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https://github.com/wpilibsuite/allwpilib
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58021f7397
AnalogModule and DigitalModule classes still exist, at least until they are refactored into the classes that use them. Change-Id: I5544d5418822f19d54ba0a5d651e64fad8b7b10d
63 lines
2.1 KiB
C++
63 lines
2.1 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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#pragma once
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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(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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