mirror of
https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
109 lines
2.7 KiB
C++
109 lines
2.7 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 "HiTechnicCompass.h"
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#include "DigitalModule.h"
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#include "I2C.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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const uint8_t HiTechnicCompass::kAddress;
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const uint8_t HiTechnicCompass::kManufacturerBaseRegister;
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const uint8_t HiTechnicCompass::kManufacturerSize;
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const uint8_t HiTechnicCompass::kSensorTypeBaseRegister;
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const uint8_t HiTechnicCompass::kSensorTypeSize;
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const uint8_t HiTechnicCompass::kHeadingRegister;
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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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*/
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HiTechnicCompass::HiTechnicCompass(uint8_t moduleNumber)
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: m_i2c (NULL)
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{
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m_table = NULL;
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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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// Verify Sensor
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const uint8_t kExpectedManufacturer[] = "HiTechnc";
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const uint8_t kExpectedSensorType[] = "Compass ";
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if ( ! m_i2c->VerifySensor(kManufacturerBaseRegister, kManufacturerSize, kExpectedManufacturer) )
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{
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wpi_setWPIError(CompassManufacturerError);
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return;
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}
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if ( ! m_i2c->VerifySensor(kSensorTypeBaseRegister, kSensorTypeSize, kExpectedSensorType) )
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{
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wpi_setWPIError(CompassTypeError);
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}
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HALReport(HALUsageReporting::kResourceType_HiTechnicCompass, moduleNumber - 1);
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LiveWindow::GetInstance()->AddSensor("HiTechnicCompass", moduleNumber, 0, this);
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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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HiTechnicCompass::~HiTechnicCompass()
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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 compass angle in degrees.
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*
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* The resolution of this reading is 1 degree.
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*
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* @return Angle of the compass in degrees.
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*/
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float HiTechnicCompass::GetAngle()
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{
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uint16_t heading = 0;
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if (m_i2c)
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{
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m_i2c->Read(kHeadingRegister, sizeof(heading), (uint8_t *)&heading);
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// Sensor is little endian... swap bytes
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heading = (heading >> 8) | (heading << 8);
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}
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return (float)heading;
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}
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void HiTechnicCompass::UpdateTable() {
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if (m_table != NULL) {
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m_table->PutNumber("Value", GetAngle());
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}
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}
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void HiTechnicCompass::StartLiveWindowMode() {
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}
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void HiTechnicCompass::StopLiveWindowMode() {
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}
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std::string HiTechnicCompass::GetSmartDashboardType() {
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return "HiTechnicCompass";
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}
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void HiTechnicCompass::InitTable(ITable *subTable) {
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m_table = subTable;
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UpdateTable();
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}
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ITable * HiTechnicCompass::GetTable() {
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return m_table;
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}
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