/// <summary>
/// Get the acceleration of one axis in Gs.
/// </summary>
/// <param name="axis">The axis to read from.</param>
/// <returns>Acceleration of the ADXL345 in Gs.</returns>
public override double GetAcceleration(Axes axis)
{
byte[] transferBuffer = new byte[3];
transferBuffer[0] = (byte)((AddressRead | AddressMultiByte | DataRegister) + (byte)axis);
m_spi.Transaction(transferBuffer, transferBuffer, 3);
return(BitConverter.ToInt16(transferBuffer, 1) * GsPerLSB);
}
/// <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>
/// 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>
/// Get the acceleration of one axis in Gs.
/// </summary>
/// <param name="axis">The axis to read from</param>
/// <returns>Acceleration of the ADXL362 in Gs.</returns>
public double GetAcceleration(Axes axis)
{
if (m_gsPerLSB == 0.0)
{
return(0.0);
}
byte[] buffer = new byte[4];
byte[] command = new byte[] { 0, 0, 0, 0 };
command[0] = RegRead;
command[1] = (byte)(DataRegister + (byte)axis);
m_spi.Transaction(command, buffer, 4);
short rawAccel = BitConverter.ToInt16(buffer, 2);
return(rawAccel * m_gsPerLSB);
}