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WIP: Read/Write from Registerbanks

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This commit is contained in:
hhaupt 2024-06-10 00:38:26 +02:00
parent 8fb1ab7651
commit 5e2b8698d9
2 changed files with 111 additions and 29 deletions
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105
src/motionDetection/MotionDetection.cpp
View File

@ -12,8 +12,8 @@ void MotionDetection::begin(void){
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
// set Accel and Gyroscop to Low Noise
handler->transfer(PWR_MGMT0);
handler->transfer(0x1F);
handler->transfer(0x0F);
//busy Wait for startup
delayMicroseconds(250);
//set Gyroconfig
@ -22,8 +22,14 @@ void MotionDetection::begin(void){
//set Gyro Filter
handler->transfer(0x23);
handler->transfer(0x37);
//Disable FIFO Bypass
handler->transfer(FIFO_CONFIG1);
handler->transfer(0x00);
digitalWrite(34,HIGH);
handler->endTransaction();
this->writeToRegisterBank(MREG1,FIFO_CONFIG5,0x23);
//Enable Gyro and Acceldata in FIFO
};
void MotionDetection::end(void){
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
@ -71,7 +77,7 @@ uint8_t MotionDetection::cmdWrite(uint8_t reg){
return (CMD_WRITE | (reg & ADDR_MASK));
};
int8_t MotionDetection::readRegister(uint8_t reg){
uint8_t MotionDetection::readRegister(uint8_t reg){
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
uint8_t result;
@ -80,4 +86,99 @@ int8_t MotionDetection::readRegister(uint8_t reg){
digitalWrite(34,HIGH);
handler->endTransaction();
return result;
};
uint8_t MotionDetection::readFromRegisterBank(registerBank bank,uint8_t reg){
uint8_t result = 0;
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
switch(bank){
case(MREG1):
result = handler->transfer(BLK_SEL_R);
result = handler->transfer(0x00);
break;
case(MREG2):
result = handler->transfer(BLK_SEL_R);
result = handler->transfer(0x28);
break;
case(MREG3):
result = handler->transfer(BLK_SEL_R);
result = handler->transfer(0x50);
break;
}
result = handler->transfer(MADDR_R);
result = handler->transfer(reg);
digitalWrite(34,HIGH);
handler->endTransaction();
delayMicroseconds(10);
result=this->readRegister(M_R);
delayMicroseconds(10);
this->resetRegisterBankAccess();
return result;
};
void MotionDetection::writeToRegisterBank(registerBank bank, uint8_t reg, uint8_t value){
while((this->readRegister(MCLK_RDY))&0x08!=0x08){
Serial.println("CLK not rdy");
delay(100);
}
Serial.print("MADDR_W: ");
Serial.println(readRegister(MADDR_W));
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
switch(bank){
case(MREG1):
handler->transfer(BLK_SEL_W);
handler->transfer(0x00);
break;
case(MREG2):
handler->transfer(BLK_SEL_W);
handler->transfer(0x28);
break;
case(MREG3):
handler->transfer(BLK_SEL_W);
handler->transfer(0x50);
break;
}
handler->transfer(MADDR_W);
handler->transfer(reg);
//handler->transfer(reg);
handler->transfer(M_W);
handler->transfer(value);
digitalWrite(34,HIGH);
handler->endTransaction();
Serial.print("MADDR_W: ");
Serial.println(readRegister(MADDR_W));
delayMicroseconds(10);
this->resetRegisterBankAccess();
};
void MotionDetection::resetRegisterBankAccess(){
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
handler->transfer(BLK_SEL_R);
handler->transfer(0x00);
handler->transfer(BLK_SEL_W);
handler->transfer(0x00);
handler->transfer(MADDR_R);
handler->transfer(0x00);
handler->transfer(MADDR_W);
handler->transfer(0x00);
digitalWrite(34,HIGH);
handler->endTransaction();
};
void MotionDetection::testFIFO(){
this->writeToRegisterBank(MREG1,FIFO_CONFIG5,0x23);
//Serial.println(this->readFromRegisterBank(MREG1,0x47));
//uint16_t fifocount = this->readRegister(FIFO_COUNTH)<<8;
//fifocount |= this->readRegister(FIFO_COUNTL);
//Serial.print("FiFo Count: ");
//Serial.println(fifocount);
Serial.print("INT_CONFIG1: ");
Serial.println(readFromRegisterBank(MREG1,0x05));
Serial.print("FiFoData: ");
Serial.println(readRegister(0x3F));
};

35
src/motionDetection/MotionDetection.h
View File

@ -12,6 +12,7 @@
#define MotionDetection_h
#include <SPI.h>
#include <Arduino.h>
#include "IMU_CMDs.h"
struct IMUResult{
int16_t x;
int16_t y;
@ -21,40 +22,18 @@ struct IMUResult{
class MotionDetection{
protected:
static const uint8_t CMD_READ = 0x80;
static const uint8_t CMD_WRITE = 0x00;
static const uint8_t ADDR_MASK = 0x7F;
//Registers
static const uint8_t REG_TEMP_LOW = 0x0A;
static const uint8_t REG_TEMP_HIGH = 0X09;
static const uint8_t ACCEL_DATA_X_HIGH = 0x0B;
static const uint8_t ACCEL_DATA_X_LOW = 0x0C;
static const uint8_t ACCEL_DATA_Y_HIGH = 0x0D;
static const uint8_t ACCEL_DATA_Y_LOW = 0x0E;
static const uint8_t ACCEL_DATA_Z_HIGH = 0x0F;
static const uint8_t ACCEL_DATA_Z_LOW = 0x10;
static const uint8_t GYRO_DATA_X_HIGH = 0x11;
static const uint8_t GYRO_DATA_X_LOW = 0x12;
static const uint8_t GYRO_DATA_Y_HIGH = 0x13;
static const uint8_t GYRO_DATA_Y_LOW = 0x14;
static const uint8_t GYRO_DATA_Z_HIGH = 0x15;
static const uint8_t GYRO_DATA_Z_LOW = 0x16;
static const uint8_t PWR_MGMT0 = 0x1F;
static const uint8_t WHO_AM_I = 0x75;
enum registerBank{MREG1,MREG2,MREG3};
static const uint frequency = 10000000;
uint8_t readFromRegisterBank(registerBank bank,uint8_t reg);
void writeToRegisterBank(registerBank bank, uint8_t reg, uint8_t value);
void resetRegisterBankAccess();
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);
int8_t readRegister(uint8_t reg);
uint8_t readRegister(uint8_t reg);
int16_t readDoubleRegister(uint8_t lowerReg);
SPIClass * handler = NULL;
@ -106,5 +85,7 @@ public:
* @return the value of the whoami register of the ICM-42670
*/
int8_t getWhoAmI();
void testFIFO();
};
#endif //MotionDetection