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https://github.com/wpilibsuite/allwpilib
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41c2b9402c
ADXL345_I2C, ADXL345_SPI, and BuiltInAccelerometer implement this interface. The analog accelerometer class Accelerometer was renamed to AnalogAccelerometer. Change-Id: Iaae79d582a24c36c372f5fd4ea6df37be289b9c1
134 lines
3.1 KiB
C++
134 lines
3.1 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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#include "ADXL345_SPI.h"
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#include "DigitalInput.h"
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#include "DigitalOutput.h"
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#include "SPI.h"
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const uint8_t ADXL345_SPI::kPowerCtlRegister;
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const uint8_t ADXL345_SPI::kDataFormatRegister;
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const uint8_t ADXL345_SPI::kDataRegister;
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constexpr double ADXL345_SPI::kGsPerLSB;
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ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
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{
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m_port = port;
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Init(range);
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}
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/**
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* Internal common init function.
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*/
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void ADXL345_SPI::Init(Range range)
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{
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m_spi = new SPI(m_port);
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m_spi->SetClockRate(500000);
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m_spi->SetMSBFirst();
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m_spi->SetSampleDataOnFalling();
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m_spi->SetClockActiveLow();
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m_spi->SetChipSelectActiveHigh();
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uint8_t commands[2];
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// Turn on the measurements
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commands[0] = kPowerCtlRegister;
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commands[1] = kPowerCtl_Measure;
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m_spi->Transaction(commands, commands, 2);
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SetRange(range);
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HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_SPI);
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}
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/**
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* Destructor.
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*/
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ADXL345_SPI::~ADXL345_SPI()
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{
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delete m_spi;
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m_spi = NULL;
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}
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/** {@inheritdoc} */
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void ADXL345_SPI::SetRange(Range range)
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{
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uint8_t commands[2];
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// Specify the data format to read
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commands[0] = kDataFormatRegister;
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commands[1] = kDataFormat_FullRes| (uint8_t)(range & 0x03);
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m_spi->Transaction(commands, commands, 2);
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}
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/** {@inheritdoc} */
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double ADXL345_SPI::GetX()
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{
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return GetAcceleration(kAxis_X);
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}
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/** {@inheritdoc} */
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double ADXL345_SPI::GetY()
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{
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return GetAcceleration(kAxis_Y);
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}
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/** {@inheritdoc} */
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double ADXL345_SPI::GetZ()
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{
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return GetAcceleration(kAxis_Z);
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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_SPI::GetAcceleration(ADXL345_SPI::Axes axis)
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{
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int16_t rawAccel = 0;
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if(m_spi)
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{
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uint8_t buffer[3];
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uint8_t command[3] = {0,0,0};
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command[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister) + (uint8_t)axis;
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m_spi->Transaction(command, buffer, 3);
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// Sensor is little endian... swap bytes
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rawAccel = buffer[2]<<8 | buffer[1];
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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_SPI::AllAxes ADXL345_SPI::GetAccelerations()
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{
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AllAxes data = AllAxes();
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uint8_t dataBuffer[7] = {0,0,0,0,0,0,0};
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int16_t rawData[3];
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if (m_spi)
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{
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// Select the data address.
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dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
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m_spi->Transaction(dataBuffer, dataBuffer, 7);
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for (int32_t i=0; i<3; i++)
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{
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// Sensor is little endian... swap bytes
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rawData[i] = dataBuffer[i*2+2] << 8 | dataBuffer[i*2+1];
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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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