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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
68 lines
2.2 KiB
C++
68 lines
2.2 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_SPI_h__
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#define __ADXL345_SPI_h__
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#include "SensorBase.h"
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class DigitalInput;
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class DigitalOutput;
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class SPI;
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/**
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* ADXL345 Accelerometer on SPI.
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*
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* This class alows 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 SensorBase
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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 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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ADXL345_SPI(DigitalOutput &clk, DigitalOutput &mosi, DigitalInput &miso,
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DigitalOutput &cs, DataFormat_Range range=kRange_2G);
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ADXL345_SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
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DigitalOutput *cs, DataFormat_Range range=kRange_2G);
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ADXL345_SPI(uint8_t moduleNumber, uint32_t clk, uint32_t mosi, uint32_t miso, uint32_t cs,
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DataFormat_Range range=kRange_2G);
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virtual ~ADXL345_SPI();
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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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void Init(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
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DigitalOutput *cs, DataFormat_Range range);
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DigitalOutput *m_clk;
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DigitalOutput *m_mosi;
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DigitalInput *m_miso;
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DigitalOutput *m_cs;
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SPI* m_spi;
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};
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#endif
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