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[hal,wpilib] Fix SPI Mode Setting (#4434)

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SPI Mode setting was very broken. MSB and LSB sets did not work (MSB is the only one supported)
and if LSB was set (which was the default) the ioct to set clock phase would fail. This
deprecates all the individual functions, the LSB/MSB functions, and adds an SPI mode selection
function. This is usually more understandable, and shows up in a lot more documentation
This commit is contained in:
Thad House
2022-09-24 00:11:37 -07:00
committed by GitHub
parent 773198537c
commit 17f504f548
19 changed files with 243 additions and 95 deletions
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17
hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
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@@ -8,6 +8,18 @@ import java.nio.ByteBuffer;
@SuppressWarnings("AbbreviationAsWordInName")
public class SPIJNI extends JNIWrapper {
public static final int INVALID_PORT = -1;
public static final int ONBOARD_CS0_PORT = 0;
public static final int ONBOARD_CS1_PORT = 1;
public static final int ONBOARD_CS2_PORT = 2;
public static final int ONBOARD_CS3_PORT = 3;
public static final int MXP_PORT = 4;
public static final int SPI_MODE0 = 0;
public static final int SPI_MODE1 = 1;
public static final int SPI_MODE2 = 2;
public static final int SPI_MODE3 = 3;
public static native void spiInitialize(int port);
public static native int spiTransaction(
@@ -28,8 +40,9 @@ public class SPIJNI extends JNIWrapper {
public static native void spiSetSpeed(int port, int speed);
public static native void spiSetOpts(
int port, int msbFirst, int sampleOnTrailing, int clkIdleHigh);
public static native void spiSetMode(int port, int mode);
public static native int spiGetMode(int port);
public static native void spiSetChipSelectActiveHigh(int port);

22
hal/src/main/native/athena/SPI.cpp
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@@ -364,19 +364,27 @@ void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) {
ioctl(HAL_GetSPIHandle(port), SPI_IOC_WR_MAX_SPEED_HZ, &speed);
}
void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh) {
void HAL_SetSPIMode(HAL_SPIPort port, HAL_SPIMode mode) {
if (port < 0 || port >= kSpiMaxHandles) {
return;
}
uint8_t mode = 0;
mode |= (!msbFirst ? 8 : 0);
mode |= (clkIdleHigh ? 2 : 0);
mode |= (sampleOnTrailing ? 1 : 0);
uint8_t mode8 = mode & SPI_MODE_3;
std::scoped_lock lock(spiApiMutexes[port]);
ioctl(HAL_GetSPIHandle(port), SPI_IOC_WR_MODE, &mode);
ioctl(HAL_GetSPIHandle(port), SPI_IOC_WR_MODE, &mode8);
}
HAL_SPIMode HAL_GetSPIMode(HAL_SPIPort port) {
if (port < 0 || port >= kSpiMaxHandles) {
return HAL_SPI_kMode0;
}
uint8_t mode8 = 0;
std::scoped_lock lock(spiApiMutexes[port]);
ioctl(HAL_GetSPIHandle(port), SPI_IOC_RD_MODE, &mode8);
return static_cast<HAL_SPIMode>(mode8 & SPI_MODE_3);
}
void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {

46
hal/src/main/native/cpp/jni/SPIJNI.cpp
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@@ -15,6 +15,27 @@
using namespace hal;
using namespace wpi::java;
static_assert(HAL_SPIPort::HAL_SPI_kInvalid ==
edu_wpi_first_hal_SPIJNI_INVALID_PORT);
static_assert(HAL_SPIPort::HAL_SPI_kOnboardCS0 ==
edu_wpi_first_hal_SPIJNI_ONBOARD_CS0_PORT);
static_assert(HAL_SPIPort::HAL_SPI_kOnboardCS1 ==
edu_wpi_first_hal_SPIJNI_ONBOARD_CS1_PORT);
static_assert(HAL_SPIPort::HAL_SPI_kOnboardCS2 ==
edu_wpi_first_hal_SPIJNI_ONBOARD_CS2_PORT);
static_assert(HAL_SPIPort::HAL_SPI_kOnboardCS3 ==
edu_wpi_first_hal_SPIJNI_ONBOARD_CS3_PORT);
static_assert(HAL_SPIPort::HAL_SPI_kMXP == edu_wpi_first_hal_SPIJNI_MXP_PORT);
static_assert(HAL_SPIMode::HAL_SPI_kMode0 ==
edu_wpi_first_hal_SPIJNI_SPI_MODE0);
static_assert(HAL_SPIMode::HAL_SPI_kMode1 ==
edu_wpi_first_hal_SPIJNI_SPI_MODE1);
static_assert(HAL_SPIMode::HAL_SPI_kMode2 ==
edu_wpi_first_hal_SPIJNI_SPI_MODE2);
static_assert(HAL_SPIMode::HAL_SPI_kMode3 ==
edu_wpi_first_hal_SPIJNI_SPI_MODE3);
extern "C" {
/*
@@ -202,16 +223,27 @@ Java_edu_wpi_first_hal_SPIJNI_spiSetSpeed
/*
* Class: edu_wpi_first_hal_SPIJNI
* Method: spiSetOpts
* Signature: (IIII)V
* Method: spiSetMode
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SPIJNI_spiSetOpts
(JNIEnv*, jclass, jint port, jint msb_first, jint sample_on_trailing,
jint clk_idle_high)
Java_edu_wpi_first_hal_SPIJNI_spiSetMode
(JNIEnv*, jclass, jint port, jint mode)
{
HAL_SetSPIOpts(static_cast<HAL_SPIPort>(port), msb_first, sample_on_trailing,
clk_idle_high);
HAL_SetSPIMode(static_cast<HAL_SPIPort>(port),
static_cast<HAL_SPIMode>(mode));
}
/*
* Class: edu_wpi_first_hal_SPIJNI
* Method: spiGetMode
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SPIJNI_spiGetMode
(JNIEnv*, jclass, jint port)
{
return static_cast<jint>(HAL_GetSPIMode(static_cast<HAL_SPIPort>(port)));
}
/*

26
hal/src/main/native/include/hal/SPI.h
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@@ -90,23 +90,27 @@ void HAL_CloseSPI(HAL_SPIPort port);
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
* MXP
* @param speed The speed in Hz (0-1MHz)
* @param speed The speed in Hz (500KHz-10MHz)
*/
void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed);
/**
* Sets the SPI options.
* Sets the SPI Mode.
*
* @param port The number of the port to use. 0-3 for Onboard
* CS0-CS2, 4 for MXP
* @param msbFirst True to write the MSB first, False for LSB first
* @param sampleOnTrailing True to sample on the trailing edge, False to sample
* on the leading edge
* @param clkIdleHigh True to set the clock to active low, False to set the
* clock active high
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
* MXP
* @param mode The SPI mode to use
*/
void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh);
void HAL_SetSPIMode(HAL_SPIPort port, HAL_SPIMode mode);
/**
* Gets the SPI Mode.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
* MXP
* @returns The SPI mode currently set
*/
HAL_SPIMode HAL_GetSPIMode(HAL_SPIPort port);
/**
* Sets the CS Active high for a SPI port.

9
hal/src/main/native/include/hal/SPITypes.h
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@@ -25,6 +25,15 @@ HAL_ENUM(HAL_SPIPort) {
};
// clang-format on
// clang-format off
HAL_ENUM(HAL_SPIMode) {
HAL_SPI_kMode0 = 0,
HAL_SPI_kMode1 = 1,
HAL_SPI_kMode2 = 2,
HAL_SPI_kMode3 = 3,
};
// clang-format on
#ifdef __cplusplus
namespace hal {

6
hal/src/main/native/sim/SPI.cpp
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@@ -34,8 +34,10 @@ void HAL_CloseSPI(HAL_SPIPort port) {
SimSPIData[port].initialized = false;
}
void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) {}
void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh) {}
void HAL_SetSPIMode(HAL_SPIPort port, HAL_SPIMode mode) {}
HAL_SPIMode HAL_GetSPIMode(HAL_SPIPort port) {
return HAL_SPI_kMode0;
}
void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {}
void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {}
int32_t HAL_GetSPIHandle(HAL_SPIPort port) {

4
wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
View File

@@ -197,9 +197,7 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
if (m_spi == nullptr) {
m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(1000000);
m_spi->SetMSBFirst();
m_spi->SetSampleDataOnTrailingEdge();
m_spi->SetClockActiveLow();
m_spi->SetMode(frc::SPI::Mode::kMode3);
m_spi->SetChipSelectActiveLow();
ReadRegister(PROD_ID); // Dummy read

4
wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
View File

@@ -194,9 +194,7 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
if (m_spi == nullptr) {
m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(2000000);
m_spi->SetMSBFirst();
m_spi->SetSampleDataOnTrailingEdge();
m_spi->SetClockActiveLow();
m_spi->SetMode(frc::SPI::Mode::kMode3);
m_spi->SetChipSelectActiveLow();
ReadRegister(PROD_ID); // Dummy read

4
wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
View File

@@ -21,9 +21,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
m_simZ = m_simDevice.CreateDouble("z", hal::SimDevice::kInput, 0.0);
}
m_spi.SetClockRate(500000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnTrailingEdge();
m_spi.SetClockActiveLow();
m_spi.SetMode(frc::SPI::Mode::kMode3);
m_spi.SetChipSelectActiveHigh();
uint8_t commands[2];

4
wpilibc/src/main/native/cpp/ADXL362.cpp
View File

@@ -43,9 +43,7 @@ ADXL362::ADXL362(SPI::Port port, Range range)
}
m_spi.SetClockRate(3000000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnTrailingEdge();
m_spi.SetClockActiveLow();
m_spi.SetMode(frc::SPI::Mode::kMode3);
m_spi.SetChipSelectActiveLow();
uint8_t commands[3];

4
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
View File

@@ -38,9 +38,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
}
m_spi.SetClockRate(3000000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnLeadingEdge();
m_spi.SetClockActiveHigh();
m_spi.SetMode(frc::SPI::Mode::kMode0);
m_spi.SetChipSelectActiveLow();
if (!m_simDevice) {

38
wpilibc/src/main/native/cpp/SPI.cpp
View File

@@ -158,6 +158,7 @@ void SPI::Accumulator::Update() {
SPI::SPI(Port port) : m_port(static_cast<HAL_SPIPort>(port)) {
int32_t status = 0;
HAL_InitializeSPI(m_port, &status);
HAL_SetSPIMode(m_port, m_mode);
FRC_CheckErrorStatus(status, "Port {}", static_cast<int>(m_port));
HAL_Report(HALUsageReporting::kResourceType_SPI,
@@ -177,33 +178,46 @@ void SPI::SetClockRate(int hz) {
}
void SPI::SetMSBFirst() {
m_msbFirst = true;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
FRC_ReportError(1, "SetMSBFirst not supported by roboRIO {}",
static_cast<int>(m_port));
}
void SPI::SetLSBFirst() {
m_msbFirst = false;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
FRC_ReportError(1, "SetLSBFirst not supported by roboRIO {}",
static_cast<int>(m_port));
}
void SPI::SetSampleDataOnLeadingEdge() {
m_sampleOnTrailing = false;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
int mode = m_mode;
mode &= 2;
m_mode = static_cast<HAL_SPIMode>(mode);
HAL_SetSPIMode(m_port, m_mode);
}
void SPI::SetSampleDataOnTrailingEdge() {
m_sampleOnTrailing = true;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
int mode = m_mode;
mode |= 2;
m_mode = static_cast<HAL_SPIMode>(mode);
HAL_SetSPIMode(m_port, m_mode);
}
void SPI::SetClockActiveLow() {
m_clockIdleHigh = true;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
int mode = m_mode;
mode |= 1;
m_mode = static_cast<HAL_SPIMode>(mode);
HAL_SetSPIMode(m_port, m_mode);
}
void SPI::SetClockActiveHigh() {
m_clockIdleHigh = false;
HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
int mode = m_mode;
mode &= 1;
m_mode = static_cast<HAL_SPIMode>(mode);
HAL_SetSPIMode(m_port, m_mode);
}
void SPI::SetMode(Mode mode) {
m_mode = static_cast<HAL_SPIMode>(mode & 0x3);
HAL_SetSPIMode(m_port, m_mode);
}
void SPI::SetChipSelectActiveHigh() {

44
wpilibc/src/main/native/include/frc/SPI.h
View File

@@ -10,6 +10,7 @@
#include <hal/SPITypes.h>
#include <units/time.h>
#include <wpi/deprecated.h>
#include <wpi/span.h>
namespace frc {
@@ -26,6 +27,12 @@ class DigitalSource;
class SPI {
public:
enum Port { kOnboardCS0 = 0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
enum Mode {
kMode0 = HAL_SPI_kMode0,
kMode1 = HAL_SPI_kMode1,
kMode2 = HAL_SPI_kMode2,
kMode3 = HAL_SPI_kMode3
};
/**
* Constructor
@@ -54,39 +61,72 @@ class SPI {
/**
* Configure the order that bits are sent and received on the wire
* to be most significant bit first.
*
* @deprecated Does not work, will be removed.
*/
WPI_DEPRECATED("Not supported by roboRIO.")
void SetMSBFirst();
/**
* Configure the order that bits are sent and received on the wire
* to be least significant bit first.
*
* @deprecated Does not work, will be removed.
*/
WPI_DEPRECATED("Not supported by roboRIO.")
void SetLSBFirst();
/**
* Configure that the data is stable on the leading edge and the data
* changes on the trailing edge.
*
* @deprecated Use SetMode() instead.
*/
WPI_DEPRECATED("Use SetMode() instead")
void SetSampleDataOnLeadingEdge();
/**
* Configure that the data is stable on the trailing edge and the data
* changes on the leading edge.
*
* @deprecated Use SetMode() instead.
*/
WPI_DEPRECATED("Use SetMode() instead")
void SetSampleDataOnTrailingEdge();
/**
* Configure the clock output line to be active low.
* This is sometimes called clock polarity high or clock idle high.
*
* @deprecated Use SetMode() instead.
*/
WPI_DEPRECATED("Use SetMode() instead")
void SetClockActiveLow();
/**
* Configure the clock output line to be active high.
* This is sometimes called clock polarity low or clock idle low.
*
* @deprecated Use SetMode() instead.
*/
WPI_DEPRECATED("Use SetMode() instead")
void SetClockActiveHigh();
/**
* Sets the mode for the SPI device.
*
* <p>Mode 0 is Clock idle low, data sampled on rising edge
*
* <p>Mode 1 is Clock idle low, data sampled on falling edge
*
* <p>Mode 2 is Clock idle high, data sampled on falling edge
*
* <p>Mode 3 is Clock idle high, data sampled on rising edge
*
* @param mode The mode to set.
*/
void SetMode(Mode mode);
/**
* Configure the chip select line to be active high.
*/
@@ -345,9 +385,7 @@ class SPI {
protected:
hal::SPIPort m_port;
bool m_msbFirst = false; // Default little-endian
bool m_sampleOnTrailing = false; // Default data updated on falling edge
bool m_clockIdleHigh = false; // Default clock active high
HAL_SPIMode m_mode = HAL_SPIMode::HAL_SPI_kMode0;
private:
void Init();

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
View File

@@ -395,9 +395,7 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable {
System.out.println("Setting up a new SPI port.");
m_spi = new SPI(m_spi_port);
m_spi.setClockRate(1000000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnTrailingEdge();
m_spi.setClockActiveLow();
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
readRegister(PROD_ID); // Dummy read

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View File

@@ -438,9 +438,7 @@ public class ADIS16470_IMU implements AutoCloseable, NTSendable {
System.out.println("Setting up a new SPI port.");
m_spi = new SPI(m_spi_port);
m_spi.setClockRate(2000000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnTrailingEdge();
m_spi.setClockActiveLow();
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
readRegister(PROD_ID); // Dummy read

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
View File

@@ -118,9 +118,7 @@ public class ADXL345_SPI implements Accelerometer, NTSendable, AutoCloseable {
*/
private void init(Range range) {
m_spi.setClockRate(500000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnTrailingEdge();
m_spi.setClockActiveLow();
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveHigh();
// Turn on the measurements

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
View File

@@ -106,9 +106,7 @@ public class ADXL362 implements Accelerometer, NTSendable, AutoCloseable {
}
m_spi.setClockRate(3000000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnTrailingEdge();
m_spi.setClockActiveLow();
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
ByteBuffer transferBuffer = ByteBuffer.allocate(3);

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
View File

@@ -71,9 +71,7 @@ public class ADXRS450_Gyro implements Gyro, Sendable {
}
m_spi.setClockRate(3000000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnLeadingEdge();
m_spi.setClockActiveHigh();
m_spi.setMode(SPI.Mode.kMode0);
m_spi.setChipSelectActiveLow();
if (m_simDevice == null) {

90
wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
View File

@@ -15,11 +15,11 @@ import java.nio.IntBuffer;
/** Represents a SPI bus port. */
public class SPI implements AutoCloseable {
public enum Port {
kOnboardCS0(0),
kOnboardCS1(1),
kOnboardCS2(2),
kOnboardCS3(3),
kMXP(4);
kOnboardCS0(SPIJNI.ONBOARD_CS0_PORT),
kOnboardCS1(SPIJNI.ONBOARD_CS0_PORT),
kOnboardCS2(SPIJNI.ONBOARD_CS0_PORT),
kOnboardCS3(SPIJNI.ONBOARD_CS0_PORT),
kMXP(SPIJNI.MXP_PORT);
public final int value;
@@ -28,10 +28,21 @@ public class SPI implements AutoCloseable {
}
}
public enum Mode {
kMode0(SPIJNI.SPI_MODE0),
kMode1(SPIJNI.SPI_MODE1),
kMode2(SPIJNI.SPI_MODE2),
kMode3(SPIJNI.SPI_MODE3);
public final int value;
Mode(int value) {
this.value = value;
}
}
private int m_port;
private int m_msbFirst;
private int m_clockIdleHigh;
private int m_sampleOnTrailing;
private int m_mode;
/**
* Constructor.
@@ -39,10 +50,13 @@ public class SPI implements AutoCloseable {
* @param port the physical SPI port
*/
public SPI(Port port) {
m_port = (byte) port.value;
m_port = port.value;
SPIJNI.spiInitialize(m_port);
m_mode = 0;
SPIJNI.spiSetMode(m_port, m_mode);
HAL.report(tResourceType.kResourceType_SPI, port.value + 1);
}
@@ -72,55 +86,89 @@ public class SPI implements AutoCloseable {
/**
* Configure the order that bits are sent and received on the wire to be most significant bit
* first.
*
* @deprecated Does not work, will be removed.
*/
@Deprecated(since = "2023", forRemoval = true)
public final void setMSBFirst() {
m_msbFirst = 1;
SPIJNI.spiSetOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
DriverStation.reportWarning("setMSBFirst not supported by roboRIO", false);
}
/**
* Configure the order that bits are sent and received on the wire to be least significant bit
* first.
*
* @deprecated Does not work, will be removed.
*/
@Deprecated(since = "2023", forRemoval = true)
public final void setLSBFirst() {
m_msbFirst = 0;
SPIJNI.spiSetOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
DriverStation.reportWarning("setLSBFirst not supported by roboRIO", false);
}
/**
* Configure the clock output line to be active low. This is sometimes called clock polarity high
* or clock idle high.
*
* @deprecated Use setMode() instead.
*/
@Deprecated(since = "2023", forRemoval = true)
public final void setClockActiveLow() {
m_clockIdleHigh = 1;
SPIJNI.spiSetOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
m_mode |= 1;
SPIJNI.spiSetMode(m_port, m_mode);
}
/**
* Configure the clock output line to be active high. This is sometimes called clock polarity low
* or clock idle low.
*
* @deprecated Use setMode() instead.
*/
@Deprecated(since = "2023", forRemoval = true)
public final void setClockActiveHigh() {
m_clockIdleHigh = 0;
SPIJNI.spiSetOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
m_mode &= 1;
SPIJNI.spiSetMode(m_port, m_mode);
}
/**
* Configure that the data is stable on the leading edge and the data changes on the trailing
* edge.
*
* @deprecated Use setMode() instead.
*/
@Deprecated(since = "2023", forRemoval = true)
public final void setSampleDataOnLeadingEdge() {
m_sampleOnTrailing = 0;
SPIJNI.spiSetOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
m_mode &= 2;
SPIJNI.spiSetMode(m_port, m_mode);
}
/**
* Configure that the data is stable on the trailing edge and the data changes on the leading
* edge.
*
* @deprecated Use setMode() instead.
*/
@Deprecated(since = "2023", forRemoval = true)
public final void setSampleDataOnTrailingEdge() {
m_sampleOnTrailing = 1;
SPIJNI.spiSetOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
m_mode |= 2;
SPIJNI.spiSetMode(m_port, m_mode);
}
/**
* Sets the mode for the SPI device.
*
* <p>Mode 0 is Clock idle low, data sampled on rising edge.
*
* <p>Mode 1 is Clock idle low, data sampled on falling edge.
*
* <p>Mode 2 is Clock idle high, data sampled on falling edge.
*
* <p>Mode 3 is Clock idle high, data sampled on rising edge.
*
* @param mode The mode to set.
*/
public final void setMode(Mode mode) {
m_mode = mode.value & 0x3;
SPIJNI.spiSetMode(m_port, m_mode);
}
/** Configure the chip select line to be active high. */