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SpiMaster
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SUMMARY: <A HREF="#nested_class_summary">NESTED</A> | FIELD | CONSTR | <A HREF="#method_summary">METHOD</A></FONT></TD>
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DETAIL: FIELD | CONSTR | <A HREF="#method_detail">METHOD</A></FONT></TD>
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ioio.lib.api</FONT>
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<BR>
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||||
Interface SpiMaster</H2>
|
||||
<DL>
|
||||
<DT><B>All Superinterfaces:</B> <DD><A HREF="../../../ioio/lib/api/Closeable.html" title="interface in ioio.lib.api">Closeable</A></DD>
|
||||
</DL>
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<HR>
|
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<DL>
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<DT><PRE>public interface <B>SpiMaster</B><DT>extends <A HREF="../../../ioio/lib/api/Closeable.html" title="interface in ioio.lib.api">Closeable</A></DL>
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||||
</PRE>
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||||
|
||||
<P>
|
||||
An interface for controlling an SPI module, in SPI bus-master mode, enabling
|
||||
communication with multiple SPI-enabled slave modules.
|
||||
<p>
|
||||
SPI is a common hardware communication protocol, enabling full-duplex,
|
||||
synchronous point-to-multi-point data transfer. It requires MOSI, MISO and
|
||||
CLK lines shared by all nodes, as well as a SS line per slave, connected
|
||||
between this slave and a respective pin on the master. The MISO line should
|
||||
operate in pull-up mode, using either the internal pull-up or an external
|
||||
resistor. SpiMaster instances are obtained by calling
|
||||
<CODE>IOIO#openSpiMaster(Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec[], Config)</CODE>.
|
||||
<p>
|
||||
The SPI protocol is comprised of simultaneous sending and receiving of data
|
||||
between the bus master and a single slave. By the very nature of this
|
||||
protocol, the amount of bytes sent is equal to the amount of bytes received.
|
||||
However, by padding the sent data with garbage data, and by ignoring the
|
||||
leading bytes of the received data arbitrarily-sized packets can be sent and
|
||||
received.
|
||||
<p>
|
||||
A very common practice for SPI-based slave devices (although not always the
|
||||
case), is to have a fixed request and response length and a fixed lag between
|
||||
them, based on the request type. For example, an SPI-based sensor may define
|
||||
the the protocol for obtaining its measured value is by sending a 2-byte
|
||||
message, whereas the returned 3-byte value has its first byte overlapping the
|
||||
second value of the response, as illustrated below:
|
||||
|
||||
<pre>
|
||||
Master: M1 M2 GG GG
|
||||
Slave: GG S1 S2 S3
|
||||
</pre>
|
||||
|
||||
M1, M2: the master's request<br>
|
||||
S1, S2, S3: the slave's response<br>
|
||||
GG: garbage bytes used for padding.
|
||||
<p>
|
||||
The IOIO SPI interface supports such fixed length message protocols using a
|
||||
single method, <A HREF="../../../ioio/lib/api/SpiMaster.html#writeRead(int, byte[], int, int, byte[], int)"><CODE>writeRead(int, byte[], int, int, byte[], int)</CODE></A>, which
|
||||
gets the request data, and the lengths of the request, the response and the
|
||||
total transaction bytes.
|
||||
|
||||
<p>
|
||||
The instance is alive since its creation. If the connection with the IOIO
|
||||
drops at any point, the instance transitions to a disconnected state, in
|
||||
which every attempt to use it (except <A HREF="../../../ioio/lib/api/Closeable.html#close()"><CODE>Closeable.close()</CODE></A>) will throw a
|
||||
<A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception"><CODE>ConnectionLostException</CODE></A>. Whenever <A HREF="../../../ioio/lib/api/Closeable.html#close()"><CODE>Closeable.close()</CODE></A> is invoked the
|
||||
instance may no longer be used. Any resources associated with it are freed
|
||||
and can be reused.
|
||||
<p>
|
||||
Typical usage (single slave, as per the example above):
|
||||
|
||||
<pre>
|
||||
<code>// MISO, MOSI, CLK, SS on pins 3, 4, 5, 6, respectively.
|
||||
SpiMaster spi = ioio.openSpiMaster(3, 4, 5, 6, SpiMaster.Rate.RATE_125K);
|
||||
final byte[] request = new byte[]{ 0x23, 0x45 };
|
||||
final byte[] response = new byte[3];
|
||||
spi.writeRead(request, 2, 4, response, 3);
|
||||
...
|
||||
spi.close(); // free SPI module and pins
|
||||
</code></pre>
|
||||
<P>
|
||||
|
||||
<P>
|
||||
<DL>
|
||||
<DT><B>See Also:</B><DD><CODE>IOIO#openSpiMaster(Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec[], Config)</CODE></DL>
|
||||
<HR>
|
||||
|
||||
<P>
|
||||
<!-- ======== NESTED CLASS SUMMARY ======== -->
|
||||
|
||||
<A NAME="nested_class_summary"><!-- --></A>
|
||||
<TABLE BORDER="1" WIDTH="100%" CELLPADDING="3" CELLSPACING="0" SUMMARY="">
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<TR BGCOLOR="#CCCCFF" CLASS="TableHeadingColor">
|
||||
<TH ALIGN="left" COLSPAN="2"><FONT SIZE="+2">
|
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<B>Nested Class Summary</B></FONT></TH>
|
||||
</TR>
|
||||
<TR BGCOLOR="white" CLASS="TableRowColor">
|
||||
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
|
||||
<CODE>static class</CODE></FONT></TD>
|
||||
<TD><CODE><B><A HREF="../../../ioio/lib/api/SpiMaster.Config.html" title="class in ioio.lib.api">SpiMaster.Config</A></B></CODE>
|
||||
|
||||
<BR>
|
||||
SPI configuration structure.</TD>
|
||||
</TR>
|
||||
<TR BGCOLOR="white" CLASS="TableRowColor">
|
||||
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
|
||||
<CODE>static class</CODE></FONT></TD>
|
||||
<TD><CODE><B><A HREF="../../../ioio/lib/api/SpiMaster.Rate.html" title="enum in ioio.lib.api">SpiMaster.Rate</A></B></CODE>
|
||||
|
||||
<BR>
|
||||
Possible data rates for SPI, in Hz.</TD>
|
||||
</TR>
|
||||
<TR BGCOLOR="white" CLASS="TableRowColor">
|
||||
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
|
||||
<CODE>static interface</CODE></FONT></TD>
|
||||
<TD><CODE><B><A HREF="../../../ioio/lib/api/SpiMaster.Result.html" title="interface in ioio.lib.api">SpiMaster.Result</A></B></CODE>
|
||||
|
||||
<BR>
|
||||
An object that can be waited on for asynchronous calls.</TD>
|
||||
</TR>
|
||||
</TABLE>
|
||||
|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
|
||||
<A NAME="method_summary"><!-- --></A>
|
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<TABLE BORDER="1" WIDTH="100%" CELLPADDING="3" CELLSPACING="0" SUMMARY="">
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|
||||
<TH ALIGN="left" COLSPAN="2"><FONT SIZE="+2">
|
||||
<B>Method Summary</B></FONT></TH>
|
||||
</TR>
|
||||
<TR BGCOLOR="white" CLASS="TableRowColor">
|
||||
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
|
||||
<CODE> void</CODE></FONT></TD>
|
||||
<TD><CODE><B><A HREF="../../../ioio/lib/api/SpiMaster.html#writeRead(byte[], int, int, byte[], int)">writeRead</A></B>(byte[] writeData,
|
||||
int writeSize,
|
||||
int totalSize,
|
||||
byte[] readData,
|
||||
int readSize)</CODE>
|
||||
|
||||
<BR>
|
||||
Shorthand for <A HREF="../../../ioio/lib/api/SpiMaster.html#writeRead(int, byte[], int, int, byte[], int)"><CODE>writeRead(int, byte[], int, int, byte[], int)</CODE></A> for
|
||||
the single-slave case.</TD>
|
||||
</TR>
|
||||
<TR BGCOLOR="white" CLASS="TableRowColor">
|
||||
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
|
||||
<CODE> void</CODE></FONT></TD>
|
||||
<TD><CODE><B><A HREF="../../../ioio/lib/api/SpiMaster.html#writeRead(int, byte[], int, int, byte[], int)">writeRead</A></B>(int slave,
|
||||
byte[] writeData,
|
||||
int writeSize,
|
||||
int totalSize,
|
||||
byte[] readData,
|
||||
int readSize)</CODE>
|
||||
|
||||
<BR>
|
||||
Perform a single SPI transaction which includes optional transmission and
|
||||
optional reception of data to a single slave.</TD>
|
||||
</TR>
|
||||
<TR BGCOLOR="white" CLASS="TableRowColor">
|
||||
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
|
||||
<CODE> <A HREF="../../../ioio/lib/api/SpiMaster.Result.html" title="interface in ioio.lib.api">SpiMaster.Result</A></CODE></FONT></TD>
|
||||
<TD><CODE><B><A HREF="../../../ioio/lib/api/SpiMaster.html#writeReadAsync(int, byte[], int, int, byte[], int)">writeReadAsync</A></B>(int slave,
|
||||
byte[] writeData,
|
||||
int writeSize,
|
||||
int totalSize,
|
||||
byte[] readData,
|
||||
int readSize)</CODE>
|
||||
|
||||
<BR>
|
||||
The same as <A HREF="../../../ioio/lib/api/SpiMaster.html#writeRead(int, byte[], int, int, byte[], int)"><CODE>writeRead(int, byte[], int, int, byte[], int)</CODE></A>, but
|
||||
returns immediately and returns a <A HREF="../../../ioio/lib/api/SpiMaster.Result.html" title="interface in ioio.lib.api"><CODE>SpiMaster.Result</CODE></A> object that can be
|
||||
waited on.</TD>
|
||||
</TR>
|
||||
</TABLE>
|
||||
<A NAME="methods_inherited_from_class_ioio.lib.api.Closeable"><!-- --></A>
|
||||
<TABLE BORDER="1" WIDTH="100%" CELLPADDING="3" CELLSPACING="0" SUMMARY="">
|
||||
<TR BGCOLOR="#EEEEFF" CLASS="TableSubHeadingColor">
|
||||
<TH ALIGN="left"><B>Methods inherited from interface ioio.lib.api.<A HREF="../../../ioio/lib/api/Closeable.html" title="interface in ioio.lib.api">Closeable</A></B></TH>
|
||||
</TR>
|
||||
<TR BGCOLOR="white" CLASS="TableRowColor">
|
||||
<TD><CODE><A HREF="../../../ioio/lib/api/Closeable.html#close()">close</A></CODE></TD>
|
||||
</TR>
|
||||
</TABLE>
|
||||
|
||||
<P>
|
||||
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
|
||||
<A NAME="method_detail"><!-- --></A>
|
||||
<TABLE BORDER="1" WIDTH="100%" CELLPADDING="3" CELLSPACING="0" SUMMARY="">
|
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<TR BGCOLOR="#CCCCFF" CLASS="TableHeadingColor">
|
||||
<TH ALIGN="left" COLSPAN="1"><FONT SIZE="+2">
|
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<B>Method Detail</B></FONT></TH>
|
||||
</TR>
|
||||
</TABLE>
|
||||
|
||||
<A NAME="writeRead(int, byte[], int, int, byte[], int)"><!-- --></A><H3>
|
||||
writeRead</H3>
|
||||
<PRE>
|
||||
void <B>writeRead</B>(int slave,
|
||||
byte[] writeData,
|
||||
int writeSize,
|
||||
int totalSize,
|
||||
byte[] readData,
|
||||
int readSize)
|
||||
throws <A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A>,
|
||||
java.lang.InterruptedException</PRE>
|
||||
<DL>
|
||||
<DD>Perform a single SPI transaction which includes optional transmission and
|
||||
optional reception of data to a single slave. This is a blocking
|
||||
operation that can take a few milliseconds to a few tens of milliseconds.
|
||||
To abort this operation, client can interrupt the blocked thread. If
|
||||
readSize is 0, the call returns immediately.
|
||||
<P>
|
||||
<DD><DL>
|
||||
</DL>
|
||||
</DD>
|
||||
<DD><DL>
|
||||
<DT><B>Parameters:</B><DD><CODE>slave</CODE> - The slave index. It is determined by the index of its
|
||||
slave-select pin, as per the array passed to
|
||||
<CODE>IOIO#openSpiMaster(Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec[], Config)</CODE>
|
||||
.<DD><CODE>writeData</CODE> - A byte array of data to write. May be null if writeSize is 0.<DD><CODE>writeSize</CODE> - Number of bytes to write. Valid values are 0 to totalSize.<DD><CODE>totalSize</CODE> - Total transaction length, in bytes. Valid values are 1 to 64.<DD><CODE>readData</CODE> - An array where the response is to be stored. May be null if
|
||||
readSize is 0.<DD><CODE>readSize</CODE> - The number of expected response bytes. Valid values are 0 to
|
||||
totalSize.
|
||||
<DT><B>Throws:</B>
|
||||
<DD><CODE><A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A></CODE> - Connection to the IOIO has been lost.
|
||||
<DD><CODE>java.lang.InterruptedException</CODE> - Calling thread has been interrupted.</DL>
|
||||
</DD>
|
||||
</DL>
|
||||
<HR>
|
||||
|
||||
<A NAME="writeRead(byte[], int, int, byte[], int)"><!-- --></A><H3>
|
||||
writeRead</H3>
|
||||
<PRE>
|
||||
void <B>writeRead</B>(byte[] writeData,
|
||||
int writeSize,
|
||||
int totalSize,
|
||||
byte[] readData,
|
||||
int readSize)
|
||||
throws <A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A>,
|
||||
java.lang.InterruptedException</PRE>
|
||||
<DL>
|
||||
<DD>Shorthand for <A HREF="../../../ioio/lib/api/SpiMaster.html#writeRead(int, byte[], int, int, byte[], int)"><CODE>writeRead(int, byte[], int, int, byte[], int)</CODE></A> for
|
||||
the single-slave case.
|
||||
<P>
|
||||
<DD><DL>
|
||||
</DL>
|
||||
</DD>
|
||||
<DD><DL>
|
||||
|
||||
<DT><B>Throws:</B>
|
||||
<DD><CODE><A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A></CODE>
|
||||
<DD><CODE>java.lang.InterruptedException</CODE><DT><B>See Also:</B><DD><A HREF="../../../ioio/lib/api/SpiMaster.html#writeRead(int, byte[], int, int, byte[], int)"><CODE>writeRead(int, byte[], int, int, byte[], int)</CODE></A></DL>
|
||||
</DD>
|
||||
</DL>
|
||||
<HR>
|
||||
|
||||
<A NAME="writeReadAsync(int, byte[], int, int, byte[], int)"><!-- --></A><H3>
|
||||
writeReadAsync</H3>
|
||||
<PRE>
|
||||
<A HREF="../../../ioio/lib/api/SpiMaster.Result.html" title="interface in ioio.lib.api">SpiMaster.Result</A> <B>writeReadAsync</B>(int slave,
|
||||
byte[] writeData,
|
||||
int writeSize,
|
||||
int totalSize,
|
||||
byte[] readData,
|
||||
int readSize)
|
||||
throws <A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A></PRE>
|
||||
<DL>
|
||||
<DD>The same as <A HREF="../../../ioio/lib/api/SpiMaster.html#writeRead(int, byte[], int, int, byte[], int)"><CODE>writeRead(int, byte[], int, int, byte[], int)</CODE></A>, but
|
||||
returns immediately and returns a <A HREF="../../../ioio/lib/api/SpiMaster.Result.html" title="interface in ioio.lib.api"><CODE>SpiMaster.Result</CODE></A> object that can be
|
||||
waited on. If readSize is 0, the result object is ready immediately.
|
||||
<P>
|
||||
<DD><DL>
|
||||
</DL>
|
||||
</DD>
|
||||
<DD><DL>
|
||||
|
||||
<DT><B>Throws:</B>
|
||||
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