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https://github.com/wpilibsuite/allwpilib
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Merge "Add support for ADXL362 SPI accelerometer."
This commit is contained in:
Brad Miller (WPI)
235
wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java
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235
wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java
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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 */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* 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;
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private static final byte kPowerCtl_Measure = 0x02;
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public static enum Axes {
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kX((byte) 0x00),
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kY((byte) 0x02),
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kZ((byte) 0x04);
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/**
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* The integer value representing this enumeration
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*/
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public final byte value;
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private Axes(byte value) {
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this.value = value;
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}
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}
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public static class AllAxes {
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public double XAxis;
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public double YAxis;
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public double ZAxis;
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}
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private SPI m_spi;
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private double m_gsPerLSB;
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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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public ADXL362(Range range) {
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this(SPI.Port.kOnboardCS1, range);
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}
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/**
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* Constructor.
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*
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* @param port The SPI port that the accelerometer is connected to
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* @param range The range (+ or -) that the accelerometer will measure.
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*/
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public ADXL362(SPI.Port port, Range range) {
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m_spi = new 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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ByteBuffer transferBuffer = ByteBuffer.allocateDirect(3);
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transferBuffer.put(0, kRegRead);
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transferBuffer.put(1, kPartIdRegister);
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m_spi.transaction(transferBuffer, transferBuffer, 3);
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if (transferBuffer.get(2) != (byte)0xF2) {
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m_spi.free();
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m_spi = null;
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DriverStation.reportError("could not find ADXL362 on SPI port " + port.getValue(), false);
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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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transferBuffer.put(0, kRegWrite);
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transferBuffer.put(1, kPowerCtlRegister);
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transferBuffer.put(2, (byte) (kPowerCtl_Measure | kPowerCtl_UltraLowNoise));
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m_spi.write(transferBuffer, 3);
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//UsageReporting.report(tResourceType.kResourceType_ADXL362, 0);
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LiveWindow.addSensor("ADXL362", port.getValue(), this);
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}
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public void free() {
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m_spi.free();
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}
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/** {inheritdoc} */
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@Override
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public void setRange(Range range) {
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byte value = 0;
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switch (range) {
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case k2G:
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value = kFilterCtl_Range2G;
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m_gsPerLSB = 0.001;
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break;
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case k4G:
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value = kFilterCtl_Range4G;
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m_gsPerLSB = 0.002;
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break;
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case k8G:
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case k16G: // 16G not supported; treat as 8G
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value = kFilterCtl_Range8G;
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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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byte[] commands = new byte[] {kRegWrite, kFilterCtlRegister, (byte) (kFilterCtl_ODR_100Hz | value)};
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m_spi.write(commands, commands.length);
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}
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/** {@inheritDoc} */
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@Override
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public double getX() {
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return getAcceleration(Axes.kX);
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}
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/** {@inheritDoc} */
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@Override
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public double getY() {
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return getAcceleration(Axes.kY);
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}
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/** {@inheritDoc} */
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@Override
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public double getZ() {
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return getAcceleration(Axes.kZ);
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}
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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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public double getAcceleration(ADXL362.Axes axis) {
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if (m_spi == null)
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return 0.0;
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ByteBuffer transferBuffer = ByteBuffer.allocateDirect(4);
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transferBuffer.put(0, kRegRead);
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transferBuffer.put(1, (byte) (kDataRegister + axis.value));
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m_spi.transaction(transferBuffer, transferBuffer, 4);
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// Sensor is little endian
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transferBuffer.order(ByteOrder.LITTLE_ENDIAN);
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return transferBuffer.getShort(2) * 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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public ADXL362.AllAxes getAccelerations() {
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ADXL362.AllAxes data = new ADXL362.AllAxes();
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if (m_spi != null) {
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ByteBuffer dataBuffer = ByteBuffer.allocateDirect(8);
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// Select the data address.
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dataBuffer.put(0, kRegRead);
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dataBuffer.put(1, kDataRegister);
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m_spi.transaction(dataBuffer, dataBuffer, 8);
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// Sensor is little endian... swap bytes
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dataBuffer.order(ByteOrder.LITTLE_ENDIAN);
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data.XAxis = dataBuffer.getShort(2) * m_gsPerLSB;
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data.YAxis = dataBuffer.getShort(4) * m_gsPerLSB;
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data.ZAxis = dataBuffer.getShort(6) * m_gsPerLSB;
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}
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return data;
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}
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public String getSmartDashboardType() {
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return "3AxisAccelerometer";
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}
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private ITable m_table;
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/** {@inheritDoc} */
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public void initTable(ITable subtable) {
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m_table = subtable;
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updateTable();
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}
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/** {@inheritDoc} */
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public void updateTable() {
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if (m_table != null) {
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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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/** {@inheritDoc} */
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public ITable getTable() {
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return m_table;
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}
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public void startLiveWindowMode() {}
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public void stopLiveWindowMode() {}
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}
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