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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
103 lines
2.4 KiB
C++
103 lines
2.4 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 "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 range The range (+ or -) that the accelerometer will measure.
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*/
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ADXL345_I2C::ADXL345_I2C(Port port, Range range):
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I2C(port, kAddress)
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{
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//m_i2c = new I2C((I2C::Port)port, kAddress);
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// Turn on the measurements
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Write(kPowerCtlRegister, kPowerCtl_Measure);
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// Specify the data format to read
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SetRange(range);
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HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, 0);
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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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/** {@inheritdoc} */
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void ADXL345_I2C::SetRange(Range range)
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{
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Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
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}
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/** {@inheritdoc} */
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double ADXL345_I2C::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_I2C::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_I2C::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_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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Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel), (uint8_t *)&rawAccel);
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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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Read(kDataRegister, sizeof(rawData), (uint8_t*)rawData);
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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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