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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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23
wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
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@@ -15,7 +15,14 @@
using namespace frc;
ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
: m_spi(port) {
: m_spi(port), m_simDevice("ADXL345_SPI", port) {
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);
}
m_spi.SetClockRate(500000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnTrailingEdge();
@@ -43,6 +50,8 @@ void ADXL345_SPI::SetRange(Range range) {
commands[0] = kDataFormatRegister;
commands[1] = kDataFormat_FullRes | static_cast<uint8_t>(range & 0x03);
m_spi.Transaction(commands, commands, 2);
if (m_simRange) m_simRange.Set(range);
}
double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
@@ -52,6 +61,9 @@ double ADXL345_SPI::GetY() { return GetAcceleration(kAxis_Y); }
double ADXL345_SPI::GetZ() { return GetAcceleration(kAxis_Z); }
double ADXL345_SPI::GetAcceleration(ADXL345_SPI::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();
uint8_t buffer[3];
uint8_t command[3] = {0, 0, 0};
command[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister) +
@@ -64,7 +76,14 @@ double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) {
}
ADXL345_SPI::AllAxes ADXL345_SPI::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;
}
uint8_t dataBuffer[7] = {0, 0, 0, 0, 0, 0, 0};
int16_t rawData[3];