mirror of
https://github.com/wpilibsuite/allwpilib
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9dc30797e4
According to NI, 0 is unspecified, and all the indices need to be index + 1, so the first index becomes 1.
126 lines
3.8 KiB
C++
126 lines
3.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2015-2019 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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#include "frc/ADXRS450_Gyro.h"
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#include <hal/HAL.h>
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#include "frc/DriverStation.h"
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#include "frc/Timer.h"
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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static constexpr auto kSamplePeriod = 0.0005_s;
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static constexpr double kCalibrationSampleTime = 5.0;
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static constexpr double kDegreePerSecondPerLSB = 0.0125;
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// static constexpr int kRateRegister = 0x00;
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// static constexpr int kTemRegister = 0x02;
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// static constexpr int kLoCSTRegister = 0x04;
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// static constexpr int kHiCSTRegister = 0x06;
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// static constexpr int kQuadRegister = 0x08;
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// static constexpr int kFaultRegister = 0x0A;
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static constexpr int kPIDRegister = 0x0C;
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// static constexpr int kSNHighRegister = 0x0E;
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// static constexpr int kSNLowRegister = 0x10;
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ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
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ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
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: m_spi(port), m_simDevice("ADXRS450_Gyro", port) {
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if (m_simDevice) {
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m_simAngle = m_simDevice.CreateDouble("Angle", false, 0.0);
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m_simRate = m_simDevice.CreateDouble("Rate", false, 0.0);
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}
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m_spi.SetClockRate(3000000);
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m_spi.SetMSBFirst();
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m_spi.SetSampleDataOnLeadingEdge();
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m_spi.SetClockActiveHigh();
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m_spi.SetChipSelectActiveLow();
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if (!m_simDevice) {
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// Validate the part ID
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if ((ReadRegister(kPIDRegister) & 0xff00) != 0x5200) {
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DriverStation::ReportError("could not find ADXRS450 gyro");
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return;
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}
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m_spi.InitAccumulator(kSamplePeriod, 0x20000000u, 4, 0x0c00000eu,
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0x04000000u, 10u, 16u, true, true);
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Calibrate();
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}
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HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port + 1);
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SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
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}
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static bool CalcParity(int v) {
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bool parity = false;
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while (v != 0) {
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parity = !parity;
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v = v & (v - 1);
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}
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return parity;
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}
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static inline int BytesToIntBE(uint8_t* buf) {
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int result = static_cast<int>(buf[0]) << 24;
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result |= static_cast<int>(buf[1]) << 16;
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result |= static_cast<int>(buf[2]) << 8;
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result |= static_cast<int>(buf[3]);
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return result;
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}
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uint16_t ADXRS450_Gyro::ReadRegister(int reg) {
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int cmd = 0x80000000 | static_cast<int>(reg) << 17;
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if (!CalcParity(cmd)) cmd |= 1u;
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// big endian
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uint8_t buf[4] = {static_cast<uint8_t>((cmd >> 24) & 0xff),
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static_cast<uint8_t>((cmd >> 16) & 0xff),
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static_cast<uint8_t>((cmd >> 8) & 0xff),
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static_cast<uint8_t>(cmd & 0xff)};
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m_spi.Write(buf, 4);
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m_spi.Read(false, buf, 4);
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if ((buf[0] & 0xe0) == 0) return 0; // error, return 0
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return static_cast<uint16_t>((BytesToIntBE(buf) >> 5) & 0xffff);
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}
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double ADXRS450_Gyro::GetAngle() const {
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if (m_simAngle) return m_simAngle.Get();
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return m_spi.GetAccumulatorIntegratedValue() * kDegreePerSecondPerLSB;
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}
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double ADXRS450_Gyro::GetRate() const {
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if (m_simRate) return m_simRate.Get();
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return static_cast<double>(m_spi.GetAccumulatorLastValue()) *
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kDegreePerSecondPerLSB;
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}
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void ADXRS450_Gyro::Reset() {
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if (m_simAngle) m_simAngle.Set(0.0);
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if (m_simRate) m_simRate.Set(0.0);
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m_spi.ResetAccumulator();
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}
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void ADXRS450_Gyro::Calibrate() {
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Wait(0.1);
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m_spi.SetAccumulatorIntegratedCenter(0);
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m_spi.ResetAccumulator();
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Wait(kCalibrationSampleTime);
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m_spi.SetAccumulatorIntegratedCenter(m_spi.GetAccumulatorIntegratedAverage());
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m_spi.ResetAccumulator();
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}
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