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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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64
wpilibc/src/main/native/include/wpi/hardware/accelerometer/ADXL345_I2C.hpp
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@@ -21,30 +21,16 @@ namespace wpi {
class ADXL345_I2C : public wpi::nt::NTSendable,
public wpi::util::SendableHelper<ADXL345_I2C> {
public:
/**
* Accelerometer range.
*/
enum Range {
/// 2 Gs max.
kRange_2G = 0,
/// 4 Gs max.
kRange_4G = 1,
/// 8 Gs max.
kRange_8G = 2,
/// 16 Gs max.
kRange_16G = 3
};
/**
* Accelerometer axes.
*/
enum Axes {
enum class Axis {
/// X axis.
kAxis_X = 0x00,
X = 0x00,
/// Y axis.
kAxis_Y = 0x02,
Y = 0x02,
/// Z axis.
kAxis_Z = 0x04
Z = 0x04
};
/**
@@ -52,25 +38,27 @@ class ADXL345_I2C : public wpi::nt::NTSendable,
*/
struct AllAxes {
/// Acceleration along the X axis in g-forces.
double XAxis = 0.0;
double x = 0.0;
/// Acceleration along the Y axis in g-forces.
double YAxis = 0.0;
double y = 0.0;
/// Acceleration along the Z axis in g-forces.
double ZAxis = 0.0;
double z = 0.0;
};
/// Default I2C device address.
static constexpr int kAddress = 0x1D;
static constexpr int DEFAULT_ADDRESS = 0x1D;
/**
* Constructs the ADXL345 Accelerometer over I2C.
*
* @param port The I2C port the accelerometer is attached to
* @param range The range (+ or -) that the accelerometer will measure
* @param range The range (+ or -) that the accelerometer will
* measure; valid values are 2, 4, 8, or 16 Gs. The
* default is 2 Gs.
* @param deviceAddress The I2C address of the accelerometer (0x1D or 0x53)
*/
explicit ADXL345_I2C(I2C::Port port, Range range = kRange_2G,
int deviceAddress = kAddress);
explicit ADXL345_I2C(I2C::Port port, int range = 2,
int deviceAddress = DEFAULT_ADDRESS);
~ADXL345_I2C() override = default;
ADXL345_I2C(ADXL345_I2C&&) = default;
@@ -83,9 +71,9 @@ class ADXL345_I2C : public wpi::nt::NTSendable,
* Set the measuring range of the accelerometer.
*
* @param range The maximum acceleration, positive or negative, that the
* accelerometer will measure.
* accelerometer will measure. Valid values are 2, 4, 8, or 16 Gs.
*/
void SetRange(Range range);
void SetRange(int range);
/**
* Returns the acceleration along the X axis in g-forces.
@@ -114,7 +102,7 @@ class ADXL345_I2C : public wpi::nt::NTSendable,
* @param axis The axis to read from.
* @return Acceleration of the ADXL345 in Gs.
*/
virtual double GetAcceleration(Axes axis);
virtual double GetAcceleration(Axis axis);
/**
* Get the acceleration of all axes in Gs.
@@ -134,26 +122,6 @@ class ADXL345_I2C : public wpi::nt::NTSendable,
wpi::hal::SimDouble m_simX;
wpi::hal::SimDouble m_simY;
wpi::hal::SimDouble m_simZ;
static constexpr int kPowerCtlRegister = 0x2D;
static constexpr int kDataFormatRegister = 0x31;
static constexpr int kDataRegister = 0x32;
static constexpr double kGsPerLSB = 0.00390625;
enum PowerCtlFields {
kPowerCtl_Link = 0x20,
kPowerCtl_AutoSleep = 0x10,
kPowerCtl_Measure = 0x08,
kPowerCtl_Sleep = 0x04
};
enum DataFormatFields {
kDataFormat_SelfTest = 0x80,
kDataFormat_SPI = 0x40,
kDataFormat_IntInvert = 0x20,
kDataFormat_FullRes = 0x08,
kDataFormat_Justify = 0x04
};
};
} // namespace wpi