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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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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)));
}
/*