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ADXL345_I2C.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2008. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
5 /*----------------------------------------------------------------------------*/
6 
7 #ifndef __ADXL345_I2C_h__
8 #define __ADXL345_I2C_h__
9 
10 #include "SensorBase.h"
11 
12 class I2C;
13 
20 class ADXL345_I2C : public SensorBase
21 {
22 protected:
23  static const uint8_t kAddress = 0x3A;
24  static const uint8_t kPowerCtlRegister = 0x2D;
25  static const uint8_t kDataFormatRegister = 0x31;
26  static const uint8_t kDataRegister = 0x32;
27  static constexpr double kGsPerLSB = 0.00390625;
28  enum PowerCtlFields {kPowerCtl_Link=0x20, kPowerCtl_AutoSleep=0x10, kPowerCtl_Measure=0x08, kPowerCtl_Sleep=0x04};
29  enum DataFormatFields {kDataFormat_SelfTest=0x80, kDataFormat_SPI=0x40, kDataFormat_IntInvert=0x20,
30  kDataFormat_FullRes=0x08, kDataFormat_Justify=0x04};
31 
32 public:
33  enum DataFormat_Range {kRange_2G=0x00, kRange_4G=0x01, kRange_8G=0x02, kRange_16G=0x03};
34  enum Axes {kAxis_X=0x00, kAxis_Y=0x02, kAxis_Z=0x04};
35  struct AllAxes
36  {
37  double XAxis;
38  double YAxis;
39  double ZAxis;
40  };
41 
42 public:
43  explicit ADXL345_I2C(uint8_t moduleNumber, DataFormat_Range range=kRange_2G);
44  virtual ~ADXL345_I2C();
45  virtual double GetAcceleration(Axes axis);
46  virtual AllAxes GetAccelerations();
47 
48 protected:
49  I2C* m_i2c;
50 };
51 
52 #endif
53 
virtual double GetAcceleration(Axes axis)
Definition: ADXL345_I2C.cpp:56
virtual ~ADXL345_I2C()
Definition: ADXL345_I2C.cpp:44
Definition: ADXL345_I2C.h:35
virtual AllAxes GetAccelerations()
Definition: ADXL345_I2C.cpp:74
Definition: SensorBase.h:20
Definition: I2C.h:22
Definition: ADXL345_I2C.h:20
ADXL345_I2C(uint8_t moduleNumber, DataFormat_Range range=kRange_2G)
Definition: ADXL345_I2C.cpp:24