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

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

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
 

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
 

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

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);

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) {

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. */