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.h b/azaleasource/WPILibCProgramming/trunk/WPILib/ADXL345_SPI.h
new file mode 100644
index 0000000..488e28f
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/ADXL345_SPI.h
@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* 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. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef __ADXL345_SPI_h__
+#define __ADXL345_SPI_h__
+
+#include "SensorBase.h"
+
+class DigitalInput;
+class DigitalOutput;
+class SPI;
+
+/**
+ * ADXL345 Accelerometer on SPI.
+ *
+ * This class alows access to an Analog Devices ADXL345 3-axis accelerometer via SPI.
+ * This class assumes the sensor is wired in 4-wire SPI mode.
+ */
+class ADXL345_SPI : public SensorBase
+{
+protected:
+ static const UINT8 kPowerCtlRegister = 0x2D;
+ static const UINT8 kDataFormatRegister = 0x31;
+ static const UINT8 kDataRegister = 0x32;
+ static const double kGsPerLSB = 0.00390625;
+ enum SPIAddressFields {kAddress_Read=0x80, kAddress_MultiByte=0x40};
+ 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 DataFormat_Range {kRange_2G=0x00, kRange_4G=0x01, kRange_8G=0x02, kRange_16G=0x03};
+ enum Axes {kAxis_X=0x00, kAxis_Y=0x02, kAxis_Z=0x04};
+ struct AllAxes
+ {
+ double XAxis;
+ double YAxis;
+ double ZAxis;
+ };
+
+public:
+ ADXL345_SPI(DigitalOutput &clk, DigitalOutput &mosi, DigitalInput &miso,
+ DigitalOutput &cs, DataFormat_Range range=kRange_2G);
+ ADXL345_SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
+ DigitalOutput *cs, DataFormat_Range range=kRange_2G);
+ ADXL345_SPI(UINT8 moduleNumber, UINT32 clk, UINT32 mosi, UINT32 miso, UINT32 cs,
+ DataFormat_Range range=kRange_2G);
+ virtual ~ADXL345_SPI();
+ virtual double GetAcceleration(Axes axis);
+ virtual AllAxes GetAccelerations();
+
+protected:
+ void Init(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
+ DigitalOutput *cs, DataFormat_Range range);
+
+ DigitalOutput *m_clk;
+ DigitalOutput *m_mosi;
+ DigitalInput *m_miso;
+ DigitalOutput *m_cs;
+ SPI* m_spi;
+};
+
+#endif
+