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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
98 lines
3.0 KiB
C++
98 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/ADXL345_SPI.h"
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#include <hal/HAL.h>
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#include "frc/smartdashboard/SendableBuilder.h"
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using namespace frc;
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ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
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: m_spi(port) {
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m_spi.SetClockRate(500000);
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m_spi.SetMSBFirst();
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m_spi.SetSampleDataOnTrailingEdge();
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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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HAL_Report(HALUsageReporting::kResourceType_ADXL345,
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HALUsageReporting::kADXL345_SPI);
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SetName("ADXL345_SPI", port);
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}
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void ADXL345_SPI::SetRange(Range range) {
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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 | static_cast<uint8_t>(range & 0x03);
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m_spi.Transaction(commands, commands, 2);
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}
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double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
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double ADXL345_SPI::GetY() { return GetAcceleration(kAxis_Y); }
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double ADXL345_SPI::GetZ() { return GetAcceleration(kAxis_Z); }
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double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) {
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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) +
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static_cast<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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int16_t rawAccel = buffer[2] << 8 | buffer[1];
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return rawAccel * kGsPerLSB;
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}
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ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
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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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// 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 (int i = 0; i < 3; i++) {
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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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return data;
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}
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void ADXL345_SPI::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("3AxisAccelerometer");
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auto x = builder.GetEntry("X").GetHandle();
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auto y = builder.GetEntry("Y").GetHandle();
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auto z = builder.GetEntry("Z").GetHandle();
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builder.SetUpdateTable([=]() {
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auto data = GetAccelerations();
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nt::NetworkTableEntry(x).SetDouble(data.XAxis);
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nt::NetworkTableEntry(y).SetDouble(data.YAxis);
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nt::NetworkTableEntry(z).SetDouble(data.ZAxis);
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});
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}
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