This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/ADXL345_SPI.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/ADXL345_SPI.cpp
new file mode 100644
index 0000000..d97d33c
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/ADXL345_SPI.cpp
@@ -0,0 +1,213 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL345_SPI.h"
+#include "DigitalInput.h"
+#include "DigitalOutput.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "SPI.h"
+
+const UINT8 ADXL345_SPI::kPowerCtlRegister;
+const UINT8 ADXL345_SPI::kDataFormatRegister;
+const UINT8 ADXL345_SPI::kDataRegister;
+const double ADXL345_SPI::kGsPerLSB;
+
+/**
+ * Constructor.
+ *
+ * @param clk The GPIO the clock signal is wired to.
+ * @param mosi The GPIO the MOSI (Master Out Slave In) signal is wired to.
+ * @param miso The GPIO the MISO (Master In Slave Out) signal is wired to.
+ * @param cs The GPIO the CS (Chip Select) signal is wired to.
+ * @param range The range (+ or -) that the accelerometer will measure.
+ */
+ADXL345_SPI::ADXL345_SPI(DigitalOutput &clk, DigitalOutput &mosi, DigitalInput &miso,
+ DigitalOutput &cs, DataFormat_Range range)
+ : m_clk (NULL)
+ , m_mosi (NULL)
+ , m_miso (NULL)
+ , m_cs (NULL)
+ , m_spi (NULL)
+{
+ Init(&clk, &mosi, &miso, &cs, range);
+}
+
+/**
+ * Constructor.
+ *
+ * @param clk The GPIO the clock signal is wired to.
+ * @param mosi The GPIO the MOSI (Master Out Slave In) signal is wired to.
+ * @param miso The GPIO the MISO (Master In Slave Out) signal is wired to.
+ * @param cs The GPIO the CS (Chip Select) signal is wired to.
+ * @param range The range (+ or -) that the accelerometer will measure.
+ */
+ADXL345_SPI::ADXL345_SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
+ DigitalOutput *cs, DataFormat_Range range)
+ : m_clk (NULL)
+ , m_mosi (NULL)
+ , m_miso (NULL)
+ , m_cs (NULL)
+ , m_spi (NULL)
+{
+ Init(clk, mosi, miso, cs, range);
+}
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber The digital module with the sensor attached.
+ * @param clk The GPIO the clock signal is wired to.
+ * @param mosi The GPIO the MOSI (Master Out Slave In) signal is wired to.
+ * @param miso The GPIO the MISO (Master In Slave Out) signal is wired to.
+ * @param cs The GPIO the CS (Chip Select) signal is wired to.
+ * @param range The range (+ or -) that the accelerometer will measure.
+ */
+ADXL345_SPI::ADXL345_SPI(UINT8 moduleNumber, UINT32 clk, UINT32 mosi, UINT32 miso,
+ UINT32 cs, ADXL345_SPI::DataFormat_Range range)
+ : m_clk (NULL)
+ , m_mosi (NULL)
+ , m_miso (NULL)
+ , m_cs (NULL)
+ , m_spi (NULL)
+{
+ m_clk = new DigitalOutput(moduleNumber, clk);
+ m_mosi = new DigitalOutput(moduleNumber, mosi);
+ m_miso = new DigitalInput(moduleNumber, miso);
+ m_cs = new DigitalOutput(moduleNumber, cs);
+ Init(m_clk, m_mosi, m_miso, m_cs, range);
+}
+
+/**
+ * Internal common init function.
+ */
+void ADXL345_SPI::Init(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
+ DigitalOutput *cs, DataFormat_Range range)
+{
+ if (clk != NULL && mosi != NULL && miso != NULL && cs != NULL)
+ {
+ m_spi = new SPI(clk, mosi, miso);
+ m_spi->SetMSBFirst();
+ m_spi->SetSampleDataOnRising();
+ m_spi->SetSlaveSelect(cs, SPI::kChipSelect, false);
+ m_spi->SetClockActiveLow();
+ // 8-bit address and 8-bit data
+ m_spi->SetBitsPerWord(16);
+ m_spi->ApplyConfig();
+ m_spi->ClearReceivedData();
+
+ // Turn on the measurements
+ m_spi->Write((kPowerCtlRegister << 8) | kPowerCtl_Measure);
+ m_spi->Read();
+ // Specify the data format to read
+ m_spi->Write((kDataFormatRegister << 8) | kDataFormat_FullRes | (UINT8)(range & 0x03));
+ m_spi->Read();
+
+ // 8-bit address and 16-bit data
+ m_spi->SetBitsPerWord(24);
+ m_spi->ApplyConfig();
+
+ nUsageReporting::report(nUsageReporting::kResourceType_ADXL345, nUsageReporting::kADXL345_SPI);
+ }
+}
+
+/**
+ * Destructor.
+ */
+ADXL345_SPI::~ADXL345_SPI()
+{
+ delete m_spi;
+ m_spi = NULL;
+ delete m_cs;
+ m_cs = NULL;
+ delete m_miso;
+ m_miso = NULL;
+ delete m_mosi;
+ m_mosi = NULL;
+ delete m_clk;
+ m_clk = NULL;
+}
+
+/**
+ * Get the acceleration of one axis in Gs.
+ *
+ * @param axis The axis to read from.
+ * @return Acceleration of the ADXL345 in Gs.
+ */
+double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis)
+{
+ INT16 rawAccel = 0;
+ if(m_spi)
+ {
+ m_spi->Write(((kAddress_Read | kAddress_MultiByte | kDataRegister) + (UINT8)axis) << 16);
+ rawAccel = (UINT16)m_spi->Read();
+
+ // Sensor is little endian... swap bytes
+ rawAccel = ((rawAccel >> 8) & 0xFF) | (rawAccel << 8);
+ }
+ return rawAccel * kGsPerLSB;
+}
+
+/**
+ * Get the acceleration of all axes in Gs.
+ *
+ * @return Acceleration measured on all axes of the ADXL345 in Gs.
+ */
+ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations()
+{
+ AllAxes data = {0.0};
+ INT16 rawData[3];
+ if (m_spi)
+ {
+ SPI::tFrameMode mode;
+ bool activeLow;
+
+ // Backup original settings.
+ DigitalOutput *cs = m_spi->GetSlaveSelect(&mode, &activeLow);
+ UINT32 bitsPerWord = m_spi->GetBitsPerWord();
+
+ // Initialize the chip select to inactive.
+ cs->Set(activeLow);
+
+ // Control the chip select manually.
+ m_spi->SetSlaveSelect(NULL);
+ // 8-bit address
+ m_spi->SetBitsPerWord(8);
+ m_spi->ApplyConfig();
+
+ // Assert chip select.
+ cs->Set(!activeLow);
+
+ // Select the data address.
+ m_spi->Write(kAddress_Read | kAddress_MultiByte | kDataRegister);
+ m_spi->Read();
+
+ // 16-bits for each axis
+ m_spi->SetBitsPerWord(16);
+ m_spi->ApplyConfig();
+
+ for (INT32 i=0; i<3; i++)
+ {
+ // SPI Interface can't read enough data in a single transaction to read all axes at once.
+ rawData[i] = (UINT16)m_spi->Read(true);
+ // Sensor is little endian... swap bytes
+ rawData[i] = ((rawData[i] >> 8) & 0xFF) | (rawData[i] << 8);
+ }
+
+ // Deassert chip select.
+ cs->Set(activeLow);
+
+ // Restore original settings.
+ m_spi->SetSlaveSelect(cs, mode, activeLow);
+ m_spi->SetBitsPerWord(bitsPerWord);
+ m_spi->ApplyConfig();
+
+ data.XAxis = rawData[0] * kGsPerLSB;
+ data.YAxis = rawData[1] * kGsPerLSB;
+ data.ZAxis = rawData[2] * kGsPerLSB;
+ }
+ return data;
+}
+