mirror of
https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
95 lines
2.5 KiB
C++
95 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "ADXL345_I2C.h"
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#include "DigitalModule.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "I2C.h"
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const uint8_t ADXL345_I2C::kAddress;
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const uint8_t ADXL345_I2C::kPowerCtlRegister;
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const uint8_t ADXL345_I2C::kDataFormatRegister;
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const uint8_t ADXL345_I2C::kDataRegister;
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constexpr double ADXL345_I2C::kGsPerLSB;
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/**
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* Constructor.
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*
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* @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
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* @param range The range (+ or -) that the accelerometer will measure.
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*/
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ADXL345_I2C::ADXL345_I2C(uint8_t moduleNumber, ADXL345_I2C::DataFormat_Range range)
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: m_i2c (NULL)
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{
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DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
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if (module)
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{
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m_i2c = module->GetI2C(kAddress);
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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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m_i2c->Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
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HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, moduleNumber - 1);
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}
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}
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/**
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* Destructor.
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*/
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ADXL345_I2C::~ADXL345_I2C()
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{
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delete m_i2c;
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m_i2c = NULL;
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}
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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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double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis)
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{
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int16_t rawAccel = 0;
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if(m_i2c)
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{
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m_i2c->Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel), (uint8_t *)&rawAccel);
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// Sensor is little endian... swap bytes
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rawAccel = ((rawAccel >> 8) & 0xFF) | (rawAccel << 8);
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}
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return rawAccel * kGsPerLSB;
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}
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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 Acceleration measured on all axes of the ADXL345 in Gs.
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*/
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ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
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{
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AllAxes data = AllAxes();
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int16_t rawData[3];
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if (m_i2c)
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{
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m_i2c->Read(kDataRegister, sizeof(rawData), (uint8_t*)rawData);
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// Sensor is little endian... swap bytes
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for (int32_t i=0; i<3; i++)
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{
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rawData[i] = ((rawData[i] >> 8) & 0xFF) | (rawData[i] << 8);
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}
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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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}
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return data;
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}
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