPIAutoDroppedCount"

    • spiConfigureAutoStall

      public static void spiConfigureAutoStall​(int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead)
      Configure the Auto SPI Stall time between reads.
      Parameters:
      port - The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
      csToSclkTicks - the number of ticks to wait before asserting the cs pin
      stallTicks - the number of ticks to stall for
      pow2BytesPerRead - the number of bytes to read before stalling
      See Also:
      "HAL_ConfigureSPIAutoStall"