mirror of
https://github.com/wpilibsuite/allwpilib
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71 lines
2.1 KiB
C++
71 lines
2.1 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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#pragma once
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#include "interfaces/Accelerometer.h"
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#include "SensorBase.h"
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#include "SPI.h"
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#include "LiveWindow/LiveWindowSendable.h"
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class DigitalInput;
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class DigitalOutput;
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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 via SPI.
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* This class assumes the sensor is wired in 4-wire SPI mode.
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*/
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class ADXL345_SPI : public Accelerometer, public SensorBase, public LiveWindowSendable
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{
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protected:
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static const uint8_t kPowerCtlRegister = 0x2D;
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static const uint8_t kDataFormatRegister = 0x31;
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static const uint8_t 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 {kPowerCtl_Link=0x20, kPowerCtl_AutoSleep=0x10, kPowerCtl_Measure=0x08, kPowerCtl_Sleep=0x04};
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enum DataFormatFields {kDataFormat_SelfTest=0x80, kDataFormat_SPI=0x40, kDataFormat_IntInvert=0x20,
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kDataFormat_FullRes=0x08, kDataFormat_Justify=0x04};
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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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{
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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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public:
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ADXL345_SPI(SPI::Port port, Range range=kRange_2G);
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virtual ~ADXL345_SPI();
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// Accelerometer interface
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virtual void SetRange(Range range);
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virtual double GetX();
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virtual double GetY();
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virtual double GetZ();
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virtual double GetAcceleration(Axes axis);
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virtual AllAxes GetAccelerations();
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virtual std::string GetSmartDashboardType();
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virtual void InitTable(ITable *subtable);
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virtual void UpdateTable();
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virtual ITable* GetTable();
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virtual void StartLiveWindowMode() {}
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virtual void StopLiveWindowMode() {}
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protected:
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void Init(Range range);
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SPI* m_spi;
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SPI::Port m_port;
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private:
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ITable *m_table;
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};
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