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Classes which use I2C or SPI now do so via composition rather than inheritance (#72)

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This commit is contained in:
Tyler Veness
2016-05-26 21:37:23 -07:00
committed by Peter Johnson
parent 9f2f301fa4
commit 51ff9e9f69
6 changed files with 29 additions and 25 deletions
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21
wpilibc/athena/src/ADXL345_SPI.cpp
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@@ -22,18 +22,19 @@ constexpr double ADXL345_SPI::kGsPerLSB;
* @param port The SPI port the accelerometer is attached to
* @param range The range (+ or -) that the accelerometer will measure
*/
ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range) : SPI(port) {
SetClockRate(500000);
SetMSBFirst();
SetSampleDataOnFalling();
SetClockActiveLow();
SetChipSelectActiveHigh();
ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
: m_spi(port) {
m_spi.SetClockRate(500000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnFalling();
m_spi.SetClockActiveLow();
m_spi.SetChipSelectActiveHigh();
uint8_t commands[2];
// Turn on the measurements
commands[0] = kPowerCtlRegister;
commands[1] = kPowerCtl_Measure;
Transaction(commands, commands, 2);
m_spi.Transaction(commands, commands, 2);
SetRange(range);
@@ -49,7 +50,7 @@ void ADXL345_SPI::SetRange(Range range) {
// Specify the data format to read
commands[0] = kDataFormatRegister;
commands[1] = kDataFormat_FullRes | (uint8_t)(range & 0x03);
Transaction(commands, commands, 2);
m_spi.Transaction(commands, commands, 2);
}
double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
@@ -69,7 +70,7 @@ double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) {
uint8_t command[3] = {0, 0, 0};
command[0] =
(kAddress_Read | kAddress_MultiByte | kDataRegister) + (uint8_t)axis;
Transaction(command, buffer, 3);
m_spi.Transaction(command, buffer, 3);
// Sensor is little endian... swap bytes
int16_t rawAccel = buffer[2] << 8 | buffer[1];
@@ -89,7 +90,7 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
// Select the data address.
dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
Transaction(dataBuffer, dataBuffer, 7);
m_spi.Transaction(dataBuffer, dataBuffer, 7);
for (int32_t i = 0; i < 3; i++) {
// Sensor is little endian... swap bytes