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Update auto SPI for timestamp changes (#1457)

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The 2019 FPGA image switched the output of auto SPI from plain bytes to a
sequence of 32-bit words (timestamp, then words with the byte values in the
least significant byte of each word).

In addition to changing the HAL and simulators to reflect this, add piecewise
integration support to wpilibc/wpilibj SPI to take advantage of the timestamps
and use it in the ADXRS450 gyro.
This commit is contained in:
Peter Johnson
2018-12-06 22:29:20 -08:00
committed by GitHub
parent 7e1ec28839
commit dcbf02a1ec
19 changed files with 271 additions and 88 deletions
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6
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -86,7 +86,7 @@ uint16_t ADXRS450_Gyro::ReadRegister(int reg) {
}
double ADXRS450_Gyro::GetAngle() const {
return m_spi.GetAccumulatorValue() * kDegreePerSecondPerLSB * kSamplePeriod;
return m_spi.GetAccumulatorIntegratedValue() * kDegreePerSecondPerLSB;
}
double ADXRS450_Gyro::GetRate() const {
@@ -99,11 +99,11 @@ void ADXRS450_Gyro::Reset() { m_spi.ResetAccumulator(); }
void ADXRS450_Gyro::Calibrate() {
Wait(0.1);
m_spi.SetAccumulatorCenter(0);
m_spi.SetAccumulatorIntegratedCenter(0);
m_spi.ResetAccumulator();
Wait(kCalibrationSampleTime);
m_spi.SetAccumulatorCenter(static_cast<int>(m_spi.GetAccumulatorAverage()));
m_spi.SetAccumulatorIntegratedCenter(m_spi.GetAccumulatorIntegratedAverage());
m_spi.ResetAccumulator();
}