/// <summary>
/// Creates a new <see cref="ADXL362"/> with the specified <see cref="SPI.Port">Port</see>
/// and <see cref="AccelerometerRange">Range</see>.
/// </summary>
/// <param name="port">The SPI Port the accelerometer is connected to.</param>
/// <param name="range">The range that the accelerometer will measure.</param>
public ADXL362(SPI.Port port, AccelerometerRange range)
{
m_spi = new SPI(port);
m_spi.SetClockRate(3000000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnRising();
m_spi.SetClockActiveHigh();
m_spi.SetChipSelectActiveLow();
byte[] commands = new byte[]
{
RegRead,
PartIdRegister,
0,
};
m_spi.Transaction(commands, commands, 3);
if (commands[2] != 0xF2)
{
DriverStation.ReportError("Could not find ADXL362", false);
m_gsPerLSB = 0.0;
return;
}
AccelerometerRange = range;
commands[0] = RegWrite;
commands[1] = PowerCtlRegister;
commands[2] = PowerCtlRegister | PowerCtl_UltraLowNoise;
m_spi.Write(commands, 3);
Report(ResourceType.kResourceType_ADXL362, (byte)port);
LiveWindow.LiveWindow.AddSensor("ADXL362", port.ToString(), this);
}
private ushort ReadRegister(byte reg)
{
uint cmd = 0x80000000 | (((uint)reg) << 17);
if (!CalcParity(cmd))
{
cmd |= 1u;
}
// big endian 102
byte[] buf = new byte[]
{
(byte)((cmd >> 24) & 0xff),
(byte)((cmd >> 16) & 0xff),
(byte)((cmd >> 8) & 0xff),
(byte)(cmd & 0xff)
};
m_spi.Write(buf, 4);
m_spi.Read(false, buf, 4);
if ((buf[0] & 0xe0) == 0)
{
return(0); // error, return 0
}
return((ushort)((BytesToIntBE(buf) >> 5) & 0xffff));
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="port">The SPI port the accelerometer is attached to</param>
/// <param name="range">The range (+ or -) that the accelerometer will measure.</param>
public ADXL345_SPI(SPI.Port port, AccelerometerRange range)
{
m_spi = new SPI(port);
m_spi.SetClockRate(500000);
m_spi.SetSampleDataOnFalling();
m_spi.SetClockActiveLow();
m_spi.SetChipSelectActiveHigh();
byte[] commands = new byte[2];
commands[0] = PowerCtlRegister;
commands[1] = (byte)PowerCtl.Measure;
m_spi.Write(commands, 2);
AccelerometerRange = range;
HAL.Report(ResourceType.kResourceType_ADXL345, Instances.kADXL345_SPI);
LiveWindow.AddSensor("ADXL345_SPI", (byte)port, this);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="port">The SPI port the accelerometer is attached to</param>
/// <param name="range">The range (+ or -) that the accelerometer will measure.</param>
public ADXL345_SPI(SPI.Port port, AccelerometerRange range)
{
m_spi = new SPI(port);
m_spi.SetClockRate(500000);
m_spi.SetSampleDataOnFalling();
m_spi.SetClockActiveLow();
m_spi.SetChipSelectActiveHigh();
byte[] commands = new byte[2];
commands[0] = PowerCtlRegister;
commands[1] = (byte)PowerCtl.Measure;
m_spi.Write(commands, 2);
AccelerometerRange = range;
HAL.Base.HAL.Report(ResourceType.kResourceType_ADXL345, Instances.kADXL345_SPI);
LiveWindow.LiveWindow.AddSensor("ADXL345_SPI", (byte)port, this);
}
/// <summary>
/// Creates a new <see cref="ADXL362"/> with the specified <see cref="SPI.Port">Port</see>
/// and <see cref="AccelerometerRange">Range</see>.
/// </summary>
/// <param name="port">The SPI Port the accelerometer is connected to.</param>
/// <param name="range">The range that the accelerometer will measure.</param>
public ADXL362(SPI.Port port, AccelerometerRange range)
{
m_spi = new SPI(port);
m_spi.SetClockRate(3000000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnRising();
m_spi.SetClockActiveHigh();
m_spi.SetChipSelectActiveLow();
byte[] commands = new byte[]
{
RegRead,
PartIdRegister,
0,
};
m_spi.Transaction(commands, commands, 3);
if (commands[2] != 0xF2)
{
DriverStation.ReportError("Could not find ADXL362", false);
m_gsPerLSB = 0.0;
return;
}
AccelerometerRange = range;
commands[0] = RegWrite;
commands[1] = PowerCtlRegister;
commands[2] = PowerCtlRegister | PowerCtl_UltraLowNoise;
m_spi.Write(commands, 3);
Report(ResourceType.kResourceType_ADXL362, (byte)port);
LiveWindow.LiveWindow.AddSensor("ADXL362", port.ToString(), this);
}
/// <summary>
/// Writes the range to the specified interface.
/// </summary>
/// <param name="value">The Range to write.</param>
protected override void WriteRange(byte value)
{
byte[] commands = new byte[] { DataFormatRegister, (byte)((byte)DataFormat.FullRes | value) };
m_spi.Write(commands, commands.Length);
}
