mirror of
https://github.com/wpilibsuite/allwpilib
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Merge "Add support for ADXL362 SPI accelerometer."
This commit is contained in:
Brad Miller (WPI)
62
wpilibc/Athena/include/ADXL362.h
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62
wpilibc/Athena/include/ADXL362.h
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@@ -0,0 +1,62 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "interfaces/Accelerometer.h"
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#include "SensorBase.h"
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#include "SPI.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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class DigitalInput;
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class DigitalOutput;
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/**
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* ADXL362 SPI Accelerometer.
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*
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* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
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*/
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class ADXL362 : public Accelerometer, public LiveWindowSendable {
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public:
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enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
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struct AllAxes {
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double XAxis;
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double YAxis;
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double ZAxis;
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};
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public:
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ADXL362(Range range = kRange_2G);
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ADXL362(SPI::Port port, Range range = kRange_2G);
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virtual ~ADXL362() = default;
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ADXL362(const ADXL362&) = delete;
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ADXL362& operator=(const ADXL362&) = delete;
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// Accelerometer interface
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virtual void SetRange(Range range) override;
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virtual double GetX() override;
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virtual double GetY() override;
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virtual double GetZ() override;
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virtual double GetAcceleration(Axes axis);
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virtual AllAxes GetAccelerations();
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virtual std::string GetSmartDashboardType() const override;
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virtual void InitTable(std::shared_ptr<ITable> subtable) override;
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virtual void UpdateTable() override;
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virtual std::shared_ptr<ITable> GetTable() const override;
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virtual void StartLiveWindowMode() override {}
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virtual void StopLiveWindowMode() override {}
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private:
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SPI m_spi;
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double m_gsPerLSB = 0.001;
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std::shared_ptr<ITable> m_table;
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};
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@@ -13,6 +13,7 @@
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#include "ADXL345_I2C.h"
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#include "ADXL345_SPI.h"
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#include "ADXL362.h"
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#include "AnalogAccelerometer.h"
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#include "AnalogGyro.h"
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#include "AnalogInput.h"
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181
wpilibc/Athena/src/ADXL362.cpp
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181
wpilibc/Athena/src/ADXL362.cpp
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@@ -0,0 +1,181 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "ADXL362.h"
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#include "DigitalInput.h"
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#include "DigitalOutput.h"
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#include "DriverStation.h"
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#include "LiveWindow/LiveWindow.h"
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static uint8_t kRegWrite = 0x0A;
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static uint8_t kRegRead = 0x0B;
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static uint8_t kPartIdRegister = 0x02;
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static uint8_t kDataRegister = 0x0E;
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static uint8_t kFilterCtlRegister = 0x2C;
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static uint8_t kPowerCtlRegister = 0x2D;
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//static uint8_t kFilterCtl_Range2G = 0x00;
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//static uint8_t kFilterCtl_Range4G = 0x40;
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//static uint8_t kFilterCtl_Range8G = 0x80;
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static uint8_t kFilterCtl_ODR_100Hz = 0x03;
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static uint8_t kPowerCtl_UltraLowNoise = 0x20;
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//static uint8_t kPowerCtl_AutoSleep = 0x04;
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static uint8_t kPowerCtl_Measure = 0x02;
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/**
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* Constructor. Uses the onboard CS1.
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*
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* @param range The range (+ or -) that the accelerometer will measure.
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*/
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ADXL362::ADXL362(Range range) : ADXL362(SPI::Port::kOnboardCS1, range) {}
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/**
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* Constructor.
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*
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* @param port The SPI port the accelerometer is attached to
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* @param range The range (+ or -) that the accelerometer will measure.
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*/
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ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) {
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m_spi.SetClockRate(3000000);
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m_spi.SetMSBFirst();
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m_spi.SetSampleDataOnFalling();
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m_spi.SetClockActiveLow();
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m_spi.SetChipSelectActiveLow();
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// Validate the part ID
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uint8_t commands[3];
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commands[0] = kRegRead;
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commands[1] = kPartIdRegister;
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commands[2] = 0;
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m_spi.Transaction(commands, commands, 3);
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if (commands[2] != 0xF2) {
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DriverStation::ReportError("could not find ADXL362");
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m_gsPerLSB = 0.0;
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return;
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}
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SetRange(range);
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// Turn on the measurements
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commands[0] = kRegWrite;
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commands[1] = kPowerCtlRegister;
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commands[2] = kPowerCtl_Measure | kPowerCtl_UltraLowNoise;
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m_spi.Write(commands, 3);
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//HALReport(HALUsageReporting::kResourceType_ADXL362, 0);
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LiveWindow::GetInstance()->AddSensor("ADXL362", port, this);
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}
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/** {@inheritdoc} */
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void ADXL362::SetRange(Range range) {
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if (m_gsPerLSB == 0.0) return;
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uint8_t commands[3];
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switch (range) {
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case kRange_2G:
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m_gsPerLSB = 0.001;
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break;
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case kRange_4G:
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m_gsPerLSB = 0.002;
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break;
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case kRange_8G:
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case kRange_16G: // 16G not supported; treat as 8G
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m_gsPerLSB = 0.004;
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break;
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}
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// Specify the data format to read
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commands[0] = kRegWrite;
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commands[1] = kFilterCtlRegister;
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commands[2] = kFilterCtl_ODR_100Hz | (uint8_t)((range & 0x03) << 6);
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m_spi.Write(commands, 3);
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}
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/** {@inheritdoc} */
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double ADXL362::GetX() { return GetAcceleration(kAxis_X); }
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/** {@inheritdoc} */
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double ADXL362::GetY() { return GetAcceleration(kAxis_Y); }
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/** {@inheritdoc} */
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double ADXL362::GetZ() { return GetAcceleration(kAxis_Z); }
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/**
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* Get the acceleration of one axis in Gs.
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*
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* @param axis The axis to read from.
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* @return Acceleration of the ADXL362 in Gs.
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*/
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double ADXL362::GetAcceleration(ADXL362::Axes axis) {
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if (m_gsPerLSB == 0.0) return 0.0;
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uint8_t buffer[4];
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uint8_t command[4] = {0, 0, 0, 0};
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command[0] = kRegRead;
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command[1] = kDataRegister + (uint8_t)axis;
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m_spi.Transaction(command, buffer, 4);
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// Sensor is little endian... swap bytes
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int16_t rawAccel = buffer[3] << 8 | buffer[2];
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return rawAccel * m_gsPerLSB;
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}
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/**
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* Get the acceleration of all axes in Gs.
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*
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* @return An object containing the acceleration measured on each axis of the
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* ADXL362 in Gs.
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*/
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ADXL362::AllAxes ADXL362::GetAccelerations() {
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AllAxes data = AllAxes();
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if (m_gsPerLSB == 0.0) {
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data.XAxis = data.YAxis = data.ZAxis = 0.0;
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return data;
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}
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uint8_t dataBuffer[8] = {0, 0, 0, 0, 0, 0, 0, 0};
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int16_t rawData[3];
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// Select the data address.
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dataBuffer[0] = kRegRead;
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dataBuffer[1] = kDataRegister;
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m_spi.Transaction(dataBuffer, dataBuffer, 8);
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for (int32_t i = 0; i < 3; i++) {
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// Sensor is little endian... swap bytes
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rawData[i] = dataBuffer[i * 2 + 3] << 8 | dataBuffer[i * 2 + 2];
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}
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data.XAxis = rawData[0] * m_gsPerLSB;
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data.YAxis = rawData[1] * m_gsPerLSB;
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data.ZAxis = rawData[2] * m_gsPerLSB;
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return data;
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}
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std::string ADXL362::GetSmartDashboardType() const {
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return "3AxisAccelerometer";
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}
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void ADXL362::InitTable(std::shared_ptr<ITable> subtable) {
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m_table = subtable;
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UpdateTable();
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}
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void ADXL362::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("X", GetX());
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m_table->PutNumber("Y", GetY());
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m_table->PutNumber("Z", GetZ());
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}
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}
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std::shared_ptr<ITable> ADXL362::GetTable() const { return m_table; }
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235
wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java
Normal file
235
wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java
Normal file
@@ -0,0 +1,235 @@
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/*----------------------------------------------------------------------------*/
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||||
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
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||||
/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import java.nio.ByteOrder;
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import java.nio.ByteBuffer;
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import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
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import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
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import edu.wpi.first.wpilibj.communication.UsageReporting;
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import edu.wpi.first.wpilibj.interfaces.Accelerometer;
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import edu.wpi.first.wpilibj.livewindow.LiveWindow;
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import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
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import edu.wpi.first.wpilibj.tables.ITable;
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/**
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* ADXL362 SPI Accelerometer.
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*
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* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
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*/
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public class ADXL362 extends SensorBase implements Accelerometer, LiveWindowSendable {
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private static final byte kRegWrite = 0x0A;
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private static final byte kRegRead = 0x0B;
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private static final byte kPartIdRegister = 0x02;
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private static final byte kDataRegister = 0x0E;
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private static final byte kFilterCtlRegister = 0x2C;
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private static final byte kPowerCtlRegister = 0x2D;
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private static final byte kFilterCtl_Range2G = 0x00;
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private static final byte kFilterCtl_Range4G = 0x40;
|
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private static final byte kFilterCtl_Range8G = (byte) 0x80;
|
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private static final byte kFilterCtl_ODR_100Hz = 0x03;
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private static final byte kPowerCtl_UltraLowNoise = 0x20;
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private static final byte kPowerCtl_AutoSleep = 0x04;
|
||||
private static final byte kPowerCtl_Measure = 0x02;
|
||||
|
||||
public static enum Axes {
|
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kX((byte) 0x00),
|
||||
kY((byte) 0x02),
|
||||
kZ((byte) 0x04);
|
||||
|
||||
/**
|
||||
* The integer value representing this enumeration
|
||||
*/
|
||||
public final byte value;
|
||||
|
||||
private Axes(byte value) {
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this.value = value;
|
||||
}
|
||||
}
|
||||
|
||||
public static class AllAxes {
|
||||
|
||||
public double XAxis;
|
||||
public double YAxis;
|
||||
public double ZAxis;
|
||||
}
|
||||
|
||||
private SPI m_spi;
|
||||
private double m_gsPerLSB;
|
||||
|
||||
/**
|
||||
* Constructor. Uses the onboard CS1.
|
||||
*
|
||||
* @param range The range (+ or -) that the accelerometer will measure.
|
||||
*/
|
||||
public ADXL362(Range range) {
|
||||
this(SPI.Port.kOnboardCS1, range);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructor.
|
||||
*
|
||||
* @param port The SPI port that the accelerometer is connected to
|
||||
* @param range The range (+ or -) that the accelerometer will measure.
|
||||
*/
|
||||
public ADXL362(SPI.Port port, Range range) {
|
||||
m_spi = new SPI(port);
|
||||
m_spi.setClockRate(3000000);
|
||||
m_spi.setMSBFirst();
|
||||
m_spi.setSampleDataOnFalling();
|
||||
m_spi.setClockActiveLow();
|
||||
m_spi.setChipSelectActiveLow();
|
||||
|
||||
// Validate the part ID
|
||||
ByteBuffer transferBuffer = ByteBuffer.allocateDirect(3);
|
||||
transferBuffer.put(0, kRegRead);
|
||||
transferBuffer.put(1, kPartIdRegister);
|
||||
m_spi.transaction(transferBuffer, transferBuffer, 3);
|
||||
if (transferBuffer.get(2) != (byte)0xF2) {
|
||||
m_spi.free();
|
||||
m_spi = null;
|
||||
DriverStation.reportError("could not find ADXL362 on SPI port " + port.getValue(), false);
|
||||
return;
|
||||
}
|
||||
|
||||
setRange(range);
|
||||
|
||||
// Turn on the measurements
|
||||
transferBuffer.put(0, kRegWrite);
|
||||
transferBuffer.put(1, kPowerCtlRegister);
|
||||
transferBuffer.put(2, (byte) (kPowerCtl_Measure | kPowerCtl_UltraLowNoise));
|
||||
m_spi.write(transferBuffer, 3);
|
||||
|
||||
//UsageReporting.report(tResourceType.kResourceType_ADXL362, 0);
|
||||
LiveWindow.addSensor("ADXL362", port.getValue(), this);
|
||||
}
|
||||
|
||||
public void free() {
|
||||
m_spi.free();
|
||||
}
|
||||
|
||||
/** {inheritdoc} */
|
||||
@Override
|
||||
public void setRange(Range range) {
|
||||
byte value = 0;
|
||||
|
||||
switch (range) {
|
||||
case k2G:
|
||||
value = kFilterCtl_Range2G;
|
||||
m_gsPerLSB = 0.001;
|
||||
break;
|
||||
case k4G:
|
||||
value = kFilterCtl_Range4G;
|
||||
m_gsPerLSB = 0.002;
|
||||
break;
|
||||
case k8G:
|
||||
case k16G: // 16G not supported; treat as 8G
|
||||
value = kFilterCtl_Range8G;
|
||||
m_gsPerLSB = 0.004;
|
||||
break;
|
||||
}
|
||||
|
||||
// Specify the data format to read
|
||||
byte[] commands = new byte[] {kRegWrite, kFilterCtlRegister, (byte) (kFilterCtl_ODR_100Hz | value)};
|
||||
m_spi.write(commands, commands.length);
|
||||
}
|
||||
|
||||
/** {@inheritDoc} */
|
||||
@Override
|
||||
public double getX() {
|
||||
return getAcceleration(Axes.kX);
|
||||
}
|
||||
|
||||
/** {@inheritDoc} */
|
||||
@Override
|
||||
public double getY() {
|
||||
return getAcceleration(Axes.kY);
|
||||
}
|
||||
|
||||
/** {@inheritDoc} */
|
||||
@Override
|
||||
public double getZ() {
|
||||
return getAcceleration(Axes.kZ);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the acceleration of one axis in Gs.
|
||||
*
|
||||
* @param axis The axis to read from.
|
||||
* @return Acceleration of the ADXL362 in Gs.
|
||||
*/
|
||||
public double getAcceleration(ADXL362.Axes axis) {
|
||||
if (m_spi == null)
|
||||
return 0.0;
|
||||
ByteBuffer transferBuffer = ByteBuffer.allocateDirect(4);
|
||||
transferBuffer.put(0, kRegRead);
|
||||
transferBuffer.put(1, (byte) (kDataRegister + axis.value));
|
||||
m_spi.transaction(transferBuffer, transferBuffer, 4);
|
||||
// Sensor is little endian
|
||||
transferBuffer.order(ByteOrder.LITTLE_ENDIAN);
|
||||
|
||||
return transferBuffer.getShort(2) * m_gsPerLSB;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the acceleration of all axes in Gs.
|
||||
*
|
||||
* @return An object containing the acceleration measured on each axis of the
|
||||
* ADXL362 in Gs.
|
||||
*/
|
||||
public ADXL362.AllAxes getAccelerations() {
|
||||
ADXL362.AllAxes data = new ADXL362.AllAxes();
|
||||
if (m_spi != null) {
|
||||
ByteBuffer dataBuffer = ByteBuffer.allocateDirect(8);
|
||||
// Select the data address.
|
||||
dataBuffer.put(0, kRegRead);
|
||||
dataBuffer.put(1, kDataRegister);
|
||||
m_spi.transaction(dataBuffer, dataBuffer, 8);
|
||||
// Sensor is little endian... swap bytes
|
||||
dataBuffer.order(ByteOrder.LITTLE_ENDIAN);
|
||||
|
||||
data.XAxis = dataBuffer.getShort(2) * m_gsPerLSB;
|
||||
data.YAxis = dataBuffer.getShort(4) * m_gsPerLSB;
|
||||
data.ZAxis = dataBuffer.getShort(6) * m_gsPerLSB;
|
||||
}
|
||||
return data;
|
||||
}
|
||||
|
||||
public String getSmartDashboardType() {
|
||||
return "3AxisAccelerometer";
|
||||
}
|
||||
|
||||
private ITable m_table;
|
||||
|
||||
/** {@inheritDoc} */
|
||||
public void initTable(ITable subtable) {
|
||||
m_table = subtable;
|
||||
updateTable();
|
||||
}
|
||||
|
||||
/** {@inheritDoc} */
|
||||
public void updateTable() {
|
||||
if (m_table != null) {
|
||||
m_table.putNumber("X", getX());
|
||||
m_table.putNumber("Y", getY());
|
||||
m_table.putNumber("Z", getZ());
|
||||
}
|
||||
}
|
||||
|
||||
/** {@inheritDoc} */
|
||||
public ITable getTable() {
|
||||
return m_table;
|
||||
}
|
||||
|
||||
public void startLiveWindowMode() {}
|
||||
|
||||
public void stopLiveWindowMode() {}
|
||||
}
|
||||
Reference in New Issue
Block a user