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2013 FRC Java API

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edu.wpi.first.wpilibj
Class SPIDevice

java.lang.Object
  extended by edu.wpi.first.wpilibj.SensorBase
      extended by edu.wpi.first.wpilibj.SPIDevice

public class SPIDevice
extends SensorBase

Represents a device on an SPI bus Note that the cRIO only supports one SPI bus Attempting to open a second SPI device with a different shared pin (clk, mosi, miso) will result in an exception

Author:
mwils

Nested Class Summary
static class SPIDevice.BadSPIConfigException
           
 
Field Summary
static boolean BIT_ORDER_LSB_FIRST
          When transferring data the it is sent and received with the least significant bit first
static boolean BIT_ORDER_MSB_FIRST
          When transferring data the it is sent and received with the most significant bit first
static boolean CLOCK_POLARITY_ACTIVE_HIGH
          When transferring data the clock will be active high
This corresponds to CPOL=0
static boolean CLOCK_POLARITY_ACTIVE_LOW
          When transferring data the clock will be active low
This corresponds to CPOL=1
static boolean CS_ACTIVE_HIGH
          The CS will be brought high when the device is selected
static boolean CS_ACTIVE_LOW
          The CS will be brought low when the device is selected
static boolean DATA_ON_LEADING_EDGE
          Data is valid on the leading edge of the clock pulse
This corresponds to CPHA=0
static boolean DATA_ON_TRAILING_EDGE
          Data is valid on the trailing edge of the clock pulse
This corresponds to CPHA=1
static char FRAME_MODE_CHIP_SELECT
          The chip select line is active for the duration of the frame.
static char FRAME_MODE_POST_LATCH
          The chip select line pulses after the transfer of each frame.
static char FRAME_MODE_PRE_LATCH
          The chip select line pulses before the transfer of each frame.
static char FRAME_MODE_PRE_POST_LATCH_PULSE
          The chip select line pulses before and after each frame.
 double MAX_CLOCK_FREQUENCY
          The maximum rate the clock can transmit at
 double MIN_CLOCK_FREQUENCY
          The minimum rate the clock can transmit at
 
Fields inherited from class edu.wpi.first.wpilibj.SensorBase
kAnalogChannels, kAnalogModules, kDigitalChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond
 
Constructor Summary
SPIDevice(DigitalOutput cs)
          Create a new device on the SPI bus.
SPIDevice(DigitalOutput cs, boolean csActiveHigh)
          Create a new device on the SPI bus.
SPIDevice(DigitalOutput clk, DigitalOutput mosi, DigitalInput miso, DigitalOutput cs)
          Create a new device on the SPI bus.
SPIDevice(DigitalOutput clk, DigitalOutput mosi, DigitalInput miso, DigitalOutput cs, boolean csActiveHigh)
          Create a new device on the SPI bus.
SPIDevice(int slot, int csChannel)
          Create a new device on the SPI bus.
SPIDevice(int slot, int csChannel, boolean csActiveHigh)
          Create a new device on the SPI bus.
SPIDevice(int slot, int clkChannel, int mosiChannel, int misoChannel, int csChannel)
          Create a new device on the SPI bus.
SPIDevice(int slot, int clkChannel, int mosiChannel, int misoChannel, int csChannel, boolean csActiveHigh)
          Create a new device on the SPI bus.
 
Method Summary
 void free()
          Free the resources used by this object
 void setBitOrder(boolean bitOrder)
          Sets the bit order of the transfer sent and received values.
 void setClockPolarity(boolean clockPolarity)
          Sets the polarity of the clock when transferring data to the device
 void setClockRate(double hz)
          Set the frequence of the clock when sending data
 void setDataOnTrailing(boolean dataOnTrailing)
          If Data is valid at the beginning of the clock pulse or the end of the clock pulse
 void setFrameMode(char frameMode)
          Sets the Frame Mode which specifies the behavior of the chip select line in relation to the duration of the frame.
 long[] transfer(long[] writeValues, int[] numBits)
          Perform a SPI transfer where an array of bits are written and read.
 long transfer(long writeValue, int numBits)
          Perform a SPI transfer with the length of this device's current configuration.
 
Methods inherited from class edu.wpi.first.wpilibj.SensorBase
checkAnalogChannel, checkAnalogModule, checkDigitalChannel, checkDigitalModule, checkPWMChannel, checkPWMModule, checkRelayChannel, checkRelayModule, checkSolenoidChannel, checkSolenoidModule, getDefaultAnalogModule, getDefaultDigitalModule, getDefaultSolenoidModule, setDefaultAnalogModule, setDefaultDigitalModule, setDefaultSolenoidModule
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

BIT_ORDER_MSB_FIRST

public static final boolean BIT_ORDER_MSB_FIRST
When transferring data the it is sent and received with the most significant bit first

See Also:
setBitOrder(boolean), Constant Field Values

BIT_ORDER_LSB_FIRST

public static final boolean BIT_ORDER_LSB_FIRST
When transferring data the it is sent and received with the least significant bit first

See Also:
setBitOrder(boolean), Constant Field Values

CLOCK_POLARITY_ACTIVE_HIGH

public static final boolean CLOCK_POLARITY_ACTIVE_HIGH
When transferring data the clock will be active high
This corresponds to CPOL=0

See Also:
setClockPolarity(boolean), Constant Field Values

CLOCK_POLARITY_ACTIVE_LOW

public static final boolean CLOCK_POLARITY_ACTIVE_LOW
When transferring data the clock will be active low
This corresponds to CPOL=1

See Also:
setClockPolarity(boolean), Constant Field Values

DATA_ON_LEADING_EDGE

public static final boolean DATA_ON_LEADING_EDGE
Data is valid on the leading edge of the clock pulse
This corresponds to CPHA=0

See Also:
#setDataOnFalling(boolean), Constant Field Values

DATA_ON_TRAILING_EDGE

public static final boolean DATA_ON_TRAILING_EDGE
Data is valid on the trailing edge of the clock pulse
This corresponds to CPHA=1

See Also:
#setDataOnFalling(boolean), Constant Field Values

CS_ACTIVE_HIGH

public static final boolean CS_ACTIVE_HIGH
The CS will be brought high when the device is selected

See Also:
Constant Field Values

CS_ACTIVE_LOW

public static final boolean CS_ACTIVE_LOW
The CS will be brought low when the device is selected

See Also:
Constant Field Values

FRAME_MODE_CHIP_SELECT

public static final char FRAME_MODE_CHIP_SELECT
The chip select line is active for the duration of the frame.

See Also:
setFrameMode(char), Constant Field Values

FRAME_MODE_PRE_LATCH

public static final char FRAME_MODE_PRE_LATCH
The chip select line pulses before the transfer of each frame.

See Also:
setFrameMode(char), Constant Field Values

FRAME_MODE_POST_LATCH

public static final char FRAME_MODE_POST_LATCH
The chip select line pulses after the transfer of each frame.

See Also:
setFrameMode(char), Constant Field Values

FRAME_MODE_PRE_POST_LATCH_PULSE

public static final char FRAME_MODE_PRE_POST_LATCH_PULSE
The chip select line pulses before and after each frame.

See Also:
setFrameMode(char), Constant Field Values

MAX_CLOCK_FREQUENCY

public final double MAX_CLOCK_FREQUENCY
The maximum rate the clock can transmit at

MIN_CLOCK_FREQUENCY

public final double MIN_CLOCK_FREQUENCY
The minimum rate the clock can transmit at

Constructor Detail

SPIDevice

public SPIDevice(int slot,
                 int clkChannel,
                 int mosiChannel,
                 int misoChannel,
                 int csChannel)
Create a new device on the SPI bus. The chip select line is active low

Parameters:
slot - The module of the digital IO for the device
clkChannel - The channel number for the clk channel
mosiChannel - The channel number for the mosi (output) channel
misoChannel - The channel number for the miso (input) channel
csChannel - The channel number for the chip select channel

SPIDevice

public SPIDevice(int slot,
                 int clkChannel,
                 int mosiChannel,
                 int misoChannel,
                 int csChannel,
                 boolean csActiveHigh)
Create a new device on the SPI bus.

Parameters:
slot - The module of the digital IO for the device
clkChannel - The channel number for the clk channel
mosiChannel - The channel number for the mosi (output) channel
misoChannel - The channel number for the miso (input) channel
csChannel - The channel number for the chip select channel
csActiveHigh - True if the chip select line should be high when the device is selected. False if it should be low.

SPIDevice

public SPIDevice(DigitalOutput clk,
                 DigitalOutput mosi,
                 DigitalInput miso,
                 DigitalOutput cs)
Create a new device on the SPI bus. The chip select line is active low

Parameters:
clk - The clock channel
mosi - The mosi (output) channel
miso - The miso (input) channel
cs - The chip select channel

SPIDevice

public SPIDevice(DigitalOutput clk,
                 DigitalOutput mosi,
                 DigitalInput miso,
                 DigitalOutput cs,
                 boolean csActiveHigh)
Create a new device on the SPI bus.

Parameters:
clk - The clock channel
mosi - The mosi (output) channel
miso - The miso (input) channel
cs - The chip select channel
csActiveHigh - True if the chip select line should be high when the device is selected. False if it should be low.

SPIDevice

public SPIDevice(int slot,
                 int csChannel)
Create a new device on the SPI bus. Must only be used after a device has been created establishing the clk, mosi and miso channels. The chip select line is active low

Parameters:
slot - The module of the digital output for the device's chip select pin
csChannel - The channel for the digital output for the device's chip select pin

SPIDevice

public SPIDevice(int slot,
                 int csChannel,
                 boolean csActiveHigh)
Create a new device on the SPI bus. Must only be used after a device has been created establishing the clk, mosi and miso channels.

Parameters:
slot - The module of the digital output for the device's chip select pin
csChannel - The channel for the digital output for the device's chip select pin
csActiveHigh - True if the chip select line should be high when the device is selected. False if it should be low.

SPIDevice

public SPIDevice(DigitalOutput cs)
Create a new device on the SPI bus. Must only be used after a device has been created establishing the clk, mosi and miso channels. The chip select line is active low

Parameters:
cs - The chip select channel

SPIDevice

public SPIDevice(DigitalOutput cs,
                 boolean csActiveHigh)
Create a new device on the SPI bus. Must only be used after a device has been created establishing the clk, mosi and miso channels.

Parameters:
cs - The chip select channel
csActiveHigh - True if the chip select line should be high when the device is selected. False if it should be low.
Method Detail

free

public void free()
Free the resources used by this object

Overrides:
free in class SensorBase

transfer

public long transfer(long writeValue,
                     int numBits)
Perform a SPI transfer with the length of this device's current configuration. This will select the device, transfer the data and then deselect the device

Parameters:
writeValue - The value to write to the device
numBits - The number of bits to write/read

transfer

public long[] transfer(long[] writeValues,
                       int[] numBits)
Perform a SPI transfer where an array of bits are written and read. The number of bits to write and read is specified in numBits
The whole transfer will occur with the cs line held active throughout

Parameters:
writeValues - The value to write to the device
numBits - The number of bits to write/read

setBitOrder

public final void setBitOrder(boolean bitOrder)
Sets the bit order of the transfer sent and received values. The value transfered/received will always be the lowest bits of the value. This method just sets the order in which those bits are transfered.

Parameters:
bitOrder - true=Most significant bit first, false=Least significant bit first
See Also:
BIT_ORDER_MSB_FIRST, BIT_ORDER_LSB_FIRST

setClockPolarity

public final void setClockPolarity(boolean clockPolarity)
Sets the polarity of the clock when transferring data to the device

Parameters:
clockPolarity - true=Clock active low, false=Clock active high
See Also:
CLOCK_POLARITY_ACTIVE_HIGH, CLOCK_POLARITY_ACTIVE_LOW

setDataOnTrailing

public final void setDataOnTrailing(boolean dataOnTrailing)
If Data is valid at the beginning of the clock pulse or the end of the clock pulse

Parameters:
dataOnTrailing - true=Process data on the trailing edge of the clock, false=Process data on leading edge of the clock
See Also:
DATA_ON_LEADING_EDGE, DATA_ON_TRAILING_EDGE

setFrameMode

public final void setFrameMode(char frameMode)
Sets the Frame Mode which specifies the behavior of the chip select line in relation to the duration of the frame.

Parameters:
frameMode - 0 = low for duration of frame, 1 = pulse before transfer, 2 = pulse after transfer, 3 = pulse before and after transfer
See Also:
FRAME_MODE_CHIP_SELECT, FRAME_MODE_PRE_LATCH, FRAME_MODE_POST_LATCH, FRAME_MODE_PRE_POST_LATCH_PULSE

setClockRate

public final void setClockRate(double hz)
Set the frequence of the clock when sending data

Parameters:
hz - The frequency of the clock in hz
See Also:
MIN_CLOCK_FREQUENCY, MAX_CLOCK_FREQUENCY
Overview  Package   Class  Use  Tree  Deprecated  Index  Help 
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2013 FRC Java API

"
 PREV CLASS   NEXT CLASS FRAMES    NO FRAMES    
SUMMARY: NESTED | FIELD | CONSTR | METHOD DETAIL: FIELD | CONSTR | METHOD
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