| 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 | #include "HiTechnicCompass.h"
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| 8 | #include "DigitalModule.h"
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| 9 | #include "I2C.h"
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| 10 | #include "NetworkCommunication/UsageReporting.h"
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| 11 | #include "WPIErrors.h"
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| 12 | #include "LiveWindow/LiveWindow.h"
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| 13 |
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| 14 | const UINT8 HiTechnicCompass::kAddress;
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| 15 | const UINT8 HiTechnicCompass::kManufacturerBaseRegister;
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| 16 | const UINT8 HiTechnicCompass::kManufacturerSize;
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| 17 | const UINT8 HiTechnicCompass::kSensorTypeBaseRegister;
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| 18 | const UINT8 HiTechnicCompass::kSensorTypeSize;
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| 19 | const UINT8 HiTechnicCompass::kHeadingRegister;
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| 20 |
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| 21 | /**
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| 22 | * Constructor.
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| 23 | *
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| 24 | * @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
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| 25 | */
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| 26 | HiTechnicCompass::HiTechnicCompass(UINT8 moduleNumber)
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| 27 | : m_i2c (NULL)
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| 28 | {
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| 29 | DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
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| 30 | if (module)
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| 31 | {
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| 32 | m_i2c = module->GetI2C(kAddress);
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| 33 |
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| 34 | // Verify Sensor
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| 35 | const UINT8 kExpectedManufacturer[] = "HiTechnc";
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| 36 | const UINT8 kExpectedSensorType[] = "Compass ";
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| 37 | if ( ! m_i2c->VerifySensor(kManufacturerBaseRegister, kManufacturerSize, kExpectedManufacturer) )
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| 38 | {
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| 39 | wpi_setWPIError(CompassManufacturerError);
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| 40 | return;
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| 41 | }
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| 42 | if ( ! m_i2c->VerifySensor(kSensorTypeBaseRegister, kSensorTypeSize, kExpectedSensorType) )
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| 43 | {
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| 44 | wpi_setWPIError(CompassTypeError);
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| 45 | }
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| 46 |
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| 47 | nUsageReporting::report(nUsageReporting::kResourceType_HiTechnicCompass, moduleNumber - 1);
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| 48 | LiveWindow::GetInstance()->AddSensor("HiTechnicCompass", moduleNumber, 0, this);
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| 49 | }
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| 50 | }
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| 51 |
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| 52 | /**
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| 53 | * Destructor.
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| 54 | */
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| 55 | HiTechnicCompass::~HiTechnicCompass()
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| 56 | {
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| 57 | delete m_i2c;
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| 58 | m_i2c = NULL;
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| 59 | }
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| 60 |
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| 61 | /**
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| 62 | * Get the compass angle in degrees.
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| 63 | *
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| 64 | * The resolution of this reading is 1 degree.
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| 65 | *
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| 66 | * @return Angle of the compass in degrees.
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| 67 | */
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| 68 | float HiTechnicCompass::GetAngle()
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| 69 | {
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| 70 | UINT16 heading = 0;
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| 71 | if (m_i2c)
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| 72 | {
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| 73 | m_i2c->Read(kHeadingRegister, sizeof(heading), (UINT8 *)&heading);
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| 74 |
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| 75 | // Sensor is little endian... swap bytes
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| 76 | heading = (heading >> 8) | (heading << 8);
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| 77 | }
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| 78 | return (float)heading;
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| 79 | }
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| 80 |
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| 81 | void HiTechnicCompass::UpdateTable() {
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| 82 | if (m_table != NULL) {
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| 83 | m_table->PutNumber("Value", GetAngle());
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| 84 | }
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| 85 | }
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| 86 |
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| 87 | void HiTechnicCompass::StartLiveWindowMode() {
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| 88 |
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| 89 | }
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| 90 |
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| 91 | void HiTechnicCompass::StopLiveWindowMode() {
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| 92 |
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| 93 | }
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| 94 |
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| 95 | std::string HiTechnicCompass::GetSmartDashboardType() {
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| 96 | return "HiTechnicCompass";
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| 97 | }
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| 98 |
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| 99 | void HiTechnicCompass::InitTable(ITable *subTable) {
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| 100 | m_table = subTable;
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| 101 | UpdateTable();
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| 102 | }
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| 103 |
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| 104 | ITable * HiTechnicCompass::GetTable() {
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| 105 | return m_table;
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| 106 | }
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| 107 |
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