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Implement sim devices for ADXL345, ADXL362, ADXRS450, Ultrasonic

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This makes the halsim_adx_gyro_accelerometer simulation plugin and
the accelerometer part of lowfi_simulation obsolete.
This commit is contained in:
Peter Johnson
2019-09-29 00:57:16 -07:00
parent aa90645865
commit a9f0e46680
42 changed files with 371 additions and 1337 deletions
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21
wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
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@@ -15,7 +15,15 @@
using namespace frc;
ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
: m_i2c(port, deviceAddress) {
: m_i2c(port, deviceAddress),
m_simDevice("ADXL345_I2C", port, deviceAddress) {
if (m_simDevice) {
m_simRange =
m_simDevice.CreateEnum("Range", true, {"2G", "4G", "8G", "16G"}, 0);
m_simX = m_simDevice.CreateDouble("X Accel", false, 0.0);
m_simX = m_simDevice.CreateDouble("Y Accel", false, 0.0);
m_simZ = m_simDevice.CreateDouble("Z Accel", false, 0.0);
}
// Turn on the measurements
m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
// Specify the data format to read
@@ -39,6 +47,9 @@ 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));
@@ -46,7 +57,13 @@ double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
}
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
AllAxes data = AllAxes();
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));