diff --git a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
index 43257b8f16..063f5b700a 100644
--- a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
@@ -23,7 +23,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
     : m_spi(port) {
   m_spi.SetClockRate(500000);
   m_spi.SetMSBFirst();
-  m_spi.SetSampleDataOnFalling();
+  m_spi.SetSampleDataOnTrailingEdge();
   m_spi.SetClockActiveLow();
   m_spi.SetChipSelectActiveHigh();
 
diff --git a/wpilibc/src/main/native/cpp/ADXL362.cpp b/wpilibc/src/main/native/cpp/ADXL362.cpp
index e9fecd2c94..14fffccb3d 100644
--- a/wpilibc/src/main/native/cpp/ADXL362.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL362.cpp
@@ -47,7 +47,7 @@ ADXL362::ADXL362(Range range) : ADXL362(SPI::Port::kOnboardCS1, range) {}
 ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) {
   m_spi.SetClockRate(3000000);
   m_spi.SetMSBFirst();
-  m_spi.SetSampleDataOnFalling();
+  m_spi.SetSampleDataOnTrailingEdge();
   m_spi.SetClockActiveLow();
   m_spi.SetChipSelectActiveLow();
 
diff --git a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
index 66caa78272..b765855590 100644
--- a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
+++ b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
@@ -64,7 +64,7 @@ ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
 ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
   m_spi.SetClockRate(3000000);
   m_spi.SetMSBFirst();
-  m_spi.SetSampleDataOnRising();
+  m_spi.SetSampleDataOnLeadingEdge();
   m_spi.SetClockActiveHigh();
   m_spi.SetChipSelectActiveLow();
 
diff --git a/wpilibc/src/main/native/cpp/SPI.cpp b/wpilibc/src/main/native/cpp/SPI.cpp
index 396d28892d..1d700e6591 100644
--- a/wpilibc/src/main/native/cpp/SPI.cpp
+++ b/wpilibc/src/main/native/cpp/SPI.cpp
@@ -174,6 +174,24 @@ void SPI::SetLSBFirst() {
   HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clk_idle_high);
 }
 
+/**
+ * Configure that the data is stable on the leading edge and the data
+ * changes on the trailing edge.
+ */
+void SPI::SetSampleDataOnLeadingEdge() {
+  m_sampleOnTrailing = false;
+  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clk_idle_high);
+}
+
+/**
+ * Configure that the data is stable on the trailing edge and the data
+ * changes on the leading edge.
+ */
+void SPI::SetSampleDataOnTrailingEdge() {
+  m_sampleOnTrailing = true;
+  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clk_idle_high);
+}
+
 /**
  * Configure that the data is stable on the falling edge and the data
  * changes on the rising edge.
diff --git a/wpilibc/src/main/native/include/SPI.h b/wpilibc/src/main/native/include/SPI.h
index 5805b588fe..73f7295671 100644
--- a/wpilibc/src/main/native/include/SPI.h
+++ b/wpilibc/src/main/native/include/SPI.h
@@ -12,6 +12,7 @@
 #include <memory>
 
 #include <wpi/ArrayRef.h>
+#include <wpi/deprecated.h>
 
 #include "ErrorBase.h"
 
@@ -43,7 +44,12 @@ class SPI : public ErrorBase {
   void SetMSBFirst();
   void SetLSBFirst();
 
+  void SetSampleDataOnLeadingEdge();
+  void SetSampleDataOnTrailingEdge();
+
+  WPI_DEPRECATED("Use SetSampleDataOnTrailingEdge in most cases.")
   void SetSampleDataOnFalling();
+  WPI_DEPRECATED("Use SetSampleDataOnLeadingEdge in most cases")
   void SetSampleDataOnRising();
 
   void SetClockActiveLow();
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 48e02408d7..c6a0185cfb 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
@@ -92,7 +92,7 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer, Sendable {
   private void init(Range range) {
     m_spi.setClockRate(500000);
     m_spi.setMSBFirst();
-    m_spi.setSampleDataOnFalling();
+    m_spi.setSampleDataOnTrailingEdge();
     m_spi.setClockActiveLow();
     m_spi.setChipSelectActiveHigh();
 
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 021417df83..5bb8461842 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
@@ -83,7 +83,7 @@ public class ADXL362 extends SensorBase implements Accelerometer, Sendable {
 
     m_spi.setClockRate(3000000);
     m_spi.setMSBFirst();
-    m_spi.setSampleDataOnFalling();
+    m_spi.setSampleDataOnTrailingEdge();
     m_spi.setClockActiveLow();
     m_spi.setChipSelectActiveLow();
 
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 1449a80682..1eaec6c0c2 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
@@ -58,7 +58,7 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
 
     m_spi.setClockRate(3000000);
     m_spi.setMSBFirst();
-    m_spi.setSampleDataOnRising();
+    m_spi.setSampleDataOnLeadingEdge();
     m_spi.setClockActiveHigh();
     m_spi.setChipSelectActiveLow();
 
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 e80c4d2a38..3ee373930d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
@@ -107,8 +107,29 @@ public class SPI {
   }
 
   /**
-   * Configure that the data is stable on the falling edge and the data changes on the rising edge.
+   * Configure that the data is stable on the leading edge and the data changes on the trailing
+   * edge.
    */
+  public final void setSampleDataOnLeadingEdge() {
+    m_dataOnTrailing = 0;
+    SPIJNI.spiSetOpts(m_port, m_bitOrder, m_dataOnTrailing, m_clockPolarity);
+  }
+
+  /**
+   * Configure that the data is stable on the trailing edge and the data changes on the leading
+   * edge.
+   */
+  public final void setSampleDataOnTrailingEdge() {
+    m_dataOnTrailing = 1;
+    SPIJNI.spiSetOpts(m_port, m_bitOrder, m_dataOnTrailing, m_clockPolarity);
+  }
+
+  /**
+   * Configure that the data is stable on the falling edge and the data changes on the rising edge.
+   * Note this gets reversed is setClockActiveLow is set.
+   * @deprecated use {@link #setSampleDataOnTrailingEdge()} in most cases.
+   */
+  @Deprecated
   public final void setSampleDataOnFalling() {
     m_dataOnTrailing = 1;
     SPIJNI.spiSetOpts(m_port, m_bitOrder, m_dataOnTrailing, m_clockPolarity);
@@ -116,12 +137,17 @@ public class SPI {
 
   /**
    * Configure that the data is stable on the rising edge and the data changes on the falling edge.
+   * Note this gets reversed is setClockActiveLow is set.
+   * @deprecated use {@link #setSampleDataOnLeadingEdge()} in most cases.
    */
+  @Deprecated
   public final void setSampleDataOnRising() {
     m_dataOnTrailing = 0;
     SPIJNI.spiSetOpts(m_port, m_bitOrder, m_dataOnTrailing, m_clockPolarity);
   }
 
+
+
   /**
    * Configure the chip select line to be active high.
    */