java.lang.Object

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`

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
- INVALID_PORT
  
  public static final int INVALID_PORT
  
  See Also:
  
  Constant Field Values
- ONBOARD_CS0_PORT
  
  public static final int ONBOARD_CS0_PORT
  
  See Also:
  
  Constant Field Values
- ONBOARD_CS1_PORT
  
  public static final int ONBOARD_CS1_PORT
  
  See Also:
  
  Constant Field Values
- ONBOARD_CS2_PORT
  
  public static final int ONBOARD_CS2_PORT
  
  See Also:
  
  Constant Field Values
- ONBOARD_CS3_PORT
  
  public static final int ONBOARD_CS3_PORT
  
  See Also:
  
  Constant Field Values
- MXP_PORT
  
  public static final int MXP_PORT
  
  See Also:
  
  Constant Field Values
- SPI_MODE0
  
  public static final int SPI_MODE0
  
  See Also:
  
  Constant Field Values
- SPI_MODE1
  
  public static final int SPI_MODE1
  
  See Also:
  
  Constant Field Values
- SPI_MODE2
  
  public static final int SPI_MODE2
  
  See Also:
  
  Constant Field Values
- SPI_MODE3
  
  public static final int SPI_MODE3
  
  See Also:
  
  Constant Field Values
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"

Class SPIJNI

Nested Class Summary

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

Field Summary

Method Summary

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

Methods inherited from class java.lang.Object

Field Details

Method Details