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