84 lines
2.6 KiB
C
84 lines
2.6 KiB
C
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/*----------------------------------------------------------------------------*/
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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 "interfaces/Accelerometer.h"
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#include "SensorBase.h"
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#include "SPI.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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class DigitalInput;
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class DigitalOutput;
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/**
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* ADXL345 Accelerometer on SPI.
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*
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* This class allows access to an Analog Devices ADXL345 3-axis accelerometer
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* 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 Accelerometer,
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protected SPI,
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public LiveWindowSendable {
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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 {
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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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ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
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virtual ~ADXL345_SPI() = default;
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ADXL345_SPI(const ADXL345_SPI&) = delete;
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ADXL345_SPI& operator=(const ADXL345_SPI&) = 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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