ADXL345_SPI.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef __ADXL345_SPI_h__
#define __ADXL345_SPI_h__

#include "SensorBase.h"

class DigitalInput;
class DigitalOutput;
class SPI;

class ADXL345_SPI : public SensorBase
{
protected:
    static const uint8_t kPowerCtlRegister = 0x2D;
    static const uint8_t kDataFormatRegister = 0x31;
    static const uint8_t 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 DataFormat_Range {kRange_2G=0x00, kRange_4G=0x01, kRange_8G=0x02, kRange_16G=0x03};
    enum Axes {kAxis_X=0x00, kAxis_Y=0x02, kAxis_Z=0x04};
    struct AllAxes
    {
        double XAxis;
        double YAxis;
        double ZAxis;
    };

public:
    ADXL345_SPI(DigitalOutput &clk, DigitalOutput &mosi, DigitalInput &miso,
        DigitalOutput &cs, DataFormat_Range range=kRange_2G);
    ADXL345_SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
        DigitalOutput *cs, DataFormat_Range range=kRange_2G);
    ADXL345_SPI(uint8_t moduleNumber, uint32_t clk, uint32_t mosi, uint32_t miso, uint32_t cs,
        DataFormat_Range range=kRange_2G);
    virtual ~ADXL345_SPI();
    virtual double GetAcceleration(Axes axis);
    virtual AllAxes GetAccelerations();

protected:
    void Init(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
        DigitalOutput *cs, DataFormat_Range range);

    DigitalOutput *m_clk;
    DigitalOutput *m_mosi;
    DigitalInput *m_miso;
    DigitalOutput *m_cs;
    SPI* m_spi;
};

#endif