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implemented whoAmI for IMU

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This commit is contained in:
hhau 2023-12-21 09:35:32 +01:00
parent ce5f00a848
commit 21f8dc65f1
4 changed files with 131 additions and 35 deletions
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23
example/example.ino
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@ -1,18 +1,21 @@
#include <Dezibot.h>
Dezibot dezibot = Dezibot();
const uint8_t MYFOO = 10;
#include "Dezibot.h"
Dezibot dezibot;
void setup() {
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);
dezibot.multiColorLight.setLed(TOP_RIGHT,dezibot.multiColorLight.color(0,100,0));
dezibot.multiColorLight.blink(10,0x00FF0000,BOTTOM,500);
// put your main code here, to run repeatedly:
delay(1000);
dezibot.multiColorLight.turnOff(ALL);
delay(1000);
//Serial.println(dezibot.motionDetection.getTemperature());
//Serial.println(dezibot.motionDetection.getAcceleration().z);
//Serial.println(dezibot.motionDetection.getRotation().x);
Serial.println(dezibot.motionDetection.getWhoAmI());
delay(5);
}

2
src/Dezibot.cpp
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@ -12,7 +12,7 @@
#include "Dezibot.h"
Dezibot::Dezibot():multiColorLight(){
Dezibot::Dezibot():multiColorLight(),motionDetection(){
};
void Dezibot::begin(void) {

92
src/motionDetection/MotionDetection.cpp Normal file
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@ -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));
};

41
src/motionDetection/MotionDetection.h
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@ -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;
float y;
float z;
}
int16_t x;
int16_t y;
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);
esp_err_t spi_imu_read(spi_device_handle_t * ctx, uint8_t addr, uint8_t* out_data);
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);
static const uint8_t PWR_MGMT0 = 0x1F;
static const uint8_t WHO_AM_I = 0x75;
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