diff --git a/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java b/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
index 05ac08af9b..0652c3fa4a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
@@ -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);
 
diff --git a/hal/src/main/native/athena/SPI.cpp b/hal/src/main/native/athena/SPI.cpp
index 0df6fdb824..e2f5f98e49 100644
--- a/hal/src/main/native/athena/SPI.cpp
+++ b/hal/src/main/native/athena/SPI.cpp
@@ -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) {
diff --git a/hal/src/main/native/cpp/jni/SPIJNI.cpp b/hal/src/main/native/cpp/jni/SPIJNI.cpp
index 3c9143bbb4..4f1e5568ef 100644
--- a/hal/src/main/native/cpp/jni/SPIJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SPIJNI.cpp
@@ -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)));
 }
 
 /*
diff --git a/hal/src/main/native/include/hal/SPI.h b/hal/src/main/native/include/hal/SPI.h
index 84cec5ddb9..f3c7fdca09 100644
--- a/hal/src/main/native/include/hal/SPI.h
+++ b/hal/src/main/native/include/hal/SPI.h
@@ -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.
diff --git a/hal/src/main/native/include/hal/SPITypes.h b/hal/src/main/native/include/hal/SPITypes.h
index de6622682e..34b5d618d6 100644
--- a/hal/src/main/native/include/hal/SPITypes.h
+++ b/hal/src/main/native/include/hal/SPITypes.h
@@ -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 {
 
diff --git a/hal/src/main/native/sim/SPI.cpp b/hal/src/main/native/sim/SPI.cpp
index bf362a80bd..70e2bde1dd 100644
--- a/hal/src/main/native/sim/SPI.cpp
+++ b/hal/src/main/native/sim/SPI.cpp
@@ -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) {
diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
index eb31386746..72d0630549 100644
--- a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -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
 
diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
index 7127fa82ee..f2ff744aa1 100644
--- a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -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
 
diff --git a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
index 9a95bcc163..d3df40017a 100644
--- a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
@@ -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];
diff --git a/wpilibc/src/main/native/cpp/ADXL362.cpp b/wpilibc/src/main/native/cpp/ADXL362.cpp
index deda965465..be4afb7b9c 100644
--- a/wpilibc/src/main/native/cpp/ADXL362.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL362.cpp
@@ -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];
diff --git a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
index 5a2f62543e..542d1ae314 100644
--- a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
+++ b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
@@ -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) {
diff --git a/wpilibc/src/main/native/cpp/SPI.cpp b/wpilibc/src/main/native/cpp/SPI.cpp
index bbc82fd729..a629d4de59 100644
--- a/wpilibc/src/main/native/cpp/SPI.cpp
+++ b/wpilibc/src/main/native/cpp/SPI.cpp
@@ -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() {
diff --git a/wpilibc/src/main/native/include/frc/SPI.h b/wpilibc/src/main/native/include/frc/SPI.h
index fb0e6f50d0..3f51595194 100644
--- a/wpilibc/src/main/native/include/frc/SPI.h
+++ b/wpilibc/src/main/native/include/frc/SPI.h
@@ -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();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
index cc14a77c97..cbb43e8545 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -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
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
index 7741d0118b..b0f90c91bd 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -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
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
index fa8b7d808d..ddf38e1c5c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
@@ -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
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
index 2a9c2fe788..19abf05a50 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
@@ -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);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
index 5a826def27..e12d8b9270 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
@@ -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) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
index 2f073d20ae..f93a9f0b4e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
@@ -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. */