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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);