Update navX libraries

* Fix I2C write method
* Update for WPILib LiveWindow changes
* Fix decoding of GyroFSRDPS and AccelFSRG

This intentionally does not implement the enableLogging methods,
as these can be filtered out by configuring the logging module.

It appears the I2C read method was fixed for the flipped WPILib I2C
write return values in 2017, but the write method wasn't fixed, as
RegisterIO expects that a return value of True from write is success.

Author: auscompgeek

.gittrack

@@ -2,5 +2,5 @@
 validation_root = robotpy_ext/common_drivers/navx
 exclude_commits_file = devtools/exclude_commits_navx
 upstream_root = ../navxmxp
-upstream_commit = 09abe90221cb9d0ae104776af037d0b8a7f2d720
+upstream_commit = d8fa37624f03379ed0e2a8f6f458e3cecbb59247
 

devtools/exclude_commits_navx

@@ -0,0 +1 @@
+d34b079bfaeab387915436946233367d6bedb370  # enableLogging method

robotpy_ext/common_drivers/navx/ahrs.py

@@ -1,4 +1,4 @@
-# validated: 2017-02-19 DV a2358399f5a3 roborio/java/navx_frc/src/com/kauailabs/navx/frc/AHRS.java
+# validated: 2018-02-11 DV d8fa37624f03 roborio/java/navx_frc/src/com/kauailabs/navx/frc/AHRS.java
 #----------------------------------------------------------------------------
 # Copyright (c) Kauai Labs 2015. All Rights Reserved.
 #
@@ -996,7 +996,13 @@ def getFirmwareVersion(self):
         :returns: The firmware version in the format [MajorVersion].[MinorVersion]
         """
         return '%s.%s' % (self.fw_ver_major, self.fw_ver_minor)
-    
+
+    def getGyroFullScaleRangeDPS(self) -> int:
+        return self.gyro_fsr_dps
+
+    def getAccelFullScaleRangeG(self) -> int:
+        return self.accel_fsr_g
+
     #
     # Internal API
     #
@@ -1069,14 +1075,9 @@ def _yawResetComplete(self):
         self.yaw_angle_tracker.reset()
 
     #
-    # LiveWindow 
+    # LiveWindow
     #
-    
-    def getSmartDashboardType(self):
-        return "Gyro"
-    
-    def updateTable(self):
-        table = self.getTable()
-        if table is not None:
-            table.putNumber("Value", self.getYaw())
-        
+
+    def initSendable(self, builder):
+        builder.setSmartDashboardType("Gyro")
+        builder.addDoubleProperty("Value", self.getAngle, None)

robotpy_ext/common_drivers/navx/registerio.py

@@ -1,4 +1,4 @@
-# validated: 2017-02-19 DS c5e3a8a9b642 roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO.java
+# validated: 2018-02-11 DV d8fa37624f03 roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO.java
 #----------------------------------------------------------------------------
 # Copyright (c) Kauai Labs 2015. All Rights Reserved.
 #
@@ -219,8 +219,8 @@ def getCurrentData(self):
         board_state.selftest_status = curr_data[IMURegisters.NAVX_REG_SELFTEST_STATUS-first_address]
         board_state.sensor_status   = AHRSProtocol.decodeBinaryUint16(curr_data,IMURegisters.NAVX_REG_SENSOR_STATUS_L-first_address)
         board_state.update_rate_hz  = curr_data[IMURegisters.NAVX_REG_UPDATE_RATE_HZ-first_address]
-        board_state.gyro_fsr_dps    = AHRSProtocol.decodeBinaryUint16(curr_data,IMURegisters.NAVX_REG_GYRO_FSR_DPS_L)
-        board_state.accel_fsr_g     = curr_data[IMURegisters.NAVX_REG_ACCEL_FSR_G]
+        board_state.gyro_fsr_dps    = AHRSProtocol.decodeBinaryUint16(curr_data,IMURegisters.NAVX_REG_GYRO_FSR_DPS_L-first_address)
+        board_state.accel_fsr_g     = curr_data[IMURegisters.NAVX_REG_ACCEL_FSR_G-first_address]
         board_state.capability_flags= AHRSProtocol.decodeBinaryUint16(curr_data,IMURegisters.NAVX_REG_CAPABILITY_FLAGS_L-first_address)
         self.notify_sink._setBoardState(board_state)
 

robotpy_ext/common_drivers/navx/registerio_i2c.py

@@ -1,4 +1,4 @@
-# validated: 2017-02-19 DS 3b0fc57cd0e0 roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO_I2C.java
+# validated: 2018-02-11 DV 73aa4ea84010 roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO_I2C.java
 #----------------------------------------------------------------------------
 # Copyright (c) Kauai Labs 2015. All Rights Reserved.
 #
@@ -37,7 +37,10 @@ def init(self):
 
     def write(self, address, value):
         with self.mutex:
-            return self.port.write(address | 0x80, value)
+            aborted = self.port.write(address | 0x80, value)
+        if aborted:
+            logger.warn("navX-MXP I2C write error")
+        return not aborted
 
     def read(self, first_address, count):
         buffer = []