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Accelerometer classes no longer use PIMPL pattern

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Change-Id: I792ac05e7080190ce268818a2bb94dacbeba274c
This commit is contained in:
Tyler Veness
2015-07-21 01:38:17 -07:00
committed by Tyler Veness (3512)
parent b5695581c3
commit 93b0dab7e4
3 changed files with 29 additions and 55 deletions
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8
wpilibc/wpilibC++Devices/include/ADXL345_SPI.h
View File

@@ -24,7 +24,7 @@ class DigitalOutput;
* This class assumes the sensor is wired in 4-wire SPI mode.
*/
class ADXL345_SPI : public Accelerometer,
public SensorBase,
protected SPI,
public LiveWindowSendable {
protected:
static const uint8_t kPowerCtlRegister = 0x2D;
@@ -77,12 +77,6 @@ class ADXL345_SPI : public Accelerometer,
virtual void StartLiveWindowMode() override {}
virtual void StopLiveWindowMode() override {}
protected:
void Init(Range range);
std::unique_ptr<SPI> m_spi;
SPI::Port m_port;
private:
std::shared_ptr<ITable> m_table;
};

8
wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp
View File

@@ -23,8 +23,6 @@ constexpr double ADXL345_I2C::kGsPerLSB;
* @param range The range (+ or -) that the accelerometer will measure.
*/
ADXL345_I2C::ADXL345_I2C(Port port, Range range) : I2C(port, kAddress) {
// m_i2c = new I2C((I2C::Port)port, kAddress);
// Turn on the measurements
Write(kPowerCtlRegister, kPowerCtl_Measure);
// Specify the data format to read
@@ -57,10 +55,7 @@ double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); }
*/
double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
int16_t rawAccel = 0;
// if(m_i2c)
//{
Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel), (uint8_t *)&rawAccel);
//}
return rawAccel * kGsPerLSB;
}
@@ -73,14 +68,11 @@ double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
AllAxes data = AllAxes();
int16_t rawData[3];
// if (m_i2c)
//{
Read(kDataRegister, sizeof(rawData), (uint8_t *)rawData);
data.XAxis = rawData[0] * kGsPerLSB;
data.YAxis = rawData[1] * kGsPerLSB;
data.ZAxis = rawData[2] * kGsPerLSB;
//}
return data;
}

68
wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp
View File

@@ -8,7 +8,6 @@
#include "ADXL345_SPI.h"
#include "DigitalInput.h"
#include "DigitalOutput.h"
#include "SPI.h"
#include "LiveWindow/LiveWindow.h"
const uint8_t ADXL345_SPI::kPowerCtlRegister;
@@ -22,33 +21,25 @@ 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) {
m_port = port;
Init(range);
LiveWindow::GetInstance().AddSensor("ADXL345_SPI", port, this);
}
/**
* Internal common init function.
*/
void ADXL345_SPI::Init(Range range) {
m_spi = std::make_unique<SPI>(m_port);
m_spi->SetClockRate(500000);
m_spi->SetMSBFirst();
m_spi->SetSampleDataOnFalling();
m_spi->SetClockActiveLow();
m_spi->SetChipSelectActiveHigh();
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;
m_spi->Transaction(commands, commands, 2);
Transaction(commands, commands, 2);
SetRange(range);
HALReport(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_SPI);
LiveWindow::GetInstance().AddSensor("ADXL345_SPI", port, this);
}
/** {@inheritdoc} */
@@ -58,7 +49,7 @@ void ADXL345_SPI::SetRange(Range range) {
// Specify the data format to read
commands[0] = kDataFormatRegister;
commands[1] = kDataFormat_FullRes | (uint8_t)(range & 0x03);
m_spi->Transaction(commands, commands, 2);
Transaction(commands, commands, 2);
}
/** {@inheritdoc} */
@@ -77,17 +68,14 @@ double ADXL345_SPI::GetZ() { return GetAcceleration(kAxis_Z); }
* @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);
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
rawAccel = buffer[2] << 8 | buffer[1];
}
// Sensor is little endian... swap bytes
int16_t rawAccel = buffer[2] << 8 | buffer[1];
return rawAccel * kGsPerLSB;
}
@@ -101,20 +89,20 @@ 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];
}
// Select the data address.
dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
Transaction(dataBuffer, dataBuffer, 7);
data.XAxis = rawData[0] * kGsPerLSB;
data.YAxis = rawData[1] * kGsPerLSB;
data.ZAxis = rawData[2] * kGsPerLSB;
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;
}