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 final int
    INVALID_PORT
    Invalid port number.
    static final int
    MXP_PORT
    MXP (roboRIO MXP) SPI bus port.
    static final int
    ONBOARD_CS0_PORT
    Onboard SPI bus port CS0.
    static final int
    ONBOARD_CS1_PORT
    Onboard SPI bus port CS1.
    static final int
    ONBOARD_CS2_PORT
    Onboard SPI bus port CS2.
    static final int
    ONBOARD_CS3_PORT
    Onboard SPI bus port CS3.
    static final int
    SPI_MODE0
    Clock idle low, data sampled on rising edge.
    static final int
    SPI_MODE1
    Clock idle low, data sampled on falling edge.
    static final int
    SPI_MODE2
    Clock idle high, data sampled on falling edge.
    static final int
    SPI_MODE3
    Clock idle high, data sampled on rising edge.

  • 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

  • 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"