Refactored the SPI write readWrite APIs

Author: chrisws

include/javaproxy.h

@@ -285,51 +285,6 @@ struct JavaProxy {
     return result;
   }
 
-  // int readWrite(int address, byte[] write) {
-  int invokeReadWrite(int argc, slib_par_t *arg, var_s *retval) {
-    int result = 0;
-    int writeLen = populateByteArray(argc, arg, 2);
-    if (writeLen > ARRAY_SIZE) {
-      error(retval, "write array", 1, ARRAY_SIZE);
-    } else if (_instance != nullptr) {
-      attachCurrentThread();
-      jmethodID method = g_env->GetMethodID(_clazz, "readWrite", "(II[BI)J");
-      var_int_t value = 0;
-      if (method != nullptr) {
-        auto address = get_param_int(argc, arg, 0, 0);
-        auto readBytes = get_param_int(argc, arg, 1, 2);
-        value = g_env->CallIntMethod(_instance, method, address, readBytes, _array, writeLen);
-      }
-      if (!checkException(retval)) {
-        v_setint(retval, value);
-        result = 1;
-      }
-      detachCurrentThread();
-    }
-    return result;
-  }
-
-  // int write(int address, byte[] write) {
-  int invokeWrite(int argc, slib_par_t *arg, var_s *retval) {
-    int result = 0;
-    int writeLen = populateByteArray(argc, arg, 1);
-    if (writeLen > ARRAY_SIZE) {
-      error(retval, "write array", 1, ARRAY_SIZE);
-    } else if (_instance != nullptr) {
-      attachCurrentThread();
-      jmethodID method = g_env->GetMethodID(_clazz, "write", "(I[BI)V");
-      if (method != nullptr) {
-        auto address = get_param_int(argc, arg, 0, 0);
-        g_env->CallVoidMethod(_instance, method, address, _array, writeLen);
-      }
-      if (!checkException(retval)) {
-        result = 1;
-      }
-      detachCurrentThread();
-    }
-    return result;
-  }
-
   // populate the java byte array with the contents of the basic array
   int populateByteArray(int argc, slib_par_t *params, int offset) {
     int result;
@@ -350,7 +305,7 @@ struct JavaProxy {
       for (int i = offset, j = 0; i < argc && i < ARRAY_SIZE; i++, j++) {
         elements[j] = get_param_int(argc, params, i, 0);
       }
-      result = argc - 1;
+      result = argc - offset;
     }
     // make the changes available to the java side
     g_env->ReleaseByteArrayElements(_array, elements, 0);
@@ -382,7 +337,7 @@ extern "C" JNIEXPORT jint JNI_OnLoad(JavaVM *vm, void* reserved) {
 
 #else
 
-int createJVM(const char *arg1, const char *arg2) {
+int createJVM(const char *arg1, const char *arg2, bool debug) {
   JavaVMInitArgs vm_args;
   JavaVMOption options[6];
   options[0].optionString = (char *)"-Xrs";
@@ -392,11 +347,7 @@ int createJVM(const char *arg1, const char *arg2) {
   options[4].optionString = (char *)"-agentlib:jdwp=transport=dt_socket,server=y,address=5005,suspend=y";
   options[5].optionString = (char *)"-Xcheck:jni";
   vm_args.version = JNI_VERSION_1_8;
-#if defined(DEBUG)
-  vm_args.nOptions = 6;
-#else
-  vm_args.nOptions = 3;
-#endif
+  vm_args.nOptions = debug ? 6 : 3;
   vm_args.ignoreUnrecognized = 1;
   vm_args.options = options;
   int result = (JNI_CreateJavaVM(&g_jvm, (void **)&g_env, &vm_args) == JNI_OK &&

ioio/README.md

@@ -100,23 +100,23 @@ A pin used for PWM (Pulse-Width Modulation) output. A PWM pin produces a logic-l
 
 ## TwiMaster
 
-An interface for controlling a TWI module, in TWI bus-master mode, enabling communication with multiple TWI-enabled slave modules.
+An interface for controlling a TWI (Two Wire Interface) module, in TWI bus-master mode, enabling communication with multiple TWI-enabled slave modules.
 
 `io = ioio.openTwiMaster(TWINumber, mode)`
 
-Opens a TWI module number TWINumber in master mode, using its dedicated SDA and SCL pins. The TWI module will run at 100KHz and will use I2C voltage levels if mode = false (pass true for SMBus levels).
-
 | Name    | Description   |
 |---------|---------------|
-|void write(Address, Register, DataByte) | Writes a byte of data to the given register of an I2C device with given address.|
-|int readwrite(Address, NumReceiveBytes, Register, DataByte) | Writes a byte of data to the given register of an I2C device with given address and reads NumReceiveBytes. NumReceiveBytes can be max 8 bytes long.|
+|void write(Address, Register, DataBytes)|Writes one or more bytes of data to the given register of an I2C device with given address.|
+|int readWrite(address, NumReceiveBytes, Register, DataBytes)|Writes one or more bytes of data to the given register of an I2C device with given address and reads NumReceiveBytes. NumReceiveBytes can be max 8 bytes long.|
 
 ## SpiMaster
 
-An interface for controlling an SPI module, in SPI bus-master mode, enabling communication with multiple SPI-enabled slave modules
+An interface for controlling an SPI (Serial Peripheral Interface) module, in SPI bus-master mode, enabling communication with multiple SPI-enabled slave modules
 
-`io = ioio.openSpiMaster(pin)`
+`io = ioio.openSpiMaster(misoPin, mosiPin, clkPin, csPin)`
 
 | Name    | Description   |
 |---------|---------------|
+|void write(DataBytes)|Writes one or more bytes of data.|
+|int readWrite(NumReceiveBytes, DataBytes)|Writes one or more bytes of data and reads NumReceiveBytes. NumReceiveBytes can be max 8 bytes long.|
 

ioio/api.json

@@ -229,6 +229,7 @@
   {
     "name": "PwmOutput",
     "comment": "A pin used for PWM (Pulse-Width Modulation) output. A PWM pin produces a logic-level PWM signal. These signals are typically used for simulating analog outputs for controlling the intensity of LEDs, the rotation speed of motors, etc. They are also frequently used for controlling hobby servo motors. PwmOutput instances are obtained by calling IOIO#openPwmOutput. When used for motors and LEDs, a frequency of several KHz is typically used, where there is a trade-off between switching power-loses and smoothness of operation. The pulse width is typically set by specifying the duty cycle, with the setDutyCycle method. A duty cycle of 0 is \"off\", a duty cycle of 1 is \"on\", and every intermediate value produces an intermediate intensity. Please note that any devices consuming more than 20mA of current (e.g. motors) should not by directly connected the the IOIO pins, but rather through an amplification circuit suited for the specific load. When used for hobby servos, the PWM signal is rather used for encoding of the desired angle the motor should go to. By standard, a 100Hz signal is used and the pulse width is varied between 1ms and 2ms (corresponding to both extremes of the shaft angle), using setPulseWidth. 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 the pin (except close()) will throw a ConnectionLostException. Whenever close() is invoked the instance may no longer be used. Any resources associated with it are freed and can be reused. Typical usage (fading LED):",
+    "signature": "pin, frequency",
     "pins": 2,
     "methods": [
       {
@@ -247,14 +248,38 @@
   },
   {
     "name": "TwiMaster":
-    "comment": "An interface for controlling a TWI module, in TWI bus-master mode, enabling communication with multiple TWI-enabled slave modules.",
-    "methods": [],
-    "pins": 2
+    "comment": "An interface for controlling a TWI (Two Wire Interface) module, in TWI bus-master mode, enabling communication with multiple TWI-enabled slave modules.",
+    "signature": "TWINumber, mode",
+    "nogen" : true,
+    "pins": 2,
+    "methods": [{
+      "name": "write",
+      "rtn": "void",
+      "signature": "Address, Register, DataBytes",
+      "comment": "Writes one or more bytes of data to the given register of an I2C device with given address."
+    },{
+      "name": "readWrite",
+      "rtn": "int",
+      "signature": "address, NumReceiveBytes, Register, DataBytes",
+      "comment": "Writes one or more bytes of data to the given register of an I2C device with given address and reads NumReceiveBytes. NumReceiveBytes can be max 8 bytes long."
+    }]
   },
   {
     "name": "SpiMaster":
-    "comment": "An interface for controlling an SPI module, in SPI bus-master mode, enabling communication with multiple SPI-enabled slave modules",
-    "methods": [],
-    "pins": 4
+    "comment": "An interface for controlling an SPI (Serial Peripheral Interface) module, in SPI bus-master mode, enabling communication with multiple SPI-enabled slave modules",
+    "nogen" : true,    
+    "signature": "misoPin, mosiPin, clkPin, csPin",
+    "pins": 4,
+    "methods": [{
+      "name": "write",
+      "rtn": "void",
+      "signature": "DataBytes",
+      "comment": "Writes one or more bytes of data."
+    },{
+      "name": "readWrite",
+      "rtn": "int",
+      "signature": "NumReceiveBytes, DataBytes",
+      "comment": "Writes one or more bytes of data and reads NumReceiveBytes. NumReceiveBytes can be max 8 bytes long."
+    }]
   }
 ]

ioio/ioio/src/main/java/ioio/smallbasic/SpiMasterImpl.java

@@ -40,13 +40,23 @@ public void open(int miso, int mosi, int clk, int slaveSelect) throws IOExceptio
     validatePins();
   }
 
-  public void write(int address, final byte[] write, int writeLen) {
+  public long readWrite(int readLen, final byte[] write, int writeLen) {
+    handleError();
+    return lock.invokeLong((i) -> {
+      byte[] read = new byte[readLen];
+      spiMaster.writeRead(write, writeLen, writeLen, read, read.length);
+      long result = 0;
+      for (int index = 0; index < read.length; index++) {
+        result += ((long)Byte.toUnsignedInt(read[index])) << (index * 8);
+      }
+      return result;
+    });
+  }
+
+  public void write(final byte[] write, int writeLen) {
     handleError();
     lock.invoke((i) -> {
-      byte[] buffer = new byte[writeLen + 1];
-      buffer[0] = (byte)address;
-      System.arraycopy(write, 0, buffer, 1, writeLen);
-      spiMaster.writeRead(buffer, buffer.length, buffer.length, null, 0);
+      spiMaster.writeRead(write, write.length, write.length, null, 0);
     });
   }
 

ioio/main.cpp

@@ -41,6 +41,94 @@ struct IOTask : JavaProxy {
   int open4(int pin1, int pin2, int pin3, int pin4, var_s *retval) {
     return invokeVoidInt4("open", pin1, pin2, pin3, pin4, retval);
   }
+
+  // int readWrite(bytes, byte[] write) {
+  int invokeSpiReadWrite(int argc, slib_par_t *arg, var_s *retval) {
+    int result = 0;
+    int writeLen = populateByteArray(argc, arg, 1);
+    if (writeLen > ARRAY_SIZE) {
+      error(retval, "write array", 1, ARRAY_SIZE);
+    } else if (_instance != nullptr) {
+      attachCurrentThread();
+      jmethodID method = g_env->GetMethodID(_clazz, "readWrite", "(I[BI)J");
+      var_int_t value = 0;
+      if (method != nullptr) {
+        auto readBytes = get_param_int(argc, arg, 0, 2);
+        value = g_env->CallIntMethod(_instance, method, readBytes, _array, writeLen);
+      }
+      if (!checkException(retval)) {
+        v_setint(retval, value);
+        result = 1;
+      }
+      detachCurrentThread();
+    }
+    return result;
+  }
+
+  // int write(byte[] write) {
+  int invokeSpiWrite(int argc, slib_par_t *arg, var_s *retval) {
+    int result = 0;
+    int writeLen = populateByteArray(argc, arg, 0);
+    if (writeLen > ARRAY_SIZE) {
+      error(retval, "write array", 1, ARRAY_SIZE);
+    } else if (_instance != nullptr) {
+      attachCurrentThread();
+      jmethodID method = g_env->GetMethodID(_clazz, "write", "([BI)V");
+      if (method != nullptr) {
+        g_env->CallVoidMethod(_instance, method, _array, writeLen);
+      }
+      if (!checkException(retval)) {
+        result = 1;
+      }
+      detachCurrentThread();
+    }
+    return result;
+  }
+  
+  // int readWrite(int address, byte[] write) {
+  int invokeTwiReadWrite(int argc, slib_par_t *arg, var_s *retval) {
+    int result = 0;
+    int writeLen = populateByteArray(argc, arg, 2);
+    if (writeLen > ARRAY_SIZE) {
+      error(retval, "write array", 1, ARRAY_SIZE);
+    } else if (_instance != nullptr) {
+      attachCurrentThread();
+      jmethodID method = g_env->GetMethodID(_clazz, "readWrite", "(II[BI)J");
+      var_int_t value = 0;
+      if (method != nullptr) {
+        auto address = get_param_int(argc, arg, 0, 0);
+        auto readBytes = get_param_int(argc, arg, 1, 2);
+        value = g_env->CallIntMethod(_instance, method, address, readBytes, _array, writeLen);
+      }
+      if (!checkException(retval)) {
+        v_setint(retval, value);
+        result = 1;
+      }
+      detachCurrentThread();
+    }
+    return result;
+  }
+
+  // int write(int address, byte[] write) {
+  int invokeTwiWrite(int argc, slib_par_t *arg, var_s *retval) {
+    int result = 0;
+    int writeLen = populateByteArray(argc, arg, 1);
+    if (writeLen > ARRAY_SIZE) {
+      error(retval, "write array", 1, ARRAY_SIZE);
+    } else if (_instance != nullptr) {
+      attachCurrentThread();
+      jmethodID method = g_env->GetMethodID(_clazz, "write", "(I[BI)V");
+      if (method != nullptr) {
+        auto address = get_param_int(argc, arg, 0, 0);
+        g_env->CallVoidMethod(_instance, method, address, _array, writeLen);
+      }
+      if (!checkException(retval)) {
+        result = 1;
+      }
+      detachCurrentThread();
+    }
+    return result;
+  }
 };
 
 robin_hood::unordered_map<int, IOTask> g_ioTaskMap;
@@ -71,7 +159,7 @@ static int cmd_twimaster_readwrite(var_s *self, int argc, slib_par_t *arg, var_s
   } else {
     int id = get_io_class_id(self, retval);
     if (id != -1) {
-      result = g_ioTaskMap.at(id).invokeReadWrite(argc, arg, retval);
+      result = g_ioTaskMap.at(id).invokeTwiReadWrite(argc, arg, retval);
     }
   }
   return result;
@@ -84,20 +172,36 @@ static int cmd_twimaster_write(var_s *self, int argc, slib_par_t *arg, var_s *re
   } else {
     int id = get_io_class_id(self, retval);
     if (id != -1) {
-      result = g_ioTaskMap.at(id).invokeWrite(argc, arg, retval);
+      result = g_ioTaskMap.at(id).invokeTwiWrite(argc, arg, retval);
+    }
+  }
+  return result;
+}
+
+static int cmd_spimaster_readwrite(var_s *self, int argc, slib_par_t *arg, var_s *retval) {
+  int result = 0;
+  auto readBytes = get_param_int(argc, arg, 0, 0);
+  if (argc < 2) {
+    error(retval, "SpiMaster.readWrite(read-bytes, [data]", 2, ARRAY_SIZE);
+  } else if (readBytes < 1 || readBytes > 8) {
+    error(retval, "read-bytes value out of range. Expected a number between 1 and 8");
+  } else {
+    int id = get_io_class_id(self, retval);
+    if (id != -1) {
+      result = g_ioTaskMap.at(id).invokeSpiReadWrite(argc, arg, retval);
     }
   }
   return result;
 }
 
 static int cmd_spimaster_write(var_s *self, int argc, slib_par_t *arg, var_s *retval) {
   int result = 0;
-  if (argc != 2) {
-    error(retval, "SpiMaster.write", 2, ARRAY_SIZE);
+  if (argc < 1) {
+    error(retval, "SpiMaster.write", 1, ARRAY_SIZE);
   } else {
     int id = get_io_class_id(self, retval);
     if (id != -1) {
-      result = g_ioTaskMap.at(id).invokeWrite(argc, arg, retval);
+      result = g_ioTaskMap.at(id).invokeSpiWrite(argc, arg, retval);
     }
   }
   return result;
@@ -110,6 +214,7 @@ static void create_twimaster(var_t *map) {
 
 static void create_spimaster(var_t *map) {
   v_create_callback(map, "write", cmd_spimaster_write);
+  v_create_callback(map, "readWrite", cmd_spimaster_readwrite);
 }
 
 #include "api.h"
@@ -149,7 +254,7 @@ SBLIB_API int sblib_func_count() {
 //
 int sblib_init(const char *sourceFile) {
 #if defined(DESKTOP_MODULE)
-  int result = createJVM("-Djava.class.path=./ioio-1.0-jar-with-dependencies.jar", "-Dioio.SerialPorts=IOIO0");
+  int result = createJVM("-Djava.class.path=./ioio-1.0-jar-with-dependencies.jar", "-Dioio.SerialPorts=IOIO0", true);
 #else
   int result = 1;
 #endif