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Major formatting changes (breaks diffs). No code changes.

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The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions
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167
wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp
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@@ -1,5 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* 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. */
/*----------------------------------------------------------------------------*/
@@ -15,80 +16,67 @@ 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)
{
m_port = port;
Init(range);
LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this);
ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range) {
m_port = port;
Init(range);
LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this);
}
/**
* Internal common init function.
*/
void ADXL345_SPI::Init(Range range)
{
m_spi = new SPI(m_port);
m_spi->SetClockRate(500000);
m_spi->SetMSBFirst();
m_spi->SetSampleDataOnFalling();
m_spi->SetClockActiveLow();
m_spi->SetChipSelectActiveHigh();
void ADXL345_SPI::Init(Range range) {
m_spi = new SPI(m_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;
m_spi->Transaction(commands, commands, 2);
uint8_t commands[2];
// Turn on the measurements
commands[0] = kPowerCtlRegister;
commands[1] = kPowerCtl_Measure;
m_spi->Transaction(commands, commands, 2);
SetRange(range);
SetRange(range);
HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_SPI);
HALReport(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_SPI);
}
/**
* Destructor.
*/
ADXL345_SPI::~ADXL345_SPI()
{
delete m_spi;
m_spi = NULL;
ADXL345_SPI::~ADXL345_SPI() {
delete m_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);
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);
}
double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
/** {@inheritdoc} */
double ADXL345_SPI::GetY()
{
return GetAcceleration(kAxis_Y);
}
double ADXL345_SPI::GetY() { return GetAcceleration(kAxis_Y); }
/** {@inheritdoc} */
double ADXL345_SPI::GetZ()
{
return GetAcceleration(kAxis_Z);
}
double ADXL345_SPI::GetZ() { return GetAcceleration(kAxis_Z); }
/**
* Get the acceleration of one axis in Gs.
@@ -96,68 +84,63 @@ double ADXL345_SPI::GetZ()
* @param axis The axis to read from.
* @return Acceleration of the ADXL345 in Gs.
*/
double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis)
{
int16_t rawAccel = 0;
if(m_spi)
{
uint8_t buffer[3];
uint8_t command[3] = {0,0,0};
command[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister) + (uint8_t)axis;
m_spi->Transaction(command, buffer, 3);
double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) {
int16_t rawAccel = 0;
if (m_spi) {
uint8_t buffer[3];
uint8_t command[3] = {0, 0, 0};
command[0] =
(kAddress_Read | kAddress_MultiByte | kDataRegister) + (uint8_t)axis;
m_spi->Transaction(command, buffer, 3);
// Sensor is little endian... swap bytes
rawAccel = buffer[2]<<8 | buffer[1];
}
return rawAccel * kGsPerLSB;
// Sensor is little endian... swap bytes
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.
* @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];
if (m_spi)
{
// Select the data address.
dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
m_spi->Transaction(dataBuffer, dataBuffer, 7);
ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
AllAxes data = AllAxes();
uint8_t dataBuffer[7] = {0, 0, 0, 0, 0, 0, 0};
int16_t rawData[3];
if (m_spi) {
// Select the data address.
dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
m_spi->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];
}
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;
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";
return "3AxisAccelerometer";
}
void ADXL345_SPI::InitTable(ITable *subtable) {
m_table = subtable;
UpdateTable();
void ADXL345_SPI::InitTable(ITable* subtable) {
m_table = subtable;
UpdateTable();
}
void ADXL345_SPI::UpdateTable() {
if (m_table != NULL) {
m_table->PutNumber("X", GetX());
m_table->PutNumber("Y", GetY());
m_table->PutNumber("Z", GetZ());
}
if (m_table != NULL) {
m_table->PutNumber("X", GetX());
m_table->PutNumber("Y", GetY());
m_table->PutNumber("Z", GetZ());
}
}
ITable* ADXL345_SPI::GetTable() const {
return m_table;
}
ITable* ADXL345_SPI::GetTable() const { return m_table; }