#include <ADXL345_SPI.h>

Inheritance diagram for ADXL345_SPI:

Classes
struct	AllAxes

Public Types
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 }

Public Member Functions
	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 ()

Public Member Functions inherited from SensorBase
	SensorBase ()

virtual	~SensorBase ()

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Protected Types
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 }

Protected Member Functions
void	Init (DigitalOutput clk, DigitalOutput mosi, DigitalInput miso, DigitalOutput cs, DataFormat_Range range)

Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Protected Attributes
DigitalOutput *	m_clk

DigitalOutput *	m_mosi

DigitalInput *	m_miso

DigitalOutput *	m_cs

SPI *	m_spi

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes
static const uint8_t	kPowerCtlRegister = 0x2D

static const uint8_t	kDataFormatRegister = 0x31

static const uint8_t	kDataRegister = 0x32

static constexpr double	kGsPerLSB = 0.00390625

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Additional Inherited Members
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()

static uint32_t	GetDefaultAnalogModule ()

static uint32_t	GetDefaultDigitalModule ()

static uint32_t	GetDefaultSolenoidModule ()

static bool	CheckAnalogModule (uint8_t moduleNumber)

static bool	CheckDigitalModule (uint8_t moduleNumber)

static bool	CheckPWMModule (uint8_t moduleNumber)

static bool	CheckRelayModule (uint8_t moduleNumber)

static bool	CheckSolenoidModule (uint8_t moduleNumber)

static bool	CheckDigitalChannel (uint32_t channel)

static bool	CheckRelayChannel (uint32_t channel)

static bool	CheckPWMChannel (uint32_t channel)

static bool	CheckAnalogChannel (uint32_t channel)

static bool	CheckSolenoidChannel (uint32_t channel)

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Static Public Attributes inherited from SensorBase
static const uint32_t	kSystemClockTicksPerMicrosecond = 40

static const uint32_t	kDigitalChannels = 14

static const uint32_t	kAnalogChannels = 8

static const uint32_t	kAnalogModules = 2

static const uint32_t	kDigitalModules = 2

static const uint32_t	kSolenoidChannels = 8

static const uint32_t	kSolenoidModules = 2

static const uint32_t	kPwmChannels = 10

static const uint32_t	kRelayChannels = 8

static const uint32_t	kChassisSlots = 8

Detailed Description

ADXL345 Accelerometer on SPI.

This class alows access to an Analog Devices ADXL345 3-axis accelerometer via SPI. This class assumes the sensor is wired in 4-wire SPI mode.

Constructor & Destructor Documentation

ADXL345_SPI::ADXL345_SPI	(	DigitalOutput &	clk,
		DigitalOutput &	mosi,
		DigitalInput &	miso,
		DigitalOutput &	cs,
		DataFormat_Range	range = `kRange_2G`
	)

Constructor.

Parameters

clk	The GPIO the clock signal is wired to.
mosi	The GPIO the MOSI (Master Out Slave In) signal is wired to.
miso	The GPIO the MISO (Master In Slave Out) signal is wired to.
cs	The GPIO the CS (Chip Select) signal is wired to.
range	The range (+ or -) that the accelerometer will measure.

ADXL345_SPI::ADXL345_SPI	(	DigitalOutput *	clk,
		DigitalOutput *	mosi,
		DigitalInput *	miso,
		DigitalOutput *	cs,
		DataFormat_Range	range = `kRange_2G`
	)

Constructor.

Parameters

clk	The GPIO the clock signal is wired to.
mosi	The GPIO the MOSI (Master Out Slave In) signal is wired to.
miso	The GPIO the MISO (Master In Slave Out) signal is wired to.
cs	The GPIO the CS (Chip Select) signal is wired to.
range	The range (+ or -) that the accelerometer will measure.

ADXL345_SPI::ADXL345_SPI	(	uint8_t	moduleNumber,
		uint32_t	clk,
		uint32_t	mosi,
		uint32_t	miso,
		uint32_t	cs,
		ADXL345_SPI::DataFormat_Range	range = `kRange_2G`
	)

Constructor.

Parameters

moduleNumber	The digital module with the sensor attached.
clk	The GPIO the clock signal is wired to.
mosi	The GPIO the MOSI (Master Out Slave In) signal is wired to.
miso	The GPIO the MISO (Master In Slave Out) signal is wired to.
cs	The GPIO the CS (Chip Select) signal is wired to.
range	The range (+ or -) that the accelerometer will measure.

ADXL345_SPI::~ADXL345_SPI ( )

virtual

Destructor.

Member Function Documentation

double ADXL345_SPI::GetAcceleration ( ADXL345_SPI::Axes axis )

virtual

Get the acceleration of one axis in Gs.

Parameters

axis	The axis to read from.

Returns: Acceleration of the ADXL345 in Gs.

ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations ( )

virtual

Get the acceleration of all axes in Gs.

Returns: Acceleration measured on all axes of the ADXL345 in Gs.

void ADXL345_SPI::Init	(	DigitalOutput *	clk,
		DigitalOutput *	mosi,
		DigitalInput *	miso,
		DigitalOutput *	cs,
		DataFormat_Range	range
	)

protected

Internal common init function.

The documentation for this class was generated from the following files:

ADXL345_SPI.h
ADXL345_SPI.cpp

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation