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/HiTechnicCompass.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/HiTechnicCompass.cpp
new file mode 100644
index 0000000..3c353b3
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/HiTechnicCompass.cpp
@@ -0,0 +1,107 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "HiTechnicCompass.h"
+#include "DigitalModule.h"
+#include "I2C.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+const UINT8 HiTechnicCompass::kAddress;
+const UINT8 HiTechnicCompass::kManufacturerBaseRegister;
+const UINT8 HiTechnicCompass::kManufacturerSize;
+const UINT8 HiTechnicCompass::kSensorTypeBaseRegister;
+const UINT8 HiTechnicCompass::kSensorTypeSize;
+const UINT8 HiTechnicCompass::kHeadingRegister;
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
+ */
+HiTechnicCompass::HiTechnicCompass(UINT8 moduleNumber)
+ : m_i2c (NULL)
+{
+ DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
+ if (module)
+ {
+ m_i2c = module->GetI2C(kAddress);
+
+ // Verify Sensor
+ const UINT8 kExpectedManufacturer[] = "HiTechnc";
+ const UINT8 kExpectedSensorType[] = "Compass ";
+ if ( ! m_i2c->VerifySensor(kManufacturerBaseRegister, kManufacturerSize, kExpectedManufacturer) )
+ {
+ wpi_setWPIError(CompassManufacturerError);
+ return;
+ }
+ if ( ! m_i2c->VerifySensor(kSensorTypeBaseRegister, kSensorTypeSize, kExpectedSensorType) )
+ {
+ wpi_setWPIError(CompassTypeError);
+ }
+
+ nUsageReporting::report(nUsageReporting::kResourceType_HiTechnicCompass, moduleNumber - 1);
+ LiveWindow::GetInstance()->AddSensor("HiTechnicCompass", moduleNumber, 0, this);
+ }
+}
+
+/**
+ * Destructor.
+ */
+HiTechnicCompass::~HiTechnicCompass()
+{
+ delete m_i2c;
+ m_i2c = NULL;
+}
+
+/**
+ * Get the compass angle in degrees.
+ *
+ * The resolution of this reading is 1 degree.
+ *
+ * @return Angle of the compass in degrees.
+ */
+float HiTechnicCompass::GetAngle()
+{
+ UINT16 heading = 0;
+ if (m_i2c)
+ {
+ m_i2c->Read(kHeadingRegister, sizeof(heading), (UINT8 *)&heading);
+
+ // Sensor is little endian... swap bytes
+ heading = (heading >> 8) | (heading << 8);
+ }
+ return (float)heading;
+}
+
+void HiTechnicCompass::UpdateTable() {
+ if (m_table != NULL) {
+ m_table->PutNumber("Value", GetAngle());
+ }
+}
+
+void HiTechnicCompass::StartLiveWindowMode() {
+
+}
+
+void HiTechnicCompass::StopLiveWindowMode() {
+
+}
+
+std::string HiTechnicCompass::GetSmartDashboardType() {
+ return "HiTechnicCompass";
+}
+
+void HiTechnicCompass::InitTable(ITable *subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+ITable * HiTechnicCompass::GetTable() {
+ return m_table;
+}
+