ADXL345_I2C.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_I2C_h__
#define __ADXL345_I2C_h__

#include "SensorBase.h"

class I2C;

class ADXL345_I2C : public SensorBase
{
protected:
        static const uint8_t kAddress = 0x3A;
        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 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:
        explicit ADXL345_I2C(uint8_t moduleNumber, DataFormat_Range range=kRange_2G);
        virtual ~ADXL345_I2C();
        virtual double GetAcceleration(Axes axis);
        virtual AllAxes GetAccelerations();

protected:
        I2C* m_i2c;
};

#endif