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Switches HAL to manual instead of static initialization (#824)

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Only athena.

Will fix a whole lot of init issues.
This commit is contained in:
Thad House
2017-12-10 18:02:07 -08:00
committed by Peter Johnson
parent 1fa0adb091
commit 8bd48d6c34
36 changed files with 688 additions and 261 deletions
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18
hal/src/main/native/athena/Accelerometer.cpp
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@@ -19,14 +19,14 @@
using namespace hal;
// The 7-bit I2C address with a 0 "send" bit
static const uint8_t kSendAddress = (0x1c << 1) | 0;
static constexpr uint8_t kSendAddress = (0x1c << 1) | 0;
// The 7-bit I2C address with a 1 "receive" bit
static const uint8_t kReceiveAddress = (0x1c << 1) | 1;
static constexpr uint8_t kReceiveAddress = (0x1c << 1) | 1;
static const uint8_t kControlTxRx = 1;
static const uint8_t kControlStart = 2;
static const uint8_t kControlStop = 4;
static constexpr uint8_t kControlTxRx = 1;
static constexpr uint8_t kControlStart = 2;
static constexpr uint8_t kControlStop = 4;
static std::unique_ptr<tAccel> accel;
static HAL_AccelerometerRange accelerometerRange;
@@ -77,6 +77,12 @@ enum Register {
kReg_OffZ = 0x31
};
namespace hal {
namespace init {
void InitializeAccelerometer() {}
} // namespace init
} // namespace hal
namespace hal {
static void writeRegister(Register reg, uint8_t data);
@@ -91,6 +97,8 @@ static void initializeAccelerometer() {
if (!accel) {
accel.reset(tAccel::create(&status));
accelerometerRange = HAL_AccelerometerRange::HAL_AccelerometerRange_k2G;
// Enable I2C
accel->writeCNFG(1, &status);