mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
95 lines
2.5 KiB
C++
95 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "ADXL345_I2C.h"
|
|
#include "DigitalModule.h"
|
|
//#include "NetworkCommunication/UsageReporting.h"
|
|
#include "I2C.h"
|
|
|
|
const uint8_t ADXL345_I2C::kAddress;
|
|
const uint8_t ADXL345_I2C::kPowerCtlRegister;
|
|
const uint8_t ADXL345_I2C::kDataFormatRegister;
|
|
const uint8_t ADXL345_I2C::kDataRegister;
|
|
constexpr double ADXL345_I2C::kGsPerLSB;
|
|
|
|
/**
|
|
* Constructor.
|
|
*
|
|
* @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
|
|
* @param range The range (+ or -) that the accelerometer will measure.
|
|
*/
|
|
ADXL345_I2C::ADXL345_I2C(uint8_t moduleNumber, ADXL345_I2C::DataFormat_Range range)
|
|
: m_i2c (NULL)
|
|
{
|
|
DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
|
|
if (module)
|
|
{
|
|
m_i2c = module->GetI2C(kAddress);
|
|
|
|
// Turn on the measurements
|
|
m_i2c->Write(kPowerCtlRegister, kPowerCtl_Measure);
|
|
// Specify the data format to read
|
|
m_i2c->Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
|
|
|
|
HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, moduleNumber - 1);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Destructor.
|
|
*/
|
|
ADXL345_I2C::~ADXL345_I2C()
|
|
{
|
|
delete m_i2c;
|
|
m_i2c = NULL;
|
|
}
|
|
|
|
/**
|
|
* Get the acceleration of one axis in Gs.
|
|
*
|
|
* @param axis The axis to read from.
|
|
* @return Acceleration of the ADXL345 in Gs.
|
|
*/
|
|
double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis)
|
|
{
|
|
int16_t rawAccel = 0;
|
|
if(m_i2c)
|
|
{
|
|
m_i2c->Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel), (uint8_t *)&rawAccel);
|
|
|
|
// Sensor is little endian... swap bytes
|
|
rawAccel = ((rawAccel >> 8) & 0xFF) | (rawAccel << 8);
|
|
}
|
|
return rawAccel * kGsPerLSB;
|
|
}
|
|
|
|
/**
|
|
* Get the acceleration of all axes in Gs.
|
|
*
|
|
* @return Acceleration measured on all axes of the ADXL345 in Gs.
|
|
*/
|
|
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
|
|
{
|
|
AllAxes data = {0.0};
|
|
int16_t rawData[3];
|
|
if (m_i2c)
|
|
{
|
|
m_i2c->Read(kDataRegister, sizeof(rawData), (uint8_t*)rawData);
|
|
|
|
// Sensor is little endian... swap bytes
|
|
for (int32_t i=0; i<3; i++)
|
|
{
|
|
rawData[i] = ((rawData[i] >> 8) & 0xFF) | (rawData[i] << 8);
|
|
}
|
|
|
|
data.XAxis = rawData[0] * kGsPerLSB;
|
|
data.YAxis = rawData[1] * kGsPerLSB;
|
|
data.ZAxis = rawData[2] * kGsPerLSB;
|
|
}
|
|
return data;
|
|
}
|
|
|