implemented whoAmI for IMU

example/example.ino

@@ -1,18 +1,21 @@
-#include <Dezibot.h>
+#include "Dezibot.h"
-
+Dezibot dezibot;
-Dezibot dezibot = Dezibot();
-const uint8_t MYFOO = 10;
 void setup() {
-    dezibot.begin();
+  
+  dezibot.begin();
+  dezibot.motionDetection.begin();
+  //dezibot.motionDetection.end();
+  // put your setup code here, to run once:
+  Serial.begin(115200);
   
 }
 
 void loop() {
-dezibot.multiColorLight.setLed(TOP_LEFT,0x000000FF);
+  // put your main code here, to run repeatedly:
-dezibot.multiColorLight.setLed(TOP_RIGHT,dezibot.multiColorLight.color(0,100,0));
-dezibot.multiColorLight.blink(10,0x00FF0000,BOTTOM,500);
   
-delay(1000);
+//Serial.println(dezibot.motionDetection.getTemperature());
-dezibot.multiColorLight.turnOff(ALL);
+//Serial.println(dezibot.motionDetection.getAcceleration().z);
-delay(1000);
+//Serial.println(dezibot.motionDetection.getRotation().x);
+Serial.println(dezibot.motionDetection.getWhoAmI());
+delay(5);
 }

src/Dezibot.cpp

@@ -12,7 +12,7 @@
 
 #include "Dezibot.h"
 
-Dezibot::Dezibot():multiColorLight(){
+Dezibot::Dezibot():multiColorLight(),motionDetection(){
 
 };
 void Dezibot::begin(void) {

src/motionDetection/MotionDetection.cpp

@@ -0,0 +1,92 @@
+#include "MotionDetection.h"
+
+MotionDetection::MotionDetection(){//:handler(FSPI){
+    handler = new SPIClass(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);
+        handler->transfer(cmdRead(WHO_AM_I));
+        
+    digitalWrite(34,HIGH);
+     //handler->endTransaction();*/
+};
+void MotionDetection::end(void){
+    handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
+    digitalWrite(34,LOW);
+    handler->transfer(cmdWrite(PWR_MGMT0));
+    //turn Accel and Gyroscope off
+    handler->transfer(0x00);
+    digitalWrite(34,HIGH);
+    handler->end();
+};
+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();
+    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();
+    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));
+    uint16_t raw_temperatur = handler->transfer16(cmdRead(REG_TEMP_HIGH,REG_TEMP_LOW));
+    
+    digitalWrite(34,HIGH);
+    handler->endTransaction(); 
+    return raw_temperatur/128 +25;
+};
+
+uint8_t MotionDetection::getWhoAmI(){
+    handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
+    digitalWrite(34,LOW);
+    uint8_t result;
+    //handler->transferBytes(cmd,result,1);
+    result = handler->transfer(cmdRead(WHO_AM_I));
+    result = handler->transfer(0x00);
+     digitalWrite(34,HIGH);
+    handler->endTransaction(); 
+    return result;
+    
+};
+
+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));
+};
+uint8_t MotionDetection::cmdWrite(uint8_t reg){
+    return (CMD_WRITE | (reg & ADDR_MASK));
+};

src/motionDetection/MotionDetection.h

@@ -10,25 +10,17 @@
  */
 #ifndef MotionDetection_h
 #define MotionDetection_h
-#include "driver/spi_master.h"
+#include <SPI.h>
-
+#include <Arduino.h>
 struct IMUResult{
-    float x;
+    int16_t x;
-    float y;
+    int16_t y;
-    float z;
+    int16_t z;
-}
+};
 
 
 class MotionDetection{
 protected:
-    static const uint8_t MCU_HOST = SPI2_HOST;
-    static const uint8_t PIN_NUM_MISO =  37;
-    static const uint8_t PIN_NUM_MOSI =  35;
-    static const uint8_t PIN_NUM_CLK =   36;
-    static const uint8_t PIN_NUM_CS =    34;
-
-    static const uint8_t PIN_INT0 =      28;
-
   
     static const uint8_t CMD_READ =      0x80;
     static const uint8_t CMD_WRITE =     0x00;
@@ -52,13 +44,20 @@ protected:
     static const uint8_t GYRO_DATA_Z_HIGH =  0x15;
     static const uint8_t GYRO_DATA_Z_LOW =   0x16;
 
-    uint16_t imu_read_double_register(uint8_t lowerByteAddress, spi_device_handle_t * spi);
+    static const uint8_t PWR_MGMT0 =         0x1F;
-    esp_err_t spi_imu_read(spi_device_handle_t * ctx, uint8_t addr, uint8_t* out_data);
+    static const uint8_t WHO_AM_I =          0x75;
-    esp_err_t spi_imu_write(spi_device_handle_t* ctx, uint8_t addr, uint8_t data);
-    void cs_high(spi_transaction_t* t);
-    void cs_low(spi_transaction_t* t);
 
-public 
+    static const uint frequency = 10000000;
+
+    uint16_t cmdRead(uint8_t regHigh,uint8_t regLow);
+    uint16_t cmdWrite(uint8_t regHigh,uint8_t regLow);
+    uint8_t cmdRead(uint8_t reg);
+    uint8_t cmdWrite(uint8_t reg);
+
+    SPIClass * handler = NULL;
+     
+    
+public:
     MotionDetection();
 
     /**
@@ -96,5 +95,7 @@ public
      * @return normalized temperature in degree Centigrade
      */
     float getTemperature();
+
+    uint8_t getWhoAmI();
 };
 #endif //MotionDetection