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Merge branch 'feature/#14-implement-motion-detection' of https://git.imn.htwk-leipzig.de/wagner/lib into feature/#14-implement-motion-detection

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hhaupt
2024-05-08 10:26:22 +02:00
parent 8db66a0a19 650250f9de
commit 1f71dbc478
4 changed files with 81 additions and 49 deletions
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1
src/Dezibot.cpp
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@@ -18,4 +18,5 @@ Dezibot::Dezibot():multiColorLight(),motionDetection(){
void Dezibot::begin(void) {
motion.begin();
multiColorLight.begin();
motionDetection.begin();
};

76
src/motionDetection/MotionDetection.cpp
View File

@@ -5,22 +5,19 @@ MotionDetection::MotionDetection(){//:handler(FSPI){
};
void MotionDetection::begin(void){
pinMode(34,OUTPUT);
digitalWrite(34,HIGH);
handler->begin(36,37,35,34);
//handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
// set Accel and Gyroscop to Low Noise
handler->transfer(0x1F);
handler->transfer(0x0F);
//busy Wait for startup
delayMicroseconds(200);
pinMode(34,OUTPUT);
digitalWrite(34,HIGH);
//handler->endTransaction();*/
handler->begin(36,37,35,34);
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
// set Accel and Gyroscop to Low Noise
handler->transfer(0x1F);
handler->transfer(0x0F);
//busy Wait for startup
delayMicroseconds(200);
digitalWrite(34,HIGH);
handler->endTransaction();
};
void MotionDetection::end(void){
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
@@ -33,34 +30,27 @@ void MotionDetection::end(void){
};
IMUResult MotionDetection::getAcceleration(){
IMUResult result;
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
result.x = handler->transfer16(cmdRead(ACCEL_DATA_X_HIGH,ACCEL_DATA_X_LOW));
result.y = handler->transfer16(cmdRead(ACCEL_DATA_Y_HIGH,ACCEL_DATA_Y_LOW));
result.z = handler->transfer16(cmdRead(ACCEL_DATA_Z_HIGH,ACCEL_DATA_Z_LOW));
digitalWrite(34,HIGH);
handler->endTransaction();
result.x = readRegister(ACCEL_DATA_X_HIGH)<<8;
result.x |= readRegister(ACCEL_DATA_X_LOW);
result.y = readRegister(ACCEL_DATA_Y_HIGH)<<8;
result.y |= readRegister(ACCEL_DATA_Y_LOW);
result.z = readRegister(ACCEL_DATA_Z_HIGH)<<8;
result.z |= readRegister(ACCEL_DATA_Z_LOW);
return result;
};
IMUResult MotionDetection::getRotation(){
IMUResult result;
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
result.x = handler->transfer16(cmdRead(GYRO_DATA_X_HIGH,GYRO_DATA_X_LOW));
result.y = handler->transfer16(cmdRead(GYRO_DATA_Y_HIGH,GYRO_DATA_Y_LOW));
result.z = handler->transfer16(cmdRead(GYRO_DATA_Z_HIGH,GYRO_DATA_Z_LOW));
digitalWrite(34,HIGH);
handler->endTransaction();
result.x = readRegister(GYRO_DATA_X_HIGH) <<8;
result.x |= readRegister(GYRO_DATA_X_LOW);
result.y = readRegister(GYRO_DATA_Y_HIGH)<<8;
result.y |= readRegister(GYRO_DATA_Y_LOW);
result.z = readRegister(GYRO_DATA_Z_HIGH)<<8;
result.z |= readRegister(GYRO_DATA_Z_LOW);
return result;
};
float MotionDetection::getTemperature(){
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
handler -> write(cmdRead(REG_TEMP_HIGH,REG_TEMP_LOW));
int16_t raw_temperatur = handler->transfer16(cmdRead(REG_TEMP_HIGH,REG_TEMP_LOW));
digitalWrite(34,HIGH);
handler->endTransaction();
int16_t raw_temperatur = readRegister(REG_TEMP_HIGH)<<8;
raw_temperatur |= readRegister(REG_TEMP_LOW);
return raw_temperatur/128 +25;
};
@@ -68,14 +58,6 @@ int8_t MotionDetection::getWhoAmI(){
return readRegister(WHO_AM_I);
};
uint16_t MotionDetection::cmdRead(uint8_t regHigh,uint8_t regLow){
return (CMD_READ | (regHigh & ADDR_MASK))<<8 & (CMD_READ | regLow & ADDR_MASK);
};
uint16_t MotionDetection::cmdWrite(uint8_t regHigh,uint8_t regLow){
return (CMD_WRITE | (regHigh & ADDR_MASK))<<8 & (CMD_WRITE | regLow & ADDR_MASK);
};
uint8_t MotionDetection::cmdRead(uint8_t reg){
return (CMD_READ | (reg & ADDR_MASK));
};
@@ -92,8 +74,4 @@ int8_t MotionDetection::readRegister(uint8_t reg){
digitalWrite(34,HIGH);
handler->endTransaction();
return result;
};
int16_t MotionDetection::readDoubleRegister(uint8_t lowerReg){
return 0;
}
};