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Merge "Use ByteBuffer for conversion from raw sensor bytes to Java types (fixes artf2673)"

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Brad Miller (WPI)
2014-11-05 08:44:20 -08:00
committed by Gerrit Code Review
parent 68ba9bfeae 594d0d8029
commit c1e63acc14
1 changed files with 15 additions and 14 deletions
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29
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
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@@ -6,6 +6,9 @@
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import java.nio.ByteOrder;
import java.nio.ByteBuffer;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
@@ -157,9 +160,11 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer {
byte[] transferBuffer = new byte[3];
transferBuffer[0] = (byte)((kAddress_Read | kAddress_MultiByte | kDataRegister) + axis.value);
m_spi.transaction(transferBuffer, transferBuffer, 3);
//Sensor is little endian... swap bytes
int rawAccel = transferBuffer[2] << 8 | transferBuffer[1];
return rawAccel * kGsPerLSB;
ByteBuffer rawAccel = ByteBuffer.wrap(transferBuffer, 1, 2);
//Sensor is little endian
rawAccel.order(ByteOrder.LITTLE_ENDIAN);
return rawAccel.getShort() * kGsPerLSB;
}
/**
@@ -170,22 +175,18 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer {
public ADXL345_SPI.AllAxes getAccelerations() {
ADXL345_SPI.AllAxes data = new ADXL345_SPI.AllAxes();
byte dataBuffer[] = new byte[7];
int[] rawData = new int[3];
if (m_spi != null)
{
// Select the data address.
dataBuffer[0] = (byte)(kAddress_Read | kAddress_MultiByte | kDataRegister);
m_spi.transaction(dataBuffer, dataBuffer, 7);
for (int i=0; i<3; i++)
{
//Sensor is little endian... swap bytes
rawData[i] = dataBuffer[i*2+2] << 8 | dataBuffer[i*2+1];
}
data.XAxis = rawData[0] * kGsPerLSB;
data.YAxis = rawData[1] * kGsPerLSB;
data.ZAxis = rawData[2] * kGsPerLSB;
ByteBuffer rawData = ByteBuffer.wrap(dataBuffer, 1, 6);
//Sensor is little endian... swap bytes
rawData.order(ByteOrder.LITTLE_ENDIAN);
data.XAxis = rawData.getShort() * kGsPerLSB;
data.YAxis = rawData.getShort() * kGsPerLSB;
data.ZAxis = rawData.getShort() * kGsPerLSB;
}
return data;
}