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/src/ADXL345_SPI.cpp b/wpilibc/athena/src/ADXL345_SPI.cpp
new file mode 100644
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+++ b/wpilibc/athena/src/ADXL345_SPI.cpp
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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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL345_SPI.h"
+
+#include "DigitalInput.h"
+#include "DigitalOutput.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+const int ADXL345_SPI::kPowerCtlRegister;
+const int ADXL345_SPI::kDataFormatRegister;
+const int ADXL345_SPI::kDataRegister;
+constexpr double ADXL345_SPI::kGsPerLSB;
+
+/**
+ * Constructor.
+ *
+ * @param port The SPI port the accelerometer is attached to
+ * @param range The range (+ or -) that the accelerometer will measure
+ */
+ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
+ : m_spi(port) {
+ m_spi.SetClockRate(500000);
+ m_spi.SetMSBFirst();
+ m_spi.SetSampleDataOnFalling();
+ m_spi.SetClockActiveLow();
+ m_spi.SetChipSelectActiveHigh();
+
+ uint8_t commands[2];
+ // Turn on the measurements
+ commands[0] = kPowerCtlRegister;
+ commands[1] = kPowerCtl_Measure;
+ m_spi.Transaction(commands, commands, 2);
+
+ SetRange(range);
+
+ HAL_Report(HALUsageReporting::kResourceType_ADXL345,
+ HALUsageReporting::kADXL345_SPI);
+
+ LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this);
+}
+
+void ADXL345_SPI::SetRange(Range range) {
+ uint8_t commands[2];
+
+ // Specify the data format to read
+ commands[0] = kDataFormatRegister;
+ commands[1] = kDataFormat_FullRes | static_cast<uint8_t>(range & 0x03);
+ m_spi.Transaction(commands, commands, 2);
+}
+
+double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
+
+double ADXL345_SPI::GetY() { return GetAcceleration(kAxis_Y); }
+
+double ADXL345_SPI::GetZ() { return GetAcceleration(kAxis_Z); }
+
+/**
+ * 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) {
+ uint8_t buffer[3];
+ uint8_t command[3] = {0, 0, 0};
+ command[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister) +
+ static_cast<uint8_t>(axis);
+ m_spi.Transaction(command, buffer, 3);
+
+ // Sensor is little endian... swap bytes
+ int16_t rawAccel = buffer[2] << 8 | buffer[1];
+ return rawAccel * kGsPerLSB;
+}
+
+/**
+ * Get the acceleration of all axes in Gs.
+ *
+ * @return An object containing the acceleration measured on each axis of the
+ * ADXL345 in Gs.
+ */
+ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
+ AllAxes data = AllAxes();
+ uint8_t dataBuffer[7] = {0, 0, 0, 0, 0, 0, 0};
+ int16_t rawData[3];
+
+ // Select the data address.
+ dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
+ m_spi.Transaction(dataBuffer, dataBuffer, 7);
+
+ for (int i = 0; i < 3; i++) {
+ // Sensor is little endian... swap bytes
+ rawData[i] = dataBuffer[i * 2 + 2] << 8 | dataBuffer[i * 2 + 1];
+ }
+
+ data.XAxis = rawData[0] * kGsPerLSB;
+ data.YAxis = rawData[1] * kGsPerLSB;
+ data.ZAxis = rawData[2] * kGsPerLSB;
+
+ return data;
+}
+
+std::string ADXL345_SPI::GetSmartDashboardType() const {
+ return "3AxisAccelerometer";
+}
+
+void ADXL345_SPI::InitTable(std::shared_ptr<ITable> subtable) {
+ m_table = subtable;
+ UpdateTable();
+}
+
+void ADXL345_SPI::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("X", GetX());
+ m_table->PutNumber("Y", GetY());
+ m_table->PutNumber("Z", GetZ());
+ }
+}
+
+std::shared_ptr<ITable> ADXL345_SPI::GetTable() const { return m_table; }