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[wpilib] Rename ADXL345_I2C constants to all caps

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This commit is contained in:
Peter Johnson
2026-03-20 20:35:13 -07:00
parent ea32c247db
commit f2929af00f
7 changed files with 145 additions and 156 deletions
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83
wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp
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@@ -11,7 +11,23 @@
using namespace wpi;
ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
static constexpr int POWER_CTL_REGISTER = 0x2D;
static constexpr int DATA_FORMAT_REGISTER = 0x31;
static constexpr int DATA_REGISTER = 0x32;
static constexpr double GS_PER_LSB = 0.00390625;
// static constexpr uint8_t POWER_CTL_LINK = 0x20;
// static constexpr uint8_t POWER_CTL_AUTO_SLEEP = 0x10;
static constexpr uint8_t POWER_CTL_MEASURE = 0x08;
// static constexpr uint8_t POWER_CTL_SLEEP = 0x04;
// static constexpr uint8_t DATA_FORMAT_SELF_TEST = 0x80;
// static constexpr uint8_t DATA_FORMAT_SPI = 0x40;
// static constexpr uint8_t DATA_FORMAT_INT_INVERT = 0x20;
static constexpr uint8_t DATA_FORMAT_FULL_RES = 0x08;
// static constexpr uint8_t DATA_FORMAT_JUSTIFY = 0x04;
ADXL345_I2C::ADXL345_I2C(I2C::Port port, int range, int deviceAddress)
: m_i2c(port, deviceAddress),
m_simDevice("Accel:ADXL345_I2C", static_cast<int>(port), deviceAddress) {
if (m_simDevice) {
@@ -26,7 +42,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
"z", wpi::hal::SimDevice::Direction::INPUT, 0.0);
}
// Turn on the measurements
m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
m_i2c.Write(POWER_CTL_REGISTER, POWER_CTL_MEASURE);
// Specify the data format to read
SetRange(range);
@@ -45,54 +61,73 @@ int ADXL345_I2C::GetI2CDeviceAddress() const {
return m_i2c.GetDeviceAddress();
}
void ADXL345_I2C::SetRange(Range range) {
m_i2c.Write(kDataFormatRegister,
kDataFormat_FullRes | static_cast<uint8_t>(range));
void ADXL345_I2C::SetRange(int range) {
uint8_t value;
switch (range) {
case 2:
value = 0;
break;
case 4:
value = 1;
break;
case 8:
value = 2;
break;
case 16:
value = 3;
break;
default:
value = 0; // default to 2G if invalid value is passed in
}
m_i2c.Write(DATA_FORMAT_REGISTER, DATA_FORMAT_FULL_RES | value);
if (m_simRange) {
m_simRange.Set(range);
}
}
double ADXL345_I2C::GetX() {
return GetAcceleration(kAxis_X);
return GetAcceleration(Axis::X);
}
double ADXL345_I2C::GetY() {
return GetAcceleration(kAxis_Y);
return GetAcceleration(Axis::Y);
}
double ADXL345_I2C::GetZ() {
return GetAcceleration(kAxis_Z);
return GetAcceleration(Axis::Z);
}
double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
if (axis == kAxis_X && m_simX) {
double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axis axis) {
if (axis == Axis::X && m_simX) {
return m_simX.Get();
}
if (axis == kAxis_Y && m_simY) {
if (axis == Axis::Y && m_simY) {
return m_simY.Get();
}
if (axis == kAxis_Z && m_simZ) {
if (axis == Axis::Z && m_simZ) {
return m_simZ.Get();
}
int16_t rawAccel = 0;
m_i2c.Read(kDataRegister + static_cast<int>(axis), sizeof(rawAccel),
m_i2c.Read(DATA_REGISTER + static_cast<int>(axis), sizeof(rawAccel),
reinterpret_cast<uint8_t*>(&rawAccel));
return rawAccel * kGsPerLSB;
return rawAccel * GS_PER_LSB;
}
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
AllAxes data;
if (m_simX && m_simY && m_simZ) {
data.XAxis = m_simX.Get();
data.YAxis = m_simY.Get();
data.ZAxis = m_simZ.Get();
data.x = m_simX.Get();
data.y = m_simY.Get();
data.z = m_simZ.Get();
return data;
}
int16_t rawData[3];
m_i2c.Read(kDataRegister, sizeof(rawData),
m_i2c.Read(DATA_REGISTER, sizeof(rawData),
reinterpret_cast<uint8_t*>(rawData));
data.XAxis = rawData[0] * kGsPerLSB;
data.YAxis = rawData[1] * kGsPerLSB;
data.ZAxis = rawData[2] * kGsPerLSB;
data.x = rawData[0] * GS_PER_LSB;
data.y = rawData[1] * GS_PER_LSB;
data.z = rawData[2] * GS_PER_LSB;
return data;
}
@@ -103,8 +138,8 @@ void ADXL345_I2C::InitSendable(wpi::nt::NTSendableBuilder& builder) {
y = wpi::nt::DoubleTopic{builder.GetTopic("Y")}.Publish(),
z = wpi::nt::DoubleTopic{builder.GetTopic("Z")}.Publish()]() mutable {
auto data = GetAccelerations();
x.Set(data.XAxis);
y.Set(data.YAxis);
z.Set(data.ZAxis);
x.Set(data.x);
y.Set(data.y);
z.Set(data.z);
});
}