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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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36
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -31,24 +31,32 @@ static constexpr int kSNLowRegister = 0x10;
ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
: m_spi(port), m_simDevice("ADXRS450_Gyro", port) {
if (m_simDevice) {
m_simAngle = m_simDevice.CreateDouble("Angle", false, 0.0);
m_simRate = m_simDevice.CreateDouble("Rate", false, 0.0);
}
m_spi.SetClockRate(3000000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnLeadingEdge();
m_spi.SetClockActiveHigh();
m_spi.SetChipSelectActiveLow();
// Validate the part ID
if ((ReadRegister(kPIDRegister) & 0xff00) != 0x5200) {
DriverStation::ReportError("could not find ADXRS450 gyro");
return;
if (!m_simDevice) {
// Validate the part ID
if ((ReadRegister(kPIDRegister) & 0xff00) != 0x5200) {
DriverStation::ReportError("could not find ADXRS450 gyro");
return;
}
m_spi.InitAccumulator(kSamplePeriod, 0x20000000u, 4, 0x0c00000eu,
0x04000000u, 10u, 16u, true, true);
Calibrate();
}
m_spi.InitAccumulator(kSamplePeriod, 0x20000000u, 4, 0x0c00000eu, 0x04000000u,
10u, 16u, true, true);
Calibrate();
HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port);
SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
@@ -88,15 +96,21 @@ uint16_t ADXRS450_Gyro::ReadRegister(int reg) {
}
double ADXRS450_Gyro::GetAngle() const {
if (m_simAngle) return m_simAngle.Get();
return m_spi.GetAccumulatorIntegratedValue() * kDegreePerSecondPerLSB;
}
double ADXRS450_Gyro::GetRate() const {
if (m_simRate) return m_simRate.Get();
return static_cast<double>(m_spi.GetAccumulatorLastValue()) *
kDegreePerSecondPerLSB;
}
void ADXRS450_Gyro::Reset() { m_spi.ResetAccumulator(); }
void ADXRS450_Gyro::Reset() {
if (m_simAngle) m_simAngle.Set(0.0);
if (m_simRate) m_simRate.Set(0.0);
m_spi.ResetAccumulator();
}
void ADXRS450_Gyro::Calibrate() {
Wait(0.1);