mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
Port SPI to roboRIO. Java SPIDevice renamed to SPI and rewritten to match C++ API.
Change-Id: I9b2c05a05cbe443331a5b6da6a6d7c7be751a5e7
This commit is contained in:
Kevin O'Connor
@@ -4,6 +4,8 @@
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#include "edu_wpi_first_wpilibj_hal_SPIJNI.h"
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#include "HAL/Digital.hpp"
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// set the logging level
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TLogLevel spiJNILogLevel = logWARNING;
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@@ -14,276 +16,155 @@ TLogLevel spiJNILogLevel = logWARNING;
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: initializeSPI
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* Signature: (BIBIBILjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
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* Method: spiInitialize
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* Signature: (BLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_initializeSPI
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(JNIEnv *, jclass, jbyte, jint, jbyte, jint, jbyte, jint, jobject)
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize
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(JNIEnv * env, jclass, jbyte port, jobject status)
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{
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assert(false);
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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spiInitialize(port, statusPtr);
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SPIJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: cleanSPI
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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* Method: spiTransaction
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* Signature: (BLjava/nio/ByteBuffer;Ljava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_cleanSPI
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(JNIEnv *, jclass, jobject, jobject)
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction
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(JNIEnv * env, jclass, jbyte port, jobject dataToSend, jobject dataReceived, jbyte size)
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{
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assert(false);
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransaction";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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jbyte * dataToSendPtr = NULL;
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jbyte * dataReceivedPtr = NULL;
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if(dataToSend != 0){
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dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
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}
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dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*) dataReceivedPtr;
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jbyte retVal = spiTransaction(port, (uint8_t*)dataToSendPtr, (uint8_t*)dataReceivedPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPIBitsPerWord
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* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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* Method: spiWrite
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* Signature: (BLjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIBitsPerWord
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(JNIEnv *, jclass, jobject, jint, jobject)
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite
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(JNIEnv * env, jclass, jbyte port, jobject dataToSend, jbyte size)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: getSPIBitsPerWord
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPIBitsPerWord
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPIClockRate
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* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIClockRate
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(JNIEnv *, jclass, jobject, jdouble, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPIMSBFirst
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIMSBFirst
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPILSBFirst
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPILSBFirst
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPISampleDataOnFalling
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPISampleDataOnFalling
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPISampleDataOnRising
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPISampleDataOnRising
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPISlaveSelect
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* Signature: (Ljava/nio/ByteBuffer;BILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPISlaveSelect
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(JNIEnv *, jclass, jobject, jbyte, jint, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPILatchMode
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* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPILatchMode
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(JNIEnv *, jclass, jobject, jint, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: getSPILatchMode
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPILatchMode
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPIFramePolarity
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* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIFramePolarity
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(JNIEnv *, jclass, jobject, jbyte, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: getSPIFramePolarity
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPIFramePolarity
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWrite";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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jbyte * dataToSendPtr = NULL;
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if(dataToSend != 0){
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dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
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}
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
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jbyte retVal = spiWrite(port, (uint8_t*)dataToSendPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPIClockActiveLow
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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* Method: spiRead
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* Signature: (BLjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIClockActiveLow
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(JNIEnv *, jclass, jobject, jobject)
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead
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(JNIEnv * env, jclass, jbyte port, jobject dataReceived, jbyte size)
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{
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assert(false);
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiRead";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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jbyte * dataReceivedPtr = NULL;
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dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*) dataReceivedPtr;
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jbyte retVal = spiRead(port, (uint8_t*)dataReceivedPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiClose
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose
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(JNIEnv *, jclass, jbyte port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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spiClose(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: setSPIClockActiveHigh
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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* Method: spiSetSpeed
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* Signature: (BI)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIClockActiveHigh
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(JNIEnv *, jclass, jobject, jobject)
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed
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(JNIEnv *, jclass, jbyte port, jint speed)
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{
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assert(false);
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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SPIJNI_LOG(logDEBUG) << "Speed = " << (jint) speed;
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spiSetSpeed(port, speed);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: applySPIConfig
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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* Method: spiSetOpts
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* Signature: (BIII)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_applySPIConfig
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(JNIEnv *, jclass, jobject, jobject)
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts
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(JNIEnv *, jclass, jbyte port, jint msb_first, jint sample_on_trailing, jint clk_idle_high)
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{
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assert(false);
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetOpts";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
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SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
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SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
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spiSetOpts(port, msb_first, sample_on_trailing, clk_idle_high);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: getSPIOutputFIFOAvailable
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
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* Method: spiSetChipSelectActiveHigh
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* Signature: (BLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPIOutputFIFOAvailable
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(JNIEnv *, jclass, jobject, jobject)
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh
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(JNIEnv * env, jclass, jbyte port, jobject status)
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{
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assert(false);
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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spiSetChipSelectActiveHigh(port, statusPtr);
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SPIJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: getSPINumReceived
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
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* Method: spiSetChipSelectActiveLow
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* Signature: (BLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPINumReceived
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(JNIEnv *, jclass, jobject, jobject)
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow
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(JNIEnv * env, jclass, jbyte port, jobject status)
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{
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assert(false);
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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spiSetChipSelectActiveLow(port, statusPtr);
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SPIJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: isSPIDone
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_isSPIDone
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: hadSPIReceiveOverflow
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_hadSPIReceiveOverflow
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: writeSPI
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* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_writeSPI
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(JNIEnv *, jclass, jobject, jint, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: readSPI
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* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_readSPI
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(JNIEnv *, jclass, jobject, jbyte, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: resetSPI
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_resetSPI
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: clearSPIReceivedData
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_clearSPIReceivedData
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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