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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
54 lines
1.7 KiB
C++
54 lines
1.7 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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#ifndef __ADXL345_I2C_h__
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#define __ADXL345_I2C_h__
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#include "SensorBase.h"
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class I2C;
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/**
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* ADXL345 Accelerometer on I2C.
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*
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* This class alows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus.
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* This class assumes the default (not alternate) sensor address of 0x3A (8-bit address).
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*/
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class ADXL345_I2C : public SensorBase
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{
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protected:
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static const uint8_t kAddress = 0x3A;
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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 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 DataFormat_Range {kRange_2G=0x00, kRange_4G=0x01, kRange_8G=0x02, kRange_16G=0x03};
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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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explicit ADXL345_I2C(uint8_t moduleNumber, DataFormat_Range range=kRange_2G);
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virtual ~ADXL345_I2C();
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virtual double GetAcceleration(Axes axis);
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virtual AllAxes GetAccelerations();
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protected:
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I2C* m_i2c;
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};
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#endif
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