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605148456e
Change-Id: If6082f6b92b4be5e328278ba536d5a7681082c9f (+4 squashed commit) Squashed commit: [86b4ae7] * Port I2C to roboRIO in JNI and Java. Left read method as a transaction and added readOnly. Left write as a single byte and added writeBulk. Need to go back to C++ and update to match. Change-Id: I290d84211a4b7bb942d785730c0e6929449cf69f [7d37419] * Remove HiTechnic sensors from Java. May be added back later as examples Change-Id: Ie93e23a70fd953c99c03d50d9529220f86d32e03 [e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++ Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915 [1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282 (+2 squashed commit) Squashed commit: [e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++ Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915 [1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282
80 lines
2.1 KiB
C++
80 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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#include "ADXL345_I2C.h"
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#include "DigitalModule.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "I2C.h"
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const uint8_t ADXL345_I2C::kAddress;
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const uint8_t ADXL345_I2C::kPowerCtlRegister;
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const uint8_t ADXL345_I2C::kDataFormatRegister;
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const uint8_t ADXL345_I2C::kDataRegister;
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constexpr double ADXL345_I2C::kGsPerLSB;
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/**
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* Constructor.
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*
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* @param range The range (+ or -) that the accelerometer will measure.
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*/
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ADXL345_I2C::ADXL345_I2C(Port port, ADXL345_I2C::DataFormat_Range range):
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I2C(port, kAddress)
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{
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//m_i2c = new I2C((I2C::Port)port, kAddress);
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// Turn on the measurements
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Write(kPowerCtlRegister, kPowerCtl_Measure);
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// Specify the data format to read
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Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
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HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, 0);
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}
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/**
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* Destructor.
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*/
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ADXL345_I2C::~ADXL345_I2C()
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{
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//delete m_i2c;
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//m_i2c = NULL;
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}
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/**
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* Get the acceleration of one axis in Gs.
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*
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* @param axis The axis to read from.
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* @return Acceleration of the ADXL345 in Gs.
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*/
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double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis)
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{
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int16_t rawAccel = 0;
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//if(m_i2c)
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//{
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Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel), (uint8_t *)&rawAccel);
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//}
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return rawAccel * kGsPerLSB;
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}
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/**
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* Get the acceleration of all axes in Gs.
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*
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* @return Acceleration measured on all axes of the ADXL345 in Gs.
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*/
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ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
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{
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AllAxes data = AllAxes();
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int16_t rawData[3];
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//if (m_i2c)
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//{
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Read(kDataRegister, sizeof(rawData), (uint8_t*)rawData);
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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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//}
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return data;
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}
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