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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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45
wpilibc/src/main/native/cpp/ADXL362.cpp
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@@ -34,23 +34,34 @@ static constexpr int kPowerCtl_Measure = 0x02;
ADXL362::ADXL362(Range range) : ADXL362(SPI::Port::kOnboardCS1, range) {}
ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) {
ADXL362::ADXL362(SPI::Port port, Range range)
: m_spi(port), m_simDevice("ADXL362", 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(3000000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnTrailingEdge();
m_spi.SetClockActiveLow();
m_spi.SetChipSelectActiveLow();
// Validate the part ID
uint8_t commands[3];
commands[0] = kRegRead;
commands[1] = kPartIdRegister;
commands[2] = 0;
m_spi.Transaction(commands, commands, 3);
if (commands[2] != 0xF2) {
DriverStation::ReportError("could not find ADXL362");
m_gsPerLSB = 0.0;
return;
if (!m_simDevice) {
// Validate the part ID
commands[0] = kRegRead;
commands[1] = kPartIdRegister;
commands[2] = 0;
m_spi.Transaction(commands, commands, 3);
if (commands[2] != 0xF2) {
DriverStation::ReportError("could not find ADXL362");
m_gsPerLSB = 0.0;
return;
}
}
SetRange(range);
@@ -90,6 +101,8 @@ void ADXL362::SetRange(Range range) {
commands[2] =
kFilterCtl_ODR_100Hz | static_cast<uint8_t>((range & 0x03) << 6);
m_spi.Write(commands, 3);
if (m_simRange) m_simRange.Set(range);
}
double ADXL362::GetX() { return GetAcceleration(kAxis_X); }
@@ -101,6 +114,10 @@ double ADXL362::GetZ() { return GetAcceleration(kAxis_Z); }
double ADXL362::GetAcceleration(ADXL362::Axes axis) {
if (m_gsPerLSB == 0.0) return 0.0;
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[4];
uint8_t command[4] = {0, 0, 0, 0};
command[0] = kRegRead;
@@ -113,11 +130,17 @@ double ADXL362::GetAcceleration(ADXL362::Axes axis) {
}
ADXL362::AllAxes ADXL362::GetAccelerations() {
AllAxes data = AllAxes();
AllAxes data;
if (m_gsPerLSB == 0.0) {
data.XAxis = data.YAxis = data.ZAxis = 0.0;
return 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[8] = {0, 0, 0, 0, 0, 0, 0, 0};
int16_t rawData[3];