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https://github.com/wpilibsuite/allwpilib
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107 lines
3.2 KiB
C++
107 lines
3.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/ADXL345_I2C.h"
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#include <hal/FRCUsageReporting.h>
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#include <networktables/DoubleTopic.h>
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#include <networktables/NTSendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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using namespace frc;
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ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
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: m_i2c(port, deviceAddress),
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m_simDevice("Accel:ADXL345_I2C", port, deviceAddress) {
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if (m_simDevice) {
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m_simRange = m_simDevice.CreateEnumDouble("range", hal::SimDevice::kOutput,
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{"2G", "4G", "8G", "16G"},
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{2.0, 4.0, 8.0, 16.0}, 0);
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m_simX = m_simDevice.CreateDouble("x", hal::SimDevice::kInput, 0.0);
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m_simY = m_simDevice.CreateDouble("y", hal::SimDevice::kInput, 0.0);
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m_simZ = m_simDevice.CreateDouble("z", hal::SimDevice::kInput, 0.0);
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}
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// Turn on the measurements
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m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
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// Specify the data format to read
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SetRange(range);
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HAL_Report(HALUsageReporting::kResourceType_ADXL345,
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HALUsageReporting::kADXL345_I2C, 0);
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wpi::SendableRegistry::AddLW(this, "ADXL345_I2C", port);
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}
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I2C::Port ADXL345_I2C::GetI2CPort() const {
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return m_i2c.GetPort();
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}
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int ADXL345_I2C::GetI2CDeviceAddress() const {
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return m_i2c.GetDeviceAddress();
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}
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void ADXL345_I2C::SetRange(Range range) {
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m_i2c.Write(kDataFormatRegister,
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kDataFormat_FullRes | static_cast<uint8_t>(range));
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}
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double ADXL345_I2C::GetX() {
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return GetAcceleration(kAxis_X);
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}
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double ADXL345_I2C::GetY() {
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return GetAcceleration(kAxis_Y);
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}
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double ADXL345_I2C::GetZ() {
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return GetAcceleration(kAxis_Z);
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}
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double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
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if (axis == kAxis_X && m_simX) {
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return m_simX.Get();
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}
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if (axis == kAxis_Y && m_simY) {
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return m_simY.Get();
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}
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if (axis == kAxis_Z && m_simZ) {
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return m_simZ.Get();
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}
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int16_t rawAccel = 0;
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m_i2c.Read(kDataRegister + static_cast<int>(axis), sizeof(rawAccel),
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reinterpret_cast<uint8_t*>(&rawAccel));
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return rawAccel * kGsPerLSB;
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}
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ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
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AllAxes data;
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if (m_simX && m_simY && m_simZ) {
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data.XAxis = m_simX.Get();
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data.YAxis = m_simY.Get();
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data.ZAxis = m_simZ.Get();
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return data;
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}
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int16_t rawData[3];
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m_i2c.Read(kDataRegister, sizeof(rawData),
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reinterpret_cast<uint8_t*>(rawData));
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data.XAxis = rawData[0] * kGsPerLSB;
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data.YAxis = rawData[1] * kGsPerLSB;
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data.ZAxis = rawData[2] * kGsPerLSB;
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return data;
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}
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void ADXL345_I2C::InitSendable(nt::NTSendableBuilder& builder) {
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builder.SetSmartDashboardType("3AxisAccelerometer");
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builder.SetUpdateTable(
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[this, x = nt::DoubleTopic{builder.GetTopic("X")}.Publish(),
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y = nt::DoubleTopic{builder.GetTopic("Y")}.Publish(),
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z = nt::DoubleTopic{builder.GetTopic("Z")}.Publish()]() mutable {
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auto data = GetAccelerations();
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x.Set(data.XAxis);
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y.Set(data.YAxis);
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z.Set(data.ZAxis);
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});
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}
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