80 lines
2.5 KiB
C
80 lines
2.5 KiB
C
![]() |
/*----------------------------------------------------------------------------*/
|
||
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
||
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||
|
/* the project. */
|
||
|
/*----------------------------------------------------------------------------*/
|
||
|
|
||
|
#pragma once
|
||
|
|
||
|
#include "interfaces/Accelerometer.h"
|
||
|
#include "I2C.h"
|
||
|
#include "LiveWindow/LiveWindowSendable.h"
|
||
|
#include <memory>
|
||
|
|
||
|
/**
|
||
|
* ADXL345 Accelerometer on I2C.
|
||
|
*
|
||
|
* This class allows access to a Analog Devices ADXL345 3-axis accelerometer on
|
||
|
* an I2C bus.
|
||
|
* This class assumes the default (not alternate) sensor address of 0x1D (7-bit
|
||
|
* address).
|
||
|
*/
|
||
|
class ADXL345_I2C : public Accelerometer,
|
||
|
public I2C,
|
||
|
public LiveWindowSendable {
|
||
|
protected:
|
||
|
static const uint8_t kAddress = 0x1D;
|
||
|
static const uint8_t kPowerCtlRegister = 0x2D;
|
||
|
static const uint8_t kDataFormatRegister = 0x31;
|
||
|
static const uint8_t kDataRegister = 0x32;
|
||
|
static constexpr double kGsPerLSB = 0.00390625;
|
||
|
enum PowerCtlFields {
|
||
|
kPowerCtl_Link = 0x20,
|
||
|
kPowerCtl_AutoSleep = 0x10,
|
||
|
kPowerCtl_Measure = 0x08,
|
||
|
kPowerCtl_Sleep = 0x04
|
||
|
};
|
||
|
enum DataFormatFields {
|
||
|
kDataFormat_SelfTest = 0x80,
|
||
|
kDataFormat_SPI = 0x40,
|
||
|
kDataFormat_IntInvert = 0x20,
|
||
|
kDataFormat_FullRes = 0x08,
|
||
|
kDataFormat_Justify = 0x04
|
||
|
};
|
||
|
|
||
|
public:
|
||
|
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
|
||
|
struct AllAxes {
|
||
|
double XAxis;
|
||
|
double YAxis;
|
||
|
double ZAxis;
|
||
|
};
|
||
|
|
||
|
public:
|
||
|
explicit ADXL345_I2C(Port port, Range range = kRange_2G, int deviceAddress = kAddress);
|
||
|
virtual ~ADXL345_I2C() = default;
|
||
|
|
||
|
ADXL345_I2C(const ADXL345_I2C&) = delete;
|
||
|
ADXL345_I2C& operator=(const ADXL345_I2C&) = delete;
|
||
|
|
||
|
// Accelerometer interface
|
||
|
virtual void SetRange(Range range) override;
|
||
|
virtual double GetX() override;
|
||
|
virtual double GetY() override;
|
||
|
virtual double GetZ() override;
|
||
|
|
||
|
virtual double GetAcceleration(Axes axis);
|
||
|
virtual AllAxes GetAccelerations();
|
||
|
|
||
|
virtual std::string GetSmartDashboardType() const override;
|
||
|
virtual void InitTable(std::shared_ptr<ITable> subtable) override;
|
||
|
virtual void UpdateTable() override;
|
||
|
virtual std::shared_ptr<ITable> GetTable() const override;
|
||
|
virtual void StartLiveWindowMode() override {}
|
||
|
virtual void StopLiveWindowMode() override {}
|
||
|
|
||
|
private:
|
||
|
std::shared_ptr<ITable> m_table;
|
||
|
};
|