mirror of
https://github.com/wpilibsuite/allwpilib
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a9f0e46680
This makes the halsim_adx_gyro_accelerometer simulation plugin and the accelerometer part of lowfi_simulation obsolete.
109 lines
2.9 KiB
C++
109 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <hal/SimDevice.h>
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#include "frc/ErrorBase.h"
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#include "frc/SPI.h"
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#include "frc/interfaces/Accelerometer.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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/**
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* ADXL345 Accelerometer on SPI.
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*
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* This class allows access to an Analog Devices ADXL345 3-axis accelerometer
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* via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
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*/
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class ADXL345_SPI : public ErrorBase,
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public Accelerometer,
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public Sendable,
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public SendableHelper<ADXL345_SPI> {
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public:
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enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
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struct AllAxes {
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double XAxis;
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double YAxis;
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double ZAxis;
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};
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/**
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* Constructor.
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*
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* @param port The SPI port the accelerometer is attached to
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* @param range The range (+ or -) that the accelerometer will measure
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*/
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explicit ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
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~ADXL345_SPI() override = default;
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ADXL345_SPI(ADXL345_SPI&&) = default;
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ADXL345_SPI& operator=(ADXL345_SPI&&) = default;
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// Accelerometer interface
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void SetRange(Range range) override;
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double GetX() override;
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double GetY() override;
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double GetZ() override;
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/**
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* Get the acceleration of one axis in Gs.
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*
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* @param axis The axis to read from.
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* @return Acceleration of the ADXL345 in Gs.
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*/
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virtual double GetAcceleration(Axes axis);
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/**
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* Get the acceleration of all axes in Gs.
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*
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* @return An object containing the acceleration measured on each axis of the
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* ADXL345 in Gs.
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*/
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virtual AllAxes GetAccelerations();
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void InitSendable(SendableBuilder& builder) override;
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protected:
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SPI m_spi;
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hal::SimDevice m_simDevice;
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hal::SimEnum m_simRange;
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hal::SimDouble m_simX;
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hal::SimDouble m_simY;
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hal::SimDouble m_simZ;
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static constexpr int kPowerCtlRegister = 0x2D;
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static constexpr int kDataFormatRegister = 0x31;
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static constexpr int kDataRegister = 0x32;
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static constexpr double kGsPerLSB = 0.00390625;
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enum SPIAddressFields { kAddress_Read = 0x80, kAddress_MultiByte = 0x40 };
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enum PowerCtlFields {
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kPowerCtl_Link = 0x20,
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kPowerCtl_AutoSleep = 0x10,
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kPowerCtl_Measure = 0x08,
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kPowerCtl_Sleep = 0x04
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};
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enum DataFormatFields {
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kDataFormat_SelfTest = 0x80,
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kDataFormat_SPI = 0x40,
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kDataFormat_IntInvert = 0x20,
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kDataFormat_FullRes = 0x08,
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kDataFormat_Justify = 0x04
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};
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};
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} // namespace frc
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