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wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/ADXL345_I2C.h"
+
+#include <hal/UsageReporting.h>
+#include <networktables/DoubleTopic.h>
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+using namespace frc;
+
+ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
+    : m_i2c(port, deviceAddress),
+      m_simDevice("Accel:ADXL345_I2C", port, deviceAddress) {
+  if (m_simDevice) {
+    m_simRange = m_simDevice.CreateEnumDouble("range", hal::SimDevice::kOutput,
+                                              {"2G", "4G", "8G", "16G"},
+                                              {2.0, 4.0, 8.0, 16.0}, 0);
+    m_simX = m_simDevice.CreateDouble("x", hal::SimDevice::kInput, 0.0);
+    m_simY = m_simDevice.CreateDouble("y", hal::SimDevice::kInput, 0.0);
+    m_simZ = m_simDevice.CreateDouble("z", hal::SimDevice::kInput, 0.0);
+  }
+  // Turn on the measurements
+  m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
+  // Specify the data format to read
+  SetRange(range);
+
+  HAL_ReportUsage(
+      fmt::format("I2C[{}][{}]", static_cast<int>(port), deviceAddress),
+      "ADXL345");
+
+  wpi::SendableRegistry::Add(this, "ADXL345_I2C", port);
+}
+
+I2C::Port ADXL345_I2C::GetI2CPort() const {
+  return m_i2c.GetPort();
+}
+
+int ADXL345_I2C::GetI2CDeviceAddress() const {
+  return m_i2c.GetDeviceAddress();
+}
+
+void ADXL345_I2C::SetRange(Range range) {
+  m_i2c.Write(kDataFormatRegister,
+              kDataFormat_FullRes | static_cast<uint8_t>(range));
+}
+
+double ADXL345_I2C::GetX() {
+  return GetAcceleration(kAxis_X);
+}
+
+double ADXL345_I2C::GetY() {
+  return GetAcceleration(kAxis_Y);
+}
+
+double ADXL345_I2C::GetZ() {
+  return GetAcceleration(kAxis_Z);
+}
+
+double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
+  if (axis == kAxis_X && m_simX) {
+    return m_simX.Get();
+  }
+  if (axis == kAxis_Y && m_simY) {
+    return m_simY.Get();
+  }
+  if (axis == kAxis_Z && m_simZ) {
+    return m_simZ.Get();
+  }
+  int16_t rawAccel = 0;
+  m_i2c.Read(kDataRegister + static_cast<int>(axis), sizeof(rawAccel),
+             reinterpret_cast<uint8_t*>(&rawAccel));
+  return rawAccel * kGsPerLSB;
+}
+
+ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
+  AllAxes data;
+  if (m_simX && m_simY && m_simZ) {
+    data.XAxis = m_simX.Get();
+    data.YAxis = m_simY.Get();
+    data.ZAxis = m_simZ.Get();
+    return data;
+  }
+  int16_t rawData[3];
+  m_i2c.Read(kDataRegister, sizeof(rawData),
+             reinterpret_cast<uint8_t*>(rawData));
+
+  data.XAxis = rawData[0] * kGsPerLSB;
+  data.YAxis = rawData[1] * kGsPerLSB;
+  data.ZAxis = rawData[2] * kGsPerLSB;
+  return data;
+}
+
+void ADXL345_I2C::InitSendable(nt::NTSendableBuilder& builder) {
+  builder.SetSmartDashboardType("3AxisAccelerometer");
+  builder.SetUpdateTable(
+      [this, x = nt::DoubleTopic{builder.GetTopic("X")}.Publish(),
+       y = nt::DoubleTopic{builder.GetTopic("Y")}.Publish(),
+       z = nt::DoubleTopic{builder.GetTopic("Z")}.Publish()]() mutable {
+        auto data = GetAccelerations();
+        x.Set(data.XAxis);
+        y.Set(data.YAxis);
+        z.Set(data.ZAxis);
+      });
+}

wpilibc/src/main/native/cpp/hardware/accelerometer/AnalogAccelerometer.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/AnalogAccelerometer.h"
+
+#include <hal/UsageReporting.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/Errors.h"
+
+using namespace frc;
+
+AnalogAccelerometer::AnalogAccelerometer(int channel)
+    : AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
+  wpi::SendableRegistry::AddChild(this, m_analogInput.get());
+}
+
+AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
+    : m_analogInput(channel, wpi::NullDeleter<AnalogInput>()) {
+  if (!channel) {
+    throw FRC_MakeError(err::NullParameter, "channel");
+  }
+  InitAccelerometer();
+}
+
+AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
+    : m_analogInput(channel) {
+  if (!channel) {
+    throw FRC_MakeError(err::NullParameter, "channel");
+  }
+  InitAccelerometer();
+}
+
+double AnalogAccelerometer::GetAcceleration() const {
+  return (m_analogInput->GetVoltage() - m_zeroGVoltage) / m_voltsPerG;
+}
+
+void AnalogAccelerometer::SetSensitivity(double sensitivity) {
+  m_voltsPerG = sensitivity;
+}
+
+void AnalogAccelerometer::SetZero(double zero) {
+  m_zeroGVoltage = zero;
+}
+
+void AnalogAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Accelerometer");
+  builder.AddDoubleProperty(
+      "Value", [=, this] { return GetAcceleration(); }, nullptr);
+}
+
+void AnalogAccelerometer::InitAccelerometer() {
+  HAL_ReportUsage("IO", m_analogInput->GetChannel(), "Accelerometer");
+
+  wpi::SendableRegistry::Add(this, "Accelerometer",
+                             m_analogInput->GetChannel());
+}