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Added an Accelerometer interface

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ADXL345_I2C, ADXL345_SPI, and BuiltInAccelerometer implement this interface.

The analog accelerometer class Accelerometer was renamed to
AnalogAccelerometer.

Change-Id: Iaae79d582a24c36c372f5fd4ea6df37be289b9c1
This commit is contained in:
thomasclark
2014-07-22 18:04:00 -04:00
parent fbf196763f
commit 41c2b9402c
15 changed files with 504 additions and 274 deletions
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13
wpilibc/wpilibC++/include/ADXL345_I2C.h
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@@ -5,6 +5,7 @@
/*----------------------------------------------------------------------------*/
#pragma once
#include "interfaces/Accelerometer.h"
#include "I2C.h"
/**
@@ -13,7 +14,7 @@
* This class allows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus.
* This class assumes the default (not alternate) sensor address of 0x1D (7-bit address).
*/
class ADXL345_I2C : public I2C
class ADXL345_I2C : public Accelerometer, public I2C
{
protected:
static const uint8_t kAddress = 0x1D;
@@ -26,7 +27,6 @@ protected:
kDataFormat_FullRes=0x08, kDataFormat_Justify=0x04};
public:
enum DataFormat_Range {kRange_2G=0x00, kRange_4G=0x01, kRange_8G=0x02, kRange_16G=0x03};
enum Axes {kAxis_X=0x00, kAxis_Y=0x02, kAxis_Z=0x04};
struct AllAxes
{
@@ -36,8 +36,15 @@ public:
};
public:
ADXL345_I2C(Port port, DataFormat_Range range=kRange_2G);
ADXL345_I2C(Port port, Range range = kRange_2G);
virtual ~ADXL345_I2C();
// Accelerometer interface
virtual void SetRange(Range range);
virtual double GetX();
virtual double GetY();
virtual double GetZ();
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();

15
wpilibc/wpilibC++/include/ADXL345_SPI.h
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@@ -5,6 +5,7 @@
/*----------------------------------------------------------------------------*/
#pragma once
#include "interfaces/Accelerometer.h"
#include "SensorBase.h"
#include "SPI.h"
@@ -17,7 +18,7 @@ class DigitalOutput;
* This class allows access to an Analog Devices ADXL345 3-axis accelerometer via SPI.
* This class assumes the sensor is wired in 4-wire SPI mode.
*/
class ADXL345_SPI : public SensorBase
class ADXL345_SPI : public Accelerometer, public SensorBase
{
protected:
static const uint8_t kPowerCtlRegister = 0x2D;
@@ -30,7 +31,6 @@ protected:
kDataFormat_FullRes=0x08, kDataFormat_Justify=0x04};
public:
enum DataFormat_Range {kRange_2G=0x00, kRange_4G=0x01, kRange_8G=0x02, kRange_16G=0x03};
enum Axes {kAxis_X=0x00, kAxis_Y=0x02, kAxis_Z=0x04};
struct AllAxes
{
@@ -40,13 +40,20 @@ public:
};
public:
ADXL345_SPI(SPI::Port port, DataFormat_Range range=kRange_2G);
ADXL345_SPI(SPI::Port port, Range range=kRange_2G);
virtual ~ADXL345_SPI();
// Accelerometer interface
virtual void SetRange(Range range);
virtual double GetX();
virtual double GetY();
virtual double GetZ();
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();
protected:
void Init(DataFormat_Range range);
void Init(Range range);
SPI* m_spi;
SPI::Port m_port;

10
wpilibc/wpilibC++/include/Accelerometer.h → wpilibc/wpilibC++/include/AnalogAccelerometer.h
View File

@@ -11,16 +11,16 @@
#include "LiveWindow/LiveWindowSendable.h"
/**
* Handle operation of the accelerometer.
* Handle operation of an analog accelerometer.
* The accelerometer reads acceleration directly through the sensor. Many sensors have
* multiple axis and can be treated as multiple devices. Each is calibrated by finding
* the center value over a period of time.
*/
class Accelerometer : public SensorBase, public PIDSource, public LiveWindowSendable {
class AnalogAccelerometer : public SensorBase, public PIDSource, public LiveWindowSendable {
public:
explicit Accelerometer(uint32_t channel);
explicit Accelerometer(AnalogInput *channel);
virtual ~Accelerometer();
explicit AnalogAccelerometer(uint32_t channel);
explicit AnalogAccelerometer(AnalogInput *channel);
virtual ~AnalogAccelerometer();
float GetAcceleration();
void SetSensitivity(float sensitivity);

19
wpilibc/wpilibC++/include/BuiltInAccelerometer.h
View File

@@ -5,6 +5,7 @@
/*----------------------------------------------------------------------------*/
#pragma once
#include "interfaces/Accelerometer.h"
#include "SensorBase.h"
#include "LiveWindow/LiveWindowSendable.h"
@@ -13,20 +14,16 @@
*
* This class allows access to the RoboRIO's internal accelerometer.
*/
class BuiltInAccelerometer : public SensorBase, public LiveWindowSendable
class BuiltInAccelerometer : public Accelerometer, public SensorBase, public LiveWindowSendable
{
public:
enum Range
{
kRange_2G = 0x00,
kRange_4G = 0x01,
kRange_8G = 0x02,
};
BuiltInAccelerometer(Range range = kRange_8G);
virtual double GetX() const;
virtual double GetY() const;
virtual double GetZ() const;
// Accelerometer interface
virtual void SetRange(Range range);
virtual double GetX();
virtual double GetY();
virtual double GetZ();
virtual std::string GetSmartDashboardType();
virtual void InitTable(ITable *subtable);

3
wpilibc/wpilibC++/include/WPILib.h
View File

@@ -10,9 +10,9 @@
#include "string.h"
#include <iostream>
#include "Accelerometer.h"
#include "ADXL345_I2C.h"
#include "ADXL345_SPI.h"
#include "AnalogAccelerometer.h"
#include "AnalogInput.h"
#include "AnalogOutput.h"
#include "AnalogPotentiometer.h"
@@ -51,6 +51,7 @@
#include "GearTooth.h"
#include "GenericHID.h"
#include "Gyro.h"
#include "interfaces/Accelerometer.h"
#include "interfaces/Potentiometer.h"
#include "I2C.h"
#include "IterativeRobot.h"

52
wpilibc/wpilibC++/include/interfaces/Accelerometer.h Normal file
View File

@@ -0,0 +1,52 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#pragma once
/**
* Interface for 3-axis accelerometers
*/
class Accelerometer
{
public:
virtual ~Accelerometer() {};
enum Range
{
kRange_2G = 0,
kRange_4G = 1,
kRange_8G = 2,
kRange_16G = 3
};
/**
* Common interface for setting the measuring range of an accelerometer.
*
* @param range The maximum acceleration, positive or negative, that the
* accelerometer will measure. Not all accelerometers support all ranges.
*/
virtual void SetRange(Range range) = 0;
/**
* Common interface for getting the x axis acceleration
*
* @return The acceleration along the x axis in g-forces
*/
virtual double GetX() = 0;
/**
* Common interface for getting the y axis acceleration
*
* @return The acceleration along the y axis in g-forces
*/
virtual double GetY() = 0;
/**
* Common interface for getting the z axis acceleration
*
* @return The acceleration along the z axis in g-forces
*/
virtual double GetZ() = 0;
};

28
wpilibc/wpilibC++/lib/ADXL345_I2C.cpp
View File

@@ -19,7 +19,7 @@ constexpr double ADXL345_I2C::kGsPerLSB;
*
* @param range The range (+ or -) that the accelerometer will measure.
*/
ADXL345_I2C::ADXL345_I2C(Port port, ADXL345_I2C::DataFormat_Range range):
ADXL345_I2C::ADXL345_I2C(Port port, Range range):
I2C(port, kAddress)
{
//m_i2c = new I2C((I2C::Port)port, kAddress);
@@ -27,7 +27,7 @@ ADXL345_I2C::ADXL345_I2C(Port port, ADXL345_I2C::DataFormat_Range range):
// Turn on the measurements
Write(kPowerCtlRegister, kPowerCtl_Measure);
// Specify the data format to read
Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
SetRange(range);
HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, 0);
}
@@ -41,6 +41,30 @@ ADXL345_I2C::~ADXL345_I2C()
//m_i2c = NULL;
}
/** {@inheritdoc} */
void ADXL345_I2C::SetRange(Range range)
{
Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
}
/** {@inheritdoc} */
double ADXL345_I2C::GetX()
{
return GetAcceleration(kAxis_X);
}
/** {@inheritdoc} */
double ADXL345_I2C::GetY()
{
return GetAcceleration(kAxis_Y);
}
/** {@inheritdoc} */
double ADXL345_I2C::GetZ()
{
return GetAcceleration(kAxis_Z);
}
/**
* Get the acceleration of one axis in Gs.
*

39
wpilibc/wpilibC++/lib/ADXL345_SPI.cpp
View File

@@ -14,7 +14,7 @@ const uint8_t ADXL345_SPI::kDataFormatRegister;
const uint8_t ADXL345_SPI::kDataRegister;
constexpr double ADXL345_SPI::kGsPerLSB;
ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::DataFormat_Range range)
ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
{
m_port = port;
Init(range);
@@ -23,7 +23,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::DataFormat_Range range)
/**
* Internal common init function.
*/
void ADXL345_SPI::Init(DataFormat_Range range)
void ADXL345_SPI::Init(Range range)
{
m_spi = new SPI(m_port);
m_spi->SetClockRate(500000);
@@ -37,10 +37,8 @@ void ADXL345_SPI::Init(DataFormat_Range range)
commands[0] = kPowerCtlRegister;
commands[1] = kPowerCtl_Measure;
m_spi->Transaction(commands, commands, 2);
// Specify the data format to read
commands[0] = kDataFormatRegister;
commands[1] = kDataFormat_FullRes| (uint8_t)(range & 0x03);
m_spi->Transaction(commands, commands, 2);
SetRange(range);
HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_SPI);
}
@@ -54,6 +52,35 @@ ADXL345_SPI::~ADXL345_SPI()
m_spi = NULL;
}
/** {@inheritdoc} */
void ADXL345_SPI::SetRange(Range range)
{
uint8_t commands[2];
// Specify the data format to read
commands[0] = kDataFormatRegister;
commands[1] = kDataFormat_FullRes| (uint8_t)(range & 0x03);
m_spi->Transaction(commands, commands, 2);
}
/** {@inheritdoc} */
double ADXL345_SPI::GetX()
{
return GetAcceleration(kAxis_X);
}
/** {@inheritdoc} */
double ADXL345_SPI::GetY()
{
return GetAcceleration(kAxis_Y);
}
/** {@inheritdoc} */
double ADXL345_SPI::GetZ()
{
return GetAcceleration(kAxis_Z);
}
/**
* Get the acceleration of one axis in Gs.
*

30
wpilibc/wpilibC++/lib/Accelerometer.cpp → wpilibc/wpilibC++/lib/AnalogAccelerometer.cpp
View File

@@ -4,7 +4,7 @@
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "Accelerometer.h"
#include "AnalogAccelerometer.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "WPIErrors.h"
#include "LiveWindow/LiveWindow.h"
@@ -12,7 +12,7 @@
/**
* Common function for initializing the accelerometer.
*/
void Accelerometer::InitAccelerometer()
void AnalogAccelerometer::InitAccelerometer()
{
m_table = NULL;
m_voltsPerG = 1.0;
@@ -26,7 +26,7 @@ void Accelerometer::InitAccelerometer()
*
* The constructor allocates desired analog input.
*/
Accelerometer::Accelerometer(uint32_t channel)
AnalogAccelerometer::AnalogAccelerometer(uint32_t channel)
{
m_AnalogInput = new AnalogInput(channel);
m_allocatedChannel = true;
@@ -39,7 +39,7 @@ Accelerometer::Accelerometer(uint32_t channel)
* useful if the port is going to be read as an analog channel as well as through
* the Accelerometer class.
*/
Accelerometer::Accelerometer(AnalogInput *channel)
AnalogAccelerometer::AnalogAccelerometer(AnalogInput *channel)
{
if (channel == NULL)
{
@@ -56,7 +56,7 @@ Accelerometer::Accelerometer(AnalogInput *channel)
/**
* Delete the analog components used for the accelerometer.
*/
Accelerometer::~Accelerometer()
AnalogAccelerometer::~AnalogAccelerometer()
{
if (m_allocatedChannel)
{
@@ -71,7 +71,7 @@ Accelerometer::~Accelerometer()
*
* @return The current acceleration of the sensor in Gs.
*/
float Accelerometer::GetAcceleration()
float AnalogAccelerometer::GetAcceleration()
{
return (m_AnalogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
}
@@ -84,7 +84,7 @@ float Accelerometer::GetAcceleration()
*
* @param sensitivity The sensitivity of accelerometer in Volts per G.
*/
void Accelerometer::SetSensitivity(float sensitivity)
void AnalogAccelerometer::SetSensitivity(float sensitivity)
{
m_voltsPerG = sensitivity;
}
@@ -96,7 +96,7 @@ void Accelerometer::SetSensitivity(float sensitivity)
*
* @param zero The zero G voltage.
*/
void Accelerometer::SetZero(float zero)
void AnalogAccelerometer::SetZero(float zero)
{
m_zeroGVoltage = zero;
}
@@ -106,32 +106,32 @@ void Accelerometer::SetZero(float zero)
*
* @return The current acceleration in Gs.
*/
double Accelerometer::PIDGet()
double AnalogAccelerometer::PIDGet()
{
return GetAcceleration();
}
void Accelerometer::UpdateTable() {
void AnalogAccelerometer::UpdateTable() {
if (m_table != NULL) {
m_table->PutNumber("Value", GetAcceleration());
}
}
void Accelerometer::StartLiveWindowMode() {
void AnalogAccelerometer::StartLiveWindowMode() {
}
void Accelerometer::StopLiveWindowMode() {
void AnalogAccelerometer::StopLiveWindowMode() {
}
std::string Accelerometer::GetSmartDashboardType() {
std::string AnalogAccelerometer::GetSmartDashboardType() {
return "Accelerometer";
}
void Accelerometer::InitTable(ITable *subTable) {
void AnalogAccelerometer::InitTable(ITable *subTable) {
m_table = subTable;
UpdateTable();
}
ITable * Accelerometer::GetTable() {
ITable * AnalogAccelerometer::GetTable() {
return m_table;
}

22
wpilibc/wpilibC++/lib/BuiltInAccelerometer.cpp
View File

@@ -6,6 +6,7 @@
#include "BuiltInAccelerometer.h"
#include "HAL/HAL.hpp"
#include "WPIErrors.h"
/**
* Constructor.
@@ -14,17 +15,28 @@
BuiltInAccelerometer::BuiltInAccelerometer(Range range)
: m_table(0)
{
SetRange(range);
HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
}
/** {@inheritdoc} */
void BuiltInAccelerometer::SetRange(Range range)
{
if(range == kRange_16G)
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "16G range not supported (use k2G, k4G, or k8G)");
}
setAccelerometerActive(false);
setAccelerometerRange((AccelerometerRange)range);
setAccelerometerActive(true);
HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
}
/**
* @return The acceleration of the RoboRIO along the X axis in g-forces
*/
double BuiltInAccelerometer::GetX() const
double BuiltInAccelerometer::GetX()
{
return getAccelerometerX();
}
@@ -32,7 +44,7 @@ double BuiltInAccelerometer::GetX() const
/**
* @return The acceleration of the RoboRIO along the Y axis in g-forces
*/
double BuiltInAccelerometer::GetY() const
double BuiltInAccelerometer::GetY()
{
return getAccelerometerY();
}
@@ -40,7 +52,7 @@ double BuiltInAccelerometer::GetY() const
/**
* @return The acceleration of the RoboRIO along the Z axis in g-forces
*/
double BuiltInAccelerometer::GetZ() const
double BuiltInAccelerometer::GetZ()
{
return getAccelerometerZ();
}

210
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
View File

@@ -9,120 +9,142 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
/**
*
* @author dtjones
*/
public class ADXL345_I2C extends SensorBase {
public class ADXL345_I2C extends SensorBase implements Accelerometer {
private static final byte kAddress = 0x1D;
private static final byte kPowerCtlRegister = 0x2D;
private static final byte kDataFormatRegister = 0x31;
private static final byte kDataRegister = 0x32;
private static final double kGsPerLSB = 0.00390625;
private static final byte kPowerCtl_Link = 0x20, kPowerCtl_AutoSleep = 0x10, kPowerCtl_Measure = 0x08, kPowerCtl_Sleep = 0x04;
private static final byte kDataFormat_SelfTest = (byte) 0x80, kDataFormat_SPI = 0x40, kDataFormat_IntInvert = 0x20, kDataFormat_FullRes = 0x08, kDataFormat_Justify = 0x04;
private static final byte kAddress = 0x1D;
private static final byte kPowerCtlRegister = 0x2D;
private static final byte kDataFormatRegister = 0x31;
private static final byte kDataRegister = 0x32;
private static final double kGsPerLSB = 0.00390625;
private static final byte kPowerCtl_Link = 0x20, kPowerCtl_AutoSleep = 0x10, kPowerCtl_Measure = 0x08, kPowerCtl_Sleep = 0x04;
private static final byte kDataFormat_SelfTest = (byte) 0x80, kDataFormat_SPI = 0x40, kDataFormat_IntInvert = 0x20, kDataFormat_FullRes = 0x08, kDataFormat_Justify = 0x04;
public static class DataFormat_Range {
public static class Axes {
/**
* The integer value representing this enumeration
*/
public final byte value;
static final byte k2G_val = 0x00;
static final byte k4G_val = 0x01;
static final byte k8G_val = 0x02;
static final byte k16G_val = 0x03;
public static final DataFormat_Range k2G = new DataFormat_Range(k2G_val);
public static final DataFormat_Range k4G = new DataFormat_Range(k4G_val);
public static final DataFormat_Range k8G = new DataFormat_Range(k8G_val);
public static final DataFormat_Range k16G = new DataFormat_Range(k16G_val);
/**
* The integer value representing this enumeration
*/
public final byte value;
static final byte kX_val = 0x00;
static final byte kY_val = 0x02;
static final byte kZ_val = 0x04;
public static final Axes kX = new Axes(kX_val);
public static final Axes kY = new Axes(kY_val);
public static final Axes kZ = new Axes(kZ_val);
private DataFormat_Range(byte value) {
this.value = value;
}
}
private Axes(byte value) {
this.value = value;
}
}
public static class Axes {
public static class AllAxes {
/**
* The integer value representing this enumeration
*/
public final byte value;
static final byte kX_val = 0x00;
static final byte kY_val = 0x02;
static final byte kZ_val = 0x04;
public static final Axes kX = new Axes(kX_val);
public static final Axes kY = new Axes(kY_val);
public static final Axes kZ = new Axes(kZ_val);
public double XAxis;
public double YAxis;
public double ZAxis;
}
private I2C m_i2c;
private Axes(byte value) {
this.value = value;
}
}
/**
* Constructor.
*
* @param range The range (+ or -) that the accelerometer will measure.
*/
public ADXL345_I2C(I2C.Port port, Range range) {
m_i2c = new I2C(port, kAddress);
public static class AllAxes {
// Turn on the measurements
m_i2c.write(kPowerCtlRegister, kPowerCtl_Measure);
public double XAxis;
public double YAxis;
public double ZAxis;
}
private I2C m_i2c;
setRange(range);
/**
* Constructor.
*
* @param range The range (+ or -) that the accelerometer will measure.
*/
public ADXL345_I2C(I2C.Port port, DataFormat_Range range) {
m_i2c = new I2C(port, kAddress);
// Turn on the measurements
m_i2c.write(kPowerCtlRegister, kPowerCtl_Measure);
// Specify the data format to read
m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | range.value);
UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
}
UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
}
/** {inheritdoc} */
@Override
public void setRange(Range range) {
byte value = 0;
/**
* Get the acceleration of one axis in Gs.
*
* @param axis The axis to read from.
* @return Acceleration of the ADXL345 in Gs.
*/
public double getAcceleration(Axes axis) {
byte[] rawAccel = new byte[2];
m_i2c.read(kDataRegister + axis.value, rawAccel.length, rawAccel);
switch(range) {
case k2G:
value = 0;
break;
case k4G:
value = 1;
break;
case k8G:
value = 2;
break;
case k16G:
value = 3;
break;
}
// Sensor is little endian... swap bytes
return accelFromBytes(rawAccel[0], rawAccel[1]);
}
// Specify the data format to read
m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | value);
}
private double accelFromBytes(byte first, byte second) {
short tempLow = (short) (first & 0xff);
short tempHigh = (short) ((second << 8) & 0xff00);
return (tempLow | tempHigh) * kGsPerLSB;
}
/** {@inheritdoc} */
@Override
public double getX() {
return getAcceleration(Axes.kX);
}
/**
* Get the acceleration of all axes in Gs.
*
* @return Acceleration measured on all axes of the ADXL345 in Gs.
*/
public AllAxes getAccelerations() {
AllAxes data = new AllAxes();
byte[] rawData = new byte[6];
m_i2c.read(kDataRegister, rawData.length, rawData);
/** {@inheritdoc} */
@Override
public double getY() {
return getAcceleration(Axes.kY);
}
// Sensor is little endian... swap bytes
data.XAxis = accelFromBytes(rawData[0], rawData[1]);
data.YAxis = accelFromBytes(rawData[2], rawData[3]);
data.ZAxis = accelFromBytes(rawData[4], rawData[5]);
return data;
}
/** {@inheritdoc} */
@Override
public double getZ() {
return getAcceleration(Axes.kZ);
}
// TODO: Support LiveWindow
/**
* Get the acceleration of one axis in Gs.
*
* @param axis The axis to read from.
* @return Acceleration of the ADXL345 in Gs.
*/
public double getAcceleration(Axes axis) {
byte[] rawAccel = new byte[2];
m_i2c.read(kDataRegister + axis.value, rawAccel.length, rawAccel);
// Sensor is little endian... swap bytes
return accelFromBytes(rawAccel[0], rawAccel[1]);
}
private double accelFromBytes(byte first, byte second) {
short tempLow = (short) (first & 0xff);
short tempHigh = (short) ((second << 8) & 0xff00);
return (tempLow | tempHigh) * kGsPerLSB;
}
/**
* Get the acceleration of all axes in Gs.
*
* @return Acceleration measured on all axes of the ADXL345 in Gs.
*/
public AllAxes getAccelerations() {
AllAxes data = new AllAxes();
byte[] rawData = new byte[6];
m_i2c.read(kDataRegister, rawData.length, rawData);
// Sensor is little endian... swap bytes
data.XAxis = accelFromBytes(rawData[0], rawData[1]);
data.YAxis = accelFromBytes(rawData[2], rawData[3]);
data.ZAxis = accelFromBytes(rawData[4], rawData[5]);
return data;
}
// TODO: Support LiveWindow
}

246
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
View File

@@ -5,143 +5,167 @@
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
/**
*
* @author dtjones
* @author mwills
*/
public class ADXL345_SPI extends SensorBase {
private static final int kPowerCtlRegister = 0x2D;
private static final int kDataFormatRegister = 0x31;
private static final int kDataRegister = 0x32;
private static final double kGsPerLSB = 0.00390625;
private static final int kAddress_Read = 0x80;
private static final int kAddress_MultiByte = 0x40;
private static final int kPowerCtl_Link=0x20;
private static final int kPowerCtl_AutoSleep=0x10;
private static final int kPowerCtl_Measure=0x08;
private static final int kPowerCtl_Sleep=0x04;
private static final int kDataFormat_SelfTest=0x80;
private static final int kDataFormat_SPI=0x40;
private static final int kDataFormat_IntInvert=0x20;
private static final int kDataFormat_FullRes=0x08;
private static final int kDataFormat_Justify=0x04;
public static class DataFormat_Range {
public class ADXL345_SPI extends SensorBase implements Accelerometer {
private static final int kPowerCtlRegister = 0x2D;
private static final int kDataFormatRegister = 0x31;
private static final int kDataRegister = 0x32;
private static final double kGsPerLSB = 0.00390625;
/**
* The integer value representing this enumeration
*/
public final byte value;
static final byte k2G_val = 0x00;
static final byte k4G_val = 0x01;
static final byte k8G_val = 0x02;
static final byte k16G_val = 0x03;
public static final ADXL345_SPI.DataFormat_Range k2G = new ADXL345_SPI.DataFormat_Range(k2G_val);
public static final ADXL345_SPI.DataFormat_Range k4G = new ADXL345_SPI.DataFormat_Range(k4G_val);
public static final ADXL345_SPI.DataFormat_Range k8G = new ADXL345_SPI.DataFormat_Range(k8G_val);
public static final ADXL345_SPI.DataFormat_Range k16G = new ADXL345_SPI.DataFormat_Range(k16G_val);
private static final int kAddress_Read = 0x80;
private static final int kAddress_MultiByte = 0x40;
private DataFormat_Range(byte value) {
this.value = value;
}
}
private static final int kPowerCtl_Link=0x20;
private static final int kPowerCtl_AutoSleep=0x10;
private static final int kPowerCtl_Measure=0x08;
private static final int kPowerCtl_Sleep=0x04;
public static class Axes {
private static final int kDataFormat_SelfTest=0x80;
private static final int kDataFormat_SPI=0x40;
private static final int kDataFormat_IntInvert=0x20;
private static final int kDataFormat_FullRes=0x08;
private static final int kDataFormat_Justify=0x04;
/**
* The integer value representing this enumeration
*/
public final byte value;
static final byte kX_val = 0x00;
static final byte kY_val = 0x02;
static final byte kZ_val = 0x04;
public static final ADXL345_SPI.Axes kX = new ADXL345_SPI.Axes(kX_val);
public static final ADXL345_SPI.Axes kY = new ADXL345_SPI.Axes(kY_val);
public static final ADXL345_SPI.Axes kZ = new ADXL345_SPI.Axes(kZ_val);
public static class Axes {
private Axes(byte value) {
this.value = value;
}
}
/**
* The integer value representing this enumeration
*/
public final byte value;
static final byte kX_val = 0x00;
static final byte kY_val = 0x02;
static final byte kZ_val = 0x04;
public static final ADXL345_SPI.Axes kX = new ADXL345_SPI.Axes(kX_val);
public static final ADXL345_SPI.Axes kY = new ADXL345_SPI.Axes(kY_val);
public static final ADXL345_SPI.Axes kZ = new ADXL345_SPI.Axes(kZ_val);
public static class AllAxes {
private Axes(byte value) {
this.value = value;
}
}
public double XAxis;
public double YAxis;
public double ZAxis;
}
private SPI m_spi;
/**
* Constructor. Use this when the device is the first/only device on the bus
*
* @param clk The clock channel
* @param mosi The mosi (output) channel
* @param miso The miso (input) channel
* @param cs The chip select channel
* @param range The range (+ or -) that the accelerometer will measure.
*/
public ADXL345_SPI(SPI.Port port, ADXL345_SPI.DataFormat_Range range) {
m_spi = new SPI(port);
init(range);
}
public void free(){
m_spi.free();
}
/**
* Set SPI bus parameters, bring device out of sleep and set format
*
* @param range The range (+ or -) that the accelerometer will measure.
*/
private void init(ADXL345_SPI.DataFormat_Range range){
public static class AllAxes {
public double XAxis;
public double YAxis;
public double ZAxis;
}
private SPI m_spi;
/**
* Constructor. Use this when the device is the first/only device on the bus
*
* @param clk The clock channel
* @param mosi The mosi (output) channel
* @param miso The miso (input) channel
* @param cs The chip select channel
* @param range The range (+ or -) that the accelerometer will measure.
*/
public ADXL345_SPI(SPI.Port port, Range range) {
m_spi = new SPI(port);
init(range);
}
public void free(){
m_spi.free();
}
/**
* Set SPI bus parameters, bring device out of sleep and set format
*
* @param range The range (+ or -) that the accelerometer will measure.
*/
private void init(Range range){
m_spi.setClockRate(500000);
m_spi.setMSBFirst();
m_spi.setMSBFirst();
m_spi.setSampleDataOnFalling();
m_spi.setClockActiveLow();
m_spi.setChipSelectActiveHigh();
// Turn on the measurements
// Turn on the measurements
byte[] commands = new byte[2];
commands[0] = kPowerCtlRegister;
commands[1] = kPowerCtl_Measure;
m_spi.write(commands, 2);
// Specify the data format to read
commands[0] = kDataFormatRegister;
commands[1] = (byte)(kDataFormat_FullRes | range.value);
m_spi.write(commands, 2);
}
m_spi.write(commands, 2);
/**
* Get the acceleration of one axis in Gs.
*
* @param axis The axis to read from.
* @return Acceleration of the ADXL345 in Gs.
*/
public double getAcceleration(ADXL345_SPI.Axes axis) {
setRange(range);
}
/** {inheritdoc} */
@Override
public void setRange(Range range) {
byte value = 0;
switch(range) {
case k2G:
value = 0;
break;
case k4G:
value = 1;
break;
case k8G:
value = 2;
break;
case k16G:
value = 3;
break;
}
// Specify the data format to read
byte[] commands = new byte[]{
kDataFormatRegister,
(byte)(kDataFormat_FullRes | 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 ADXL345 in Gs.
*/
public double getAcceleration(ADXL345_SPI.Axes axis) {
byte[] transferBuffer = new byte[3];
transferBuffer[0] = (byte)((kAddress_Read | kAddress_MultiByte | kDataRegister) + axis.value);
m_spi.transaction(transferBuffer, transferBuffer, 3);
m_spi.transaction(transferBuffer, transferBuffer, 3);
//Sensor is little endian... swap bytes
int rawAccel = transferBuffer[2] << 8 | transferBuffer[1];
return rawAccel * kGsPerLSB;
}
}
/**
* Get the acceleration of all axes in Gs.
*
* @return Acceleration measured on all axes of the ADXL345 in Gs.
*/
public ADXL345_SPI.AllAxes getAccelerations() {
ADXL345_SPI.AllAxes data = new ADXL345_SPI.AllAxes();
/**
* Get the acceleration of all axes in Gs.
*
* @return Acceleration measured on all axes of the ADXL345 in Gs.
*/
public ADXL345_SPI.AllAxes getAccelerations() {
ADXL345_SPI.AllAxes data = new ADXL345_SPI.AllAxes();
byte dataBuffer[] = new byte[7];
int[] rawData = new int[3];
if (m_spi != null)
@@ -161,5 +185,5 @@ public class ADXL345_SPI extends SensorBase {
data.ZAxis = rawData[2] * kGsPerLSB;
}
return data;
}
}
}
}

8
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java → wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
View File

@@ -16,12 +16,12 @@ import edu.wpi.first.wpilibj.tables.ITable;
/**
* Handle operation of the accelerometer.
* Handle operation of an analog accelerometer.
* The accelerometer reads acceleration directly through the sensor. Many sensors have
* multiple axis and can be treated as multiple devices. Each is calibrated by finding
* the center value over a period of time.
*/
public class Accelerometer extends SensorBase implements PIDSource, ISensor, LiveWindowSendable {
public class AnalogAccelerometer extends SensorBase implements PIDSource, ISensor, LiveWindowSendable {
private AnalogInput m_analogChannel;
private double m_voltsPerG = 1.0;
@@ -42,7 +42,7 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
* The constructor allocates desired analog channel.
* @param channel the port that the accelerometer is on
*/
public Accelerometer(final int channel) {
public AnalogAccelerometer(final int channel) {
m_allocatedChannel = true;
m_analogChannel = new AnalogInput(channel);
initAccelerometer();
@@ -55,7 +55,7 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
* the Accelerometer class.
* @param channel an already initialized analog channel
*/
public Accelerometer(AnalogInput channel) {
public AnalogAccelerometer(AnalogInput channel) {
m_allocatedChannel = false;
if (channel == null)
throw new NullPointerException("Analog Channel given was null");

35
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
View File

@@ -4,6 +4,7 @@
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.hal.AccelerometerJNI;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
@@ -17,15 +18,28 @@ import edu.wpi.first.wpilibj.tables.ITable;
*
* This class allows access to the RoboRIO's internal accelerometer.
*/
public class BuiltInAccelerometer implements ISensor, LiveWindowSendable
public class BuiltInAccelerometer implements Accelerometer, ISensor, LiveWindowSendable
{
public enum Range { k2G, k4G, k8G }
/**
* Constructor.
* @param range The range the accelerometer will measure
*/
public BuiltInAccelerometer(Range range) {
setRange(range);
UsageReporting.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
}
/**
* Constructor.
* The accelerometer will measure +/-8 g-forces
*/
public BuiltInAccelerometer() {
this(Range.k8G);
}
/** {inheritdoc} */
@Override
public void setRange(Range range) {
AccelerometerJNI.setAccelerometerActive(false);
switch(range) {
@@ -38,24 +52,17 @@ public class BuiltInAccelerometer implements ISensor, LiveWindowSendable
case k8G:
AccelerometerJNI.setAccelerometerRange(2);
break;
case k16G:
throw new RuntimeException("16G range not supported (use k2G, k4G, or k8G)");
}
AccelerometerJNI.setAccelerometerActive(true);
UsageReporting.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
}
/**
* Constructor.
* The accelerometer will measure +/-8 g-forces
*/
public BuiltInAccelerometer() {
this(Range.k8G);
}
/**
* @return The acceleration of the RoboRIO along the X axis in g-forces
*/
@Override
public double getX() {
return AccelerometerJNI.getAccelerometerX();
}
@@ -63,6 +70,7 @@ public class BuiltInAccelerometer implements ISensor, LiveWindowSendable
/**
* @return The acceleration of the RoboRIO along the Y axis in g-forces
*/
@Override
public double getY() {
return AccelerometerJNI.getAccelerometerY();
}
@@ -70,6 +78,7 @@ public class BuiltInAccelerometer implements ISensor, LiveWindowSendable
/**
* @return The acceleration of the RoboRIO along the Z axis in g-forces
*/
@Override
public double getZ() {
return AccelerometerJNI.getAccelerometerZ();
}

48
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java Normal file
View File

@@ -0,0 +1,48 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.interfaces;
/**
* Interface for 3-axis accelerometers
*/
public interface Accelerometer {
public enum Range
{
k2G,
k4G,
k8G,
k16G
}
/**
* Common interface for setting the measuring range of an accelerometer.
*
* @param range The maximum acceleration, positive or negative, that the
* accelerometer will measure. Not all accelerometers support all ranges.
*/
public void setRange(Range range);
/**
* Common interface for getting the x axis acceleration
*
* @return The acceleration along the x axis in g-forces
*/
public double getX();
/**
* Common interface for getting the y axis acceleration
*
* @return The acceleration along the y axis in g-forces
*/
public double getY();
/**
* Common interface for getting the z axis acceleration
*
* @return The acceleration along the z axis in g-forces
*/
public double getZ();
}