text: // Copyright (c) FIRST and other WPILib contributors.
  // Open Source Software; you can modify and/or share it under the terms of
  // the WPILib BSD license file in the root directory of this project.
  
  #pragma once
  
  #include <hal/SimDevice.h>
  
  #include "frc/ErrorBase.h"
  #include "frc/I2C.h"
  #include "frc/interfaces/Accelerometer.h"
  #include "frc/smartdashboard/Sendable.h"
  #include "frc/smartdashboard/SendableHelper.h"
  
  namespace frc {
  
  class SendableBuilder;
  
  /**
   * ADXL345 Accelerometer on I2C.
   *
   * This class allows access to a Analog Devices ADXL345 3-axis accelerometer on
   * an I2C bus. This class assumes the default (not alternate) sensor address of
   * 0x1D (7-bit address).
   */
  class ADXL345_I2C : public ErrorBase,
                      public Accelerometer,
                      public Sendable,
                      public SendableHelper<ADXL345_I2C> {
   public:
    enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
  
    struct AllAxes {
      double XAxis;
      double YAxis;
      double ZAxis;
    };
  
    /**
     * Constructs the ADXL345 Accelerometer over I2C.
     *
     * @param port          The I2C port the accelerometer is attached to
     * @param range         The range (+ or -) that the accelerometer will measure
     * @param deviceAddress The I2C address of the accelerometer (0x1D or 0x53)
     */
    explicit ADXL345_I2C(I2C::Port port, Range range = kRange_2G,
                         int deviceAddress = kAddress);
    ~ADXL345_I2C() override = default;
  
    ADXL345_I2C(ADXL345_I2C&&) = default;
    ADXL345_I2C& operator=(ADXL345_I2C&&) = default;
  
    // Accelerometer interface
    void SetRange(Range range) final;
    double GetX() override;
    double GetY() override;
    double GetZ() override;
  
    /**
     * Get the acceleration of one axis in Gs.
     *
     * @param axis The axis to read from.
     * @return Acceleration of the ADXL345 in Gs.
     */
    virtual double GetAcceleration(Axes axis);
  
    /**
     * Get the acceleration of all axes in Gs.
     *
     * @return An object containing the acceleration measured on each axis of the
     *         ADXL345 in Gs.
     */
    virtual AllAxes GetAccelerations();
  
    void InitSendable(SendableBuilder& builder) override;
  
   protected:
    I2C m_i2c;
  
    hal::SimDevice m_simDevice;
    hal::SimEnum m_simRange;
    hal::SimDouble m_simX;
    hal::SimDouble m_simY;
    hal::SimDouble m_simZ;
  
    static constexpr int kAddress = 0x1D;
    static constexpr int kPowerCtlRegister = 0x2D;
    static constexpr int kDataFormatRegister = 0x31;
    static constexpr int 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
    };
  };
  
  }  // namespace frc
  