SPIIn

SPIIn node is used for receiving data that was sent from a MCU (via SPI). OAK-IOT devices have an on-board ESP32 that is connected to the VPU (MyriadX) via SPI. You can find demos here.

This allows you for example to control eg. ColorCamera or ImageManip from the MCU or send a Buffer of data from the MCU to a Script node.

SPIOut is used for sending data from the VPU to a MCU (via SPI).

How to place it

Python

C++

pipeline = dai.Pipeline()
spi = pipeline.create(dai.node.SPIIn)

dai::Pipeline pipeline;
auto spi = pipeline.create<dai::node::SPIIn>();

Inputs and Outputs

           ┌─────────────┐
SPI        │             │
(from MCU) |             │      out
----------►│    SPIIn    ├─────────►
           │             │
           │             │
           └─────────────┘

Message types

• out - Any

Usage

Python

C++

pipeline = dai.Pipeline()
spi = pipeline.create(dai.node.SPIIn)

spi.setStreamName("control")
spi.setBusId(0)

dai::Pipeline pipeline;
auto spi = pipeline.create<dai::node::SPIIn>();

spi->setStreamName("control");
spi->setBusId(0);

Examples of functionality

• SPI demos (host side)

• ESP32 code demos

Reference

Python

C++

class depthai.node.SPIIn

SPIIn node. Receives messages over SPI.

class Connection

Connection between an Input and Output

class Id

Node identificator. Unique for every node on a single Pipeline

Properties

alias of depthai.SPIInProperties

getAssetManager(*args, **kwargs)

Overloaded function.

1. getAssetManager(self: depthai.Node) -> depthai.AssetManager

Get node AssetManager as a const reference

2. getAssetManager(self: depthai.Node) -> depthai.AssetManager

Get node AssetManager as a const reference

getBusId(self: depthai.node.SPIIn) → int

Get bus id

getInputRefs(*args, **kwargs)

Overloaded function.

1. getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

2. getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

getInputs(self: depthai.Node) → List[depthai.Node.Input]

Retrieves all nodes inputs

getMaxDataSize(self: depthai.node.SPIIn) → int

Get maximum messages size in bytes

getName(self: depthai.Node) → str

Retrieves nodes name

getNumFrames(self: depthai.node.SPIIn) → int

Get number of frames in pool

getOutputRefs(*args, **kwargs)

Overloaded function.

1. getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

2. getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

getOutputs(self: depthai.Node) → List[depthai.Node.Output]

Retrieves all nodes outputs

getParentPipeline(*args, **kwargs)

Overloaded function.

1. getParentPipeline(self: depthai.Node) -> depthai.Pipeline

2. getParentPipeline(self: depthai.Node) -> depthai.Pipeline

getStreamName(self: depthai.node.SPIIn) → str

Get stream name

property id

Id of node

property out

Outputs message of same type as send from host.

setBusId(self: depthai.node.SPIIn, id: int) → None

Specifies SPI Bus number to use

Parameter id:

SPI Bus id

setMaxDataSize(self: depthai.node.SPIIn, maxDataSize: int) → None

Set maximum message size it can receive

Parameter maxDataSize:

Maximum size in bytes

setNumFrames(self: depthai.node.SPIIn, numFrames: int) → None

Set number of frames in pool for sending messages forward

Parameter numFrames:

Maximum number of frames in pool

setStreamName(self: depthai.node.SPIIn, name: str) → None

Specifies stream name over which the node will receive data

Parameter name:

Stream name

class dai::node::SPIIn : public dai::NodeCRTP<Node, SPIIn, SPIInProperties>

SPIIn node. Receives messages over SPI.

Public Functions

SPIIn(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId)

SPIIn(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId, std::unique_ptr<Properties> props)

void setStreamName(const std::string &name)

Specifies stream name over which the node will receive data

Parameters

• name: Stream name

void setBusId(int id)

Specifies SPI Bus number to use

Parameters

• id: SPI Bus id

void setMaxDataSize(std::uint32_t maxDataSize)

Set maximum message size it can receive

Parameters

• maxDataSize: Maximum size in bytes

void setNumFrames(std::uint32_t numFrames)

Set number of frames in pool for sending messages forward

Parameters

• numFrames: Maximum number of frames in pool

std::string getStreamName() const

Get stream name.

int getBusId() const

Get bus id.

std::uint32_t getMaxDataSize() const

Get maximum messages size in bytes.

std::uint32_t getNumFrames() const

Get number of frames in pool.

Public Members

Output out = {*this, "out", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}}

Outputs message of same type as send from host.

Public Static Attributes

constexpr const char *NAME = "SPIIn"

Got questions?

We’re always happy to help with code or other questions you might have.

Community Discord

Discussion Forum

Email Support