| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef __ADXL345_SPI_h__
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| 8 | #define __ADXL345_SPI_h__
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| 9 |
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| 10 | #include "SensorBase.h"
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| 11 |
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| 12 | class DigitalInput;
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| 13 | class DigitalOutput;
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| 14 | class SPI;
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| 15 |
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| 16 | /**
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| 17 | * ADXL345 Accelerometer on SPI.
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| 18 | *
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| 19 | * This class alows access to an Analog Devices ADXL345 3-axis accelerometer via SPI.
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| 20 | * This class assumes the sensor is wired in 4-wire SPI mode.
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| 21 | */
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| 22 | class ADXL345_SPI : public SensorBase
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| 23 | {
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| 24 | protected:
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| 25 | static const UINT8 kPowerCtlRegister = 0x2D;
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| 26 | static const UINT8 kDataFormatRegister = 0x31;
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| 27 | static const UINT8 kDataRegister = 0x32;
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| 28 | static const double kGsPerLSB = 0.00390625;
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| 29 | enum SPIAddressFields {kAddress_Read=0x80, kAddress_MultiByte=0x40};
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| 30 | enum PowerCtlFields {kPowerCtl_Link=0x20, kPowerCtl_AutoSleep=0x10, kPowerCtl_Measure=0x08, kPowerCtl_Sleep=0x04};
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| 31 | enum DataFormatFields {kDataFormat_SelfTest=0x80, kDataFormat_SPI=0x40, kDataFormat_IntInvert=0x20,
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| 32 | kDataFormat_FullRes=0x08, kDataFormat_Justify=0x04};
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| 33 |
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| 34 | public:
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| 35 | enum DataFormat_Range {kRange_2G=0x00, kRange_4G=0x01, kRange_8G=0x02, kRange_16G=0x03};
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| 36 | enum Axes {kAxis_X=0x00, kAxis_Y=0x02, kAxis_Z=0x04};
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| 37 | struct AllAxes
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| 38 | {
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| 39 | double XAxis;
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| 40 | double YAxis;
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| 41 | double ZAxis;
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| 42 | };
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| 43 |
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| 44 | public:
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| 45 | ADXL345_SPI(DigitalOutput &clk, DigitalOutput &mosi, DigitalInput &miso,
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| 46 | DigitalOutput &cs, DataFormat_Range range=kRange_2G);
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| 47 | ADXL345_SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
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| 48 | DigitalOutput *cs, DataFormat_Range range=kRange_2G);
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| 49 | ADXL345_SPI(UINT8 moduleNumber, UINT32 clk, UINT32 mosi, UINT32 miso, UINT32 cs,
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| 50 | DataFormat_Range range=kRange_2G);
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| 51 | virtual ~ADXL345_SPI();
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| 52 | virtual double GetAcceleration(Axes axis);
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| 53 | virtual AllAxes GetAccelerations();
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| 54 |
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| 55 | protected:
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| 56 | void Init(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
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| 57 | DigitalOutput *cs, DataFormat_Range range);
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| 58 |
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| 59 | DigitalOutput *m_clk;
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| 60 | DigitalOutput *m_mosi;
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| 61 | DigitalInput *m_miso;
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| 62 | DigitalOutput *m_cs;
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| 63 | SPI* m_spi;
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| 64 | };
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| 65 |
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| 66 | #endif
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| 67 |
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