WPILib Reorganization

This is a major restructuring of the WPILib repository to simply build
procedures and remove the remnants of Maven from everything except the
eclipse plugins. Gradle files have been largely simplified or rewritten,
taking advantage of splitting up parts of the build into separate build
files for ease of reading.

The eclipse plugins are now in a separate project, as is ntcore. All
dependencies are resolved via Maven dependencies, with the
Jenkins-maintained WPILib repo. Project structures have also been
simplified: we no longer have separate subprojects inside wpilibc and
wpilibj. Where possible, these changes hav been done with git renames,
to make sure we still have full history for all repositories. Other
unrelated subprojects have also been broken out: OutlineViewer is now a
separate project.

Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878

wpilibc/Athena/src/ADXL345_SPI.cpp

@@ -0,0 +1,126 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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.  */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL345_SPI.h"
+#include "DigitalInput.h"
+#include "DigitalOutput.h"
+#include "LiveWindow/LiveWindow.h"
+
+const uint8_t ADXL345_SPI::kPowerCtlRegister;
+const uint8_t ADXL345_SPI::kDataFormatRegister;
+const uint8_t ADXL345_SPI::kDataRegister;
+constexpr double ADXL345_SPI::kGsPerLSB;
+
+/**
+ * Constructor.
+ *
+ * @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();
+
+  uint8_t commands[2];
+  // Turn on the measurements
+  commands[0] = kPowerCtlRegister;
+  commands[1] = kPowerCtl_Measure;
+  Transaction(commands, commands, 2);
+
+  SetRange(range);
+
+  HALReport(HALUsageReporting::kResourceType_ADXL345,
+            HALUsageReporting::kADXL345_SPI);
+
+  LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this);
+}
+
+/** {@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);
+  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.
+ *
+ * @param axis The axis to read from.
+ * @return Acceleration of the ADXL345 in Gs.
+ */
+double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) {
+  uint8_t buffer[3];
+  uint8_t command[3] = {0, 0, 0};
+  command[0] =
+      (kAddress_Read | kAddress_MultiByte | kDataRegister) + (uint8_t)axis;
+  Transaction(command, buffer, 3);
+
+  // Sensor is little endian... swap bytes
+  int16_t rawAccel = buffer[2] << 8 | buffer[1];
+  return rawAccel * kGsPerLSB;
+}
+
+/**
+ * Get the acceleration of all axes in Gs.
+ *
+ * @return An object containing the acceleration measured on each axis of the
+ * ADXL345 in Gs.
+ */
+ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
+  AllAxes data = AllAxes();
+  uint8_t dataBuffer[7] = {0, 0, 0, 0, 0, 0, 0};
+  int16_t rawData[3];
+
+  // Select the data address.
+  dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
+  Transaction(dataBuffer, dataBuffer, 7);
+
+  for (int32_t i = 0; i < 3; i++) {
+    // Sensor is little endian... swap bytes
+    rawData[i] = dataBuffer[i * 2 + 2] << 8 | dataBuffer[i * 2 + 1];
+  }
+
+  data.XAxis = rawData[0] * kGsPerLSB;
+  data.YAxis = rawData[1] * kGsPerLSB;
+  data.ZAxis = rawData[2] * kGsPerLSB;
+
+  return data;
+}
+
+std::string ADXL345_SPI::GetSmartDashboardType() const {
+  return "3AxisAccelerometer";
+}
+
+void ADXL345_SPI::InitTable(std::shared_ptr<ITable> subtable) {
+  m_table = subtable;
+  UpdateTable();
+}
+
+void ADXL345_SPI::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutNumber("X", GetX());
+    m_table->PutNumber("Y", GetY());
+    m_table->PutNumber("Z", GetZ());
+  }
+}
+
+std::shared_ptr<ITable> ADXL345_SPI::GetTable() const { return m_table; }