io.github.robolib.module.iface

Class SPI

java.lang.Object

io.github.robolib.module.iface.Interface

io.github.robolib.module.iface.SPI

Direct Known Subclasses:

ADXL345_SPI

public class SPI
extends Interface

SPI bus interface class.

Author:

noriah

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	SPI.Port Valid SPI ports on the RIO

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Interface.InterfaceType

Field Summary

Fields

Modifier and Type	Field and Description
private static boolean[]	ALLOCATED_PORTS
private int	m_bitOrder
private int	m_clockPolarity
private int	m_dataOnTrailing
private byte	m_port

Fields inherited from class io.github.robolib.module.iface.Interface

m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

Constructor Summary

Constructors

Constructor and Description
SPI(SPI.Port port) Constructor

Method Summary

Modifier and Type	Method and Description
void	free() Free the resources used by this object
int	read(java.lang.Boolean initiate, byte[] data, int size) Read a word from the receive FIFO.
void	setChipSelectActiveHigh() Configure the chip select line to be active high.
void	setChipSelectActiveLow() Configure the chip select line to be active low.
void	setClockActiveHight() Configure the clock output line to be active high.
void	setClockActiveLow() Configure the clock output line to be active low.
void	setClockRate(int hz) Configure the rate of the generated clock signal.
void	setLSBFirst() Configure the order that bits are sent and received on the wire to be least significant bit first.
void	setMSBFirst() Configure the order that bits are sent and received on the wire to be most significant bit first.
void	setSampleDataOnFalling() Configure that the data is stable on the falling edge and the data changes on the rising edge.
void	setSampleDataOnRising() Configure that the data is stable on the rising edge and the data changes on the falling edge.
int	transaction(byte[] dataSend, byte[] dataGet, int size) Perform a simultaneous read/write transaction with the device
int	write(byte[] data, int size) Write data to the slave device.

Methods inherited from class io.github.robolib.module.iface.Interface

allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

Methods inherited from class java.lang.Object

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

Field Detail

m_bitOrder

private int m_bitOrder

m_port

private final byte m_port

m_clockPolarity

private int m_clockPolarity

m_dataOnTrailing

private int m_dataOnTrailing

ALLOCATED_PORTS

private static final boolean[] ALLOCATED_PORTS

Constructor Detail

SPI

public SPI(SPI.Port port)

Constructor

Parameters:

port - the physical SPI port

Method Detail

free

public final void free()

Free the resources used by this object

setClockRate

public final void setClockRate(int hz)

Configure the rate of the generated clock signal. The default value is 500,000 Hz. The maximum value is 4,000,000 Hz.

Parameters:

hz - The clock rate in Hertz.

setMSBFirst

public final void setMSBFirst()

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

setLSBFirst

public final void setLSBFirst()

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

setClockActiveLow

public final void setClockActiveLow()

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

setClockActiveHight

public final void setClockActiveHight()

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

setSampleDataOnFalling

public final void setSampleDataOnFalling()

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

setSampleDataOnRising

public final void setSampleDataOnRising()

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

setChipSelectActiveHigh

public final void setChipSelectActiveHigh()

Configure the chip select line to be active high.

setChipSelectActiveLow

public final void setChipSelectActiveLow()

Configure the chip select line to be active low.

write

public final int write(byte[] data,
                       int size)

Write data 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.

Parameters:

data - the data to write

size - the number of bytes to send

read

public final int read(java.lang.Boolean initiate,
                      byte[] data,
                      int size)

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.

data - the buffer to read into

size - the number of bytes to read

transaction

public final int transaction(byte[] dataSend,
                             byte[] dataGet,
                             int size)

Perform a simultaneous read/write transaction with the device

Parameters:

dataSend - The data to be written out to the device

dataGet - Buffer to receive data from the device

size - The length of the transaction, in bytes