mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
82 lines
2.5 KiB
C++
82 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#pragma once
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#include <memory>
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#include "I2C.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "interfaces/Accelerometer.h"
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/**
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* ADXL345 Accelerometer on I2C.
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*
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* This class allows access to a Analog Devices ADXL345 3-axis accelerometer on
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* an I2C bus.
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* This class assumes the default (not alternate) sensor address of 0x1D (7-bit
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* address).
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*/
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class ADXL345_I2C : public Accelerometer,
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public I2C,
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public LiveWindowSendable {
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protected:
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static const uint8_t kAddress = 0x1D;
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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 {
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kPowerCtl_Link = 0x20,
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kPowerCtl_AutoSleep = 0x10,
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kPowerCtl_Measure = 0x08,
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kPowerCtl_Sleep = 0x04
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};
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enum DataFormatFields {
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kDataFormat_SelfTest = 0x80,
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kDataFormat_SPI = 0x40,
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kDataFormat_IntInvert = 0x20,
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kDataFormat_FullRes = 0x08,
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kDataFormat_Justify = 0x04
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};
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public:
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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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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(Port port, Range range = kRange_2G,
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int deviceAddress = kAddress);
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virtual ~ADXL345_I2C() = default;
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ADXL345_I2C(const ADXL345_I2C&) = delete;
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ADXL345_I2C& operator=(const ADXL345_I2C&) = delete;
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// Accelerometer interface
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virtual void SetRange(Range range) override;
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virtual double GetX() override;
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virtual double GetY() override;
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virtual double GetZ() override;
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virtual double GetAcceleration(Axes axis);
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virtual AllAxes GetAccelerations();
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virtual std::string GetSmartDashboardType() const override;
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virtual void InitTable(std::shared_ptr<ITable> subtable) override;
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virtual void UpdateTable() override;
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virtual std::shared_ptr<ITable> GetTable() const override;
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virtual void StartLiveWindowMode() override {}
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virtual void StopLiveWindowMode() override {}
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private:
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std::shared_ptr<ITable> m_table;
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};
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