Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/ADXL345_SPI.h b/wpilibc/athena/include/ADXL345_SPI.h
new file mode 100644
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+++ b/wpilibc/athena/include/ADXL345_SPI.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 <memory>
+#include <string>
+
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SPI.h"
+#include "SensorBase.h"
+#include "interfaces/Accelerometer.h"
+
+namespace frc {
+
+class DigitalInput;
+class DigitalOutput;
+
+/**
+ * ADXL345 Accelerometer on SPI.
+ *
+ * This class allows 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 Accelerometer, public LiveWindowSendable {
+ protected:
+ static const int kPowerCtlRegister = 0x2D;
+ static const int kDataFormatRegister = 0x31;
+ static const int kDataRegister = 0x32;
+ static constexpr 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 Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+ struct AllAxes {
+ double XAxis;
+ double YAxis;
+ double ZAxis;
+ };
+
+ public:
+ explicit ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
+ virtual ~ADXL345_SPI() = default;
+
+ ADXL345_SPI(const ADXL345_SPI&) = delete;
+ ADXL345_SPI& operator=(const ADXL345_SPI&) = delete;
+
+ // Accelerometer interface
+ void SetRange(Range range) override;
+ double GetX() override;
+ double GetY() override;
+ double GetZ() override;
+
+ virtual double GetAcceleration(Axes axis);
+ virtual AllAxes GetAccelerations();
+
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ void UpdateTable() override;
+ std::shared_ptr<ITable> GetTable() const override;
+ void StartLiveWindowMode() override {}
+ void StopLiveWindowMode() override {}
+
+ protected:
+ SPI m_spi;
+
+ private:
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc