mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
Merge "Port SPI to roboRIO. Java SPIDevice renamed to SPI and rewritten to match C++ API."
This commit is contained in:
Thomas Clark (WPI)
@@ -0,0 +1,165 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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/**
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*
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* @author dtjones
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* @author mwills
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*/
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public class ADXL345_SPI extends SensorBase {
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private static final int kPowerCtlRegister = 0x2D;
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private static final int kDataFormatRegister = 0x31;
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private static final int kDataRegister = 0x32;
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private static final double kGsPerLSB = 0.00390625;
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private static final int kAddress_Read = 0x80;
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private static final int kAddress_MultiByte = 0x40;
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private static final int kPowerCtl_Link=0x20;
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private static final int kPowerCtl_AutoSleep=0x10;
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private static final int kPowerCtl_Measure=0x08;
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private static final int kPowerCtl_Sleep=0x04;
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private static final int kDataFormat_SelfTest=0x80;
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private static final int kDataFormat_SPI=0x40;
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private static final int kDataFormat_IntInvert=0x20;
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private static final int kDataFormat_FullRes=0x08;
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private static final int kDataFormat_Justify=0x04;
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public static class DataFormat_Range {
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/**
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* The integer value representing this enumeration
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*/
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public final byte value;
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static final byte k2G_val = 0x00;
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static final byte k4G_val = 0x01;
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static final byte k8G_val = 0x02;
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static final byte k16G_val = 0x03;
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public static final ADXL345_SPI.DataFormat_Range k2G = new ADXL345_SPI.DataFormat_Range(k2G_val);
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public static final ADXL345_SPI.DataFormat_Range k4G = new ADXL345_SPI.DataFormat_Range(k4G_val);
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public static final ADXL345_SPI.DataFormat_Range k8G = new ADXL345_SPI.DataFormat_Range(k8G_val);
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public static final ADXL345_SPI.DataFormat_Range k16G = new ADXL345_SPI.DataFormat_Range(k16G_val);
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private DataFormat_Range(byte value) {
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this.value = value;
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}
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}
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public static class Axes {
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/**
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* The integer value representing this enumeration
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*/
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public final byte value;
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static final byte kX_val = 0x00;
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static final byte kY_val = 0x02;
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static final byte kZ_val = 0x04;
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public static final ADXL345_SPI.Axes kX = new ADXL345_SPI.Axes(kX_val);
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public static final ADXL345_SPI.Axes kY = new ADXL345_SPI.Axes(kY_val);
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public static final ADXL345_SPI.Axes kZ = new ADXL345_SPI.Axes(kZ_val);
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private Axes(byte value) {
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this.value = value;
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}
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}
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public static class AllAxes {
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public double XAxis;
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public double YAxis;
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public double ZAxis;
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}
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private SPI m_spi;
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/**
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* Constructor. Use this when the device is the first/only device on the bus
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*
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* @param clk The clock channel
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* @param mosi The mosi (output) channel
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* @param miso The miso (input) channel
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* @param cs The chip select channel
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* @param range The range (+ or -) that the accelerometer will measure.
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*/
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public ADXL345_SPI(SPI.Port port, ADXL345_SPI.DataFormat_Range range) {
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m_spi = new SPI(port);
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init(range);
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}
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public void free(){
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m_spi.free();
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}
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/**
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* Set SPI bus parameters, bring device out of sleep and set format
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*
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* @param range The range (+ or -) that the accelerometer will measure.
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*/
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private void init(ADXL345_SPI.DataFormat_Range range){
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m_spi.setClockRate(500000);
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m_spi.setMSBFirst();
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m_spi.setSampleDataOnFalling();
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m_spi.setClockActiveLow();
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m_spi.setChipSelectActiveHigh();
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// Turn on the measurements
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byte[] commands = new byte[2];
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commands[0] = kPowerCtlRegister;
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commands[1] = kPowerCtl_Measure;
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m_spi.write(commands, 2);
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// Specify the data format to read
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commands[0] = kDataFormatRegister;
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commands[1] = (byte)(kDataFormat_FullRes | range.value);
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m_spi.write(commands, 2);
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}
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/**
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* Get the acceleration of one axis in Gs.
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*
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* @param axis The axis to read from.
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* @return Acceleration of the ADXL345 in Gs.
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*/
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public double getAcceleration(ADXL345_SPI.Axes axis) {
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byte[] transferBuffer = new byte[3];
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transferBuffer[0] = (byte)((kAddress_Read | kAddress_MultiByte | kDataRegister) + axis.value);
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m_spi.transaction(transferBuffer, transferBuffer, 3);
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//Sensor is little endian... swap bytes
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int rawAccel = transferBuffer[2] << 8 | transferBuffer[1];
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return rawAccel * kGsPerLSB;
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}
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/**
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* Get the acceleration of all axes in Gs.
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*
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* @return Acceleration measured on all axes of the ADXL345 in Gs.
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*/
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public ADXL345_SPI.AllAxes getAccelerations() {
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ADXL345_SPI.AllAxes data = new ADXL345_SPI.AllAxes();
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byte dataBuffer[] = new byte[7];
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int[] rawData = new int[3];
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if (m_spi != null)
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{
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// Select the data address.
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dataBuffer[0] = (byte)(kAddress_Read | kAddress_MultiByte | kDataRegister);
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m_spi.transaction(dataBuffer, dataBuffer, 7);
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for (int i=0; i<3; i++)
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{
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//Sensor is little endian... swap bytes
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rawData[i] = dataBuffer[i*2+2] << 8 | dataBuffer[i*2+1];
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}
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data.XAxis = rawData[0] * kGsPerLSB;
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data.YAxis = rawData[1] * kGsPerLSB;
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data.ZAxis = rawData[2] * kGsPerLSB;
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}
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return data;
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}
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}
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215
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SPI.java
Normal file
215
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SPI.java
Normal file
@@ -0,0 +1,215 @@
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package edu.wpi.first.wpilibj;
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import java.nio.ByteOrder;
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import java.nio.IntBuffer;
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import java.nio.ByteBuffer;
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import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
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import edu.wpi.first.wpilibj.communication.UsageReporting;
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import edu.wpi.first.wpilibj.hal.HALLibrary;
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import edu.wpi.first.wpilibj.hal.HALUtil;
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import edu.wpi.first.wpilibj.hal.SPIJNI;
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/**
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*
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* Represents a SPI bus port
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* @author koconnor
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*/
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public class SPI extends SensorBase {
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public enum Port {
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kOnboardCS0(0),
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kOnboardCS1(1),
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kOnboardCS2(2),
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kOnboardCS3(3),
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kMXP(4);
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private int value;
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private Port(int value){
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this.value = value;
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}
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public int getValue(){
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return this.value;
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}
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};
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private static int devices = 0;
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private byte m_port;
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private int bitOrder;
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private int clockPolarity;
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private int dataOnTrailing;
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/**
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* Constructor
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*
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* @param SPIport the physical SPI port
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*/
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public SPI(Port port) {
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ByteBuffer status = ByteBuffer.allocateDirect(4);
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status.order(ByteOrder.LITTLE_ENDIAN);
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m_port = (byte)port.getValue();
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devices++;
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SPIJNI.spiInitialize(m_port, status.asIntBuffer());
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HALUtil.checkStatus(status.asIntBuffer());
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UsageReporting.report(tResourceType.kResourceType_SPI, devices);
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}
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/**
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* Free the resources used by this object
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*/
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public void free(){
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SPIJNI.spiClose(m_port);
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}
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/**
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* Configure the rate of the generated clock signal.
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* The default and maximum value is 500,000 Hz.
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*
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* @param hz The clock rate in Hertz.
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*/
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public final void setClockRate(int hz) {
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SPIJNI.spiSetSpeed(m_port, hz);
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}
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/**
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* Configure the order that bits are sent and received on the wire
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* to be most significant bit first.
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*/
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public final void setMSBFirst() {
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this.bitOrder = 1;
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SPIJNI.spiSetOpts(m_port, this.bitOrder, this.dataOnTrailing, this.clockPolarity);
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}
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/**
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* Configure the order that bits are sent and received on the wire
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* to be least significant bit first.
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*/
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public final void setLSBFirst() {
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this.bitOrder = 0;
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SPIJNI.spiSetOpts(m_port, this.bitOrder, this.dataOnTrailing, this.clockPolarity);
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}
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/**
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* Configure the clock output line to be active low.
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* This is sometimes called clock polarity high or clock idle high.
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*/
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public final void setClockActiveLow() {
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this.clockPolarity = 1;
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SPIJNI.spiSetOpts(m_port, this.bitOrder, this.dataOnTrailing, this.clockPolarity);
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}
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/**
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* Configure the clock output line to be active high.
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* This is sometimes called clock polarity low or clock idle low.
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*/
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public final void setClockActiveHigh() {
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this.clockPolarity = 0;
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SPIJNI.spiSetOpts(m_port, this.bitOrder, this.dataOnTrailing, this.clockPolarity);
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}
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/**
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* Configure that the data is stable on the falling edge and the data
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* changes on the rising edge.
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*/
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public final void setSampleDataOnFalling() {
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this.dataOnTrailing = 1;
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SPIJNI.spiSetOpts(m_port, this.bitOrder, this.dataOnTrailing, this.clockPolarity);
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}
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/**
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* Configure that the data is stable on the rising edge and the data
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* changes on the falling edge.
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*/
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public final void setSampleDataOnRising() {
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this.dataOnTrailing = 0;
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SPIJNI.spiSetOpts(m_port, this.bitOrder, this.dataOnTrailing, this.clockPolarity);
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}
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/**
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* Configure the chip select line to be active high.
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*/
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public final void setChipSelectActiveHigh() {
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ByteBuffer status = ByteBuffer.allocateDirect(4);
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status.order(ByteOrder.LITTLE_ENDIAN);
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SPIJNI.spiSetChipSelectActiveHigh(m_port, status.asIntBuffer());
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HALUtil.checkStatus(status.asIntBuffer());
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}
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/**
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* Configure the chip select line to be active low.
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*/
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public final void setChipSelectActiveLow() {
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ByteBuffer status = ByteBuffer.allocateDirect(4);
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status.order(ByteOrder.LITTLE_ENDIAN);
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SPIJNI.spiSetChipSelectActiveLow(m_port, status.asIntBuffer());
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HALUtil.checkStatus(status.asIntBuffer());
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}
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/**
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* Write data to the slave device. Blocks until there is space in the
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* output FIFO.
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*
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* If not running in output only mode, also saves the data received
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* on the MISO input during the transfer into the receive FIFO.
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*/
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public int write(byte[] dataToSend, int size) {
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int retVal = 0;
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ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(size);
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dataToSendBuffer.put(dataToSend);
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retVal = SPIJNI.spiWrite(m_port, dataToSendBuffer, (byte) size);
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return retVal;
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}
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/**
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* Read a word from the receive FIFO.
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*
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* Waits for the current transfer to complete if the receive FIFO is empty.
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*
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* If the receive FIFO is empty, there is no active transfer, and initiate
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* is false, errors.
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*
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* @param initiate If true, this function pushes "0" into the
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* transmit buffer and initiates a transfer.
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* If false, this function assumes that data is
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* already in the receive FIFO from a previous write.
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*/
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public int read(boolean initiate, byte[] dataReceived, int size) {
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int retVal = 0;
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ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(size);
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ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(size);
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if(initiate)
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retVal = SPIJNI.spiTransaction(m_port, dataToSendBuffer, dataReceivedBuffer, (byte) size);
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else
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retVal = SPIJNI.spiRead(m_port, dataReceivedBuffer, (byte) size);
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dataReceivedBuffer.get(dataReceived);
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return retVal;
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}
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/**
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* Perform a simultaneous read/write transaction with the device
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*
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* @param dataToSend The data to be written out to the device
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* @param dataReceived Buffer to receive data from the device
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* @param size The length of the transaction, in bytes
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*/
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public int transaction(byte[] dataToSend, byte[] dataReceived, int size) {
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int retVal = 0;
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ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(size);
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dataToSendBuffer.put(dataToSend);
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ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(size);
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retVal = SPIJNI.spiTransaction(m_port, dataToSendBuffer, dataReceivedBuffer, (byte) size);
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dataReceivedBuffer.get(dataReceived);
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return retVal;
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}
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}
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@@ -4,29 +4,14 @@ import java.nio.ByteBuffer;
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import java.nio.IntBuffer;
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public class SPIJNI extends JNIWrapper {
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public static native ByteBuffer initializeSPI(byte sclk_routing_module, int sclk_routing_pin, byte mosi_routing_module, int mosi_routing_pin, byte miso_routing_module, int miso_routing_pin, IntBuffer status);
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public static native void cleanSPI(ByteBuffer spi_pointer, IntBuffer status);
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public static native void setSPIBitsPerWord(ByteBuffer spi_pointer, int bits, IntBuffer status);
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public static native int getSPIBitsPerWord(ByteBuffer spi_pointer, IntBuffer status);
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public static native void setSPIClockRate(ByteBuffer spi_pointer, double hz, IntBuffer status);
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public static native void setSPIMSBFirst(ByteBuffer spi_pointer, IntBuffer status);
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public static native void setSPILSBFirst(ByteBuffer spi_pointer, IntBuffer status);
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public static native void setSPISampleDataOnFalling(ByteBuffer spi_pointer, IntBuffer status);
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public static native void setSPISampleDataOnRising(ByteBuffer spi_pointer, IntBuffer status);
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public static native void setSPISlaveSelect(ByteBuffer spi_pointer, byte ss_routing_module, int ss_routing_pin, IntBuffer status);
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public static native void setSPILatchMode(ByteBuffer spi_pointer, int mode, IntBuffer status);
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public static native int getSPILatchMode(ByteBuffer spi_pointer, IntBuffer status);
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public static native void setSPIFramePolarity(ByteBuffer spi_pointer, byte activeLow, IntBuffer status);
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public static native byte getSPIFramePolarity(ByteBuffer spi_pointer, IntBuffer status);
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public static native void setSPIClockActiveLow(ByteBuffer spi_pointer, IntBuffer status);
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public static native void setSPIClockActiveHigh(ByteBuffer spi_pointer, IntBuffer status);
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public static native void applySPIConfig(ByteBuffer spi_pointer, IntBuffer status);
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public static native short getSPIOutputFIFOAvailable(ByteBuffer spi_pointer, IntBuffer status);
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public static native short getSPINumReceived(ByteBuffer spi_pointer, IntBuffer status);
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public static native byte isSPIDone(ByteBuffer spi_pointer, IntBuffer status);
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public static native byte hadSPIReceiveOverflow(ByteBuffer spi_pointer, IntBuffer status);
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public static native void writeSPI(ByteBuffer spi_pointer, int data, IntBuffer status);
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public static native int readSPI(ByteBuffer spi_pointer, byte initiate, IntBuffer status);
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public static native void resetSPI(ByteBuffer spi_pointer, IntBuffer status);
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public static native void clearSPIReceivedData(ByteBuffer spi_pointer, IntBuffer status);
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public static native void spiInitialize(byte port, IntBuffer status);
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public static native int spiTransaction(byte port, ByteBuffer dataToSend, ByteBuffer dataReceived, byte size);
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public static native int spiWrite(byte port, ByteBuffer dataToSend, byte sendSize);
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public static native int spiRead(byte port, ByteBuffer dataReceived, byte size);
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public static native void spiClose(byte port);
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public static native void spiSetSpeed(byte port, int speed);
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public static native void spiSetBitsPerWord(byte port, byte bpw);
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public static native void spiSetOpts(byte port, int msb_first, int sample_on_trailing, int clk_idle_high);
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public static native void spiSetChipSelectActiveHigh(byte port, IntBuffer status);
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public static native void spiSetChipSelectActiveLow(byte port, IntBuffer status);
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}
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