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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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8
wpilibc/src/main/native/include/frc/ADXL345_I2C.h
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@@ -7,6 +7,8 @@
#pragma once
#include <hal/SimDevice.h>
#include "frc/ErrorBase.h"
#include "frc/I2C.h"
#include "frc/interfaces/Accelerometer.h"
@@ -78,6 +80,12 @@ class ADXL345_I2C : public ErrorBase,
protected:
I2C m_i2c;
hal::SimDevice m_simDevice;
hal::SimEnum m_simRange;
hal::SimDouble m_simX;
hal::SimDouble m_simY;
hal::SimDouble m_simZ;
static constexpr int kAddress = 0x1D;
static constexpr int kPowerCtlRegister = 0x2D;
static constexpr int kDataFormatRegister = 0x31;

8
wpilibc/src/main/native/include/frc/ADXL345_SPI.h
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@@ -7,6 +7,8 @@
#pragma once
#include <hal/SimDevice.h>
#include "frc/ErrorBase.h"
#include "frc/SPI.h"
#include "frc/interfaces/Accelerometer.h"
@@ -74,6 +76,12 @@ class ADXL345_SPI : public ErrorBase,
protected:
SPI m_spi;
hal::SimDevice m_simDevice;
hal::SimEnum m_simRange;
hal::SimDouble m_simX;
hal::SimDouble m_simY;
hal::SimDouble m_simZ;
static constexpr int kPowerCtlRegister = 0x2D;
static constexpr int kDataFormatRegister = 0x31;
static constexpr int kDataRegister = 0x32;

7
wpilibc/src/main/native/include/frc/ADXL362.h
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@@ -7,6 +7,8 @@
#pragma once
#include <hal/SimDevice.h>
#include "frc/ErrorBase.h"
#include "frc/SPI.h"
#include "frc/interfaces/Accelerometer.h"
@@ -81,6 +83,11 @@ class ADXL362 : public ErrorBase,
private:
SPI m_spi;
hal::SimDevice m_simDevice;
hal::SimEnum m_simRange;
hal::SimDouble m_simX;
hal::SimDouble m_simY;
hal::SimDouble m_simZ;
double m_gsPerLSB = 0.001;
};

6
wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
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@@ -9,6 +9,8 @@
#include <stdint.h>
#include <hal/SimDevice.h>
#include "frc/GyroBase.h"
#include "frc/SPI.h"
@@ -94,6 +96,10 @@ class ADXRS450_Gyro : public GyroBase {
private:
SPI m_spi;
hal::SimDevice m_simDevice;
hal::SimDouble m_simAngle;
hal::SimDouble m_simRate;
uint16_t ReadRegister(int reg);
};

6
wpilibc/src/main/native/include/frc/Ultrasonic.h
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@@ -12,6 +12,8 @@
#include <thread>
#include <vector>
#include <hal/SimDevice.h>
#include "frc/Counter.h"
#include "frc/ErrorBase.h"
#include "frc/PIDSource.h"
@@ -230,6 +232,10 @@ class Ultrasonic : public ErrorBase,
bool m_enabled = false;
Counter m_counter;
DistanceUnit m_units;
hal::SimDevice m_simDevice;
hal::SimBoolean m_simRangeValid;
hal::SimDouble m_simRange;
};
} // namespace frc