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implemented read functions for Gyro / Accelerometer

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This commit is contained in:
Hans Haupt 2024-05-07 22:01:37 +02:00
parent e42a471a33
commit 650250f9de
3 changed files with 71 additions and 42 deletions
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27
example/IMU/Upside_Downside_Detection/Upside_Downside_Detection.ino Normal file
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@ -0,0 +1,27 @@
#include "Dezibot.h"
Dezibot dezibot = Dezibot();
void setup() {
// put your setup code here, to run once:
dezibot.begin();
Serial.begin(115200);
}
int indices = 0;
void loop() {
// put your main code here, to run repeatedly:
int zvalue = 0;
for(int i = 0; i<30;i++){
zvalue += dezibot.motionDetection.getAcceleration().z;
}
zvalue = zvalue/30;
if(zvalue < -1700){
dezibot.multiColorLight.setLed(ALL,0x00FF00);
} else if(zvalue > 1700){
dezibot.multiColorLight.setLed(ALL,0xFF0000);
} else {
dezibot.multiColorLight.turnOffLed();
}
}

26
example/Led/ColorCycle/ColorCycle/ColorCycle.ino Normal file
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@ -0,0 +1,26 @@
#include "Dezibot.h"
Dezibot dezibot = Dezibot();
void setup() {
// put your setup code here, to run once:
dezibot.begin();
}
void loop() {
// put your main code here, to run repeatedly:
for (int d = 0; d < 255; d++) {
dezibot.multiColorLight.setLed(ALL,dezibot.multiColorLight.color(d,0,255-d));
delay(2);
}
for (int d = 0; d < 255; d++) {
dezibot.multiColorLight.setLed(ALL, dezibot.multiColorLight.color(255-d, d, 0));
delay(2);
}
for (int d = 0; d < 255; d++) {
dezibot.multiColorLight.setLed(ALL, dezibot.multiColorLight.color(0, 255-d, d));
delay(2);
}
}

40
src/motionDetection/MotionDetection.cpp
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@ -10,14 +10,12 @@ void MotionDetection::begin(void){
handler->begin(36,37,35,34); handler->begin(36,37,35,34);
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0)); handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW); digitalWrite(34,LOW);
// set Accel and Gyroscop to Low Noise // set Accel and Gyroscop to Low Noise
handler->transfer(0x1F); handler->transfer(0x1F);
handler->transfer(0x0F); handler->transfer(0x0F);
//busy Wait for startup //busy Wait for startup
delayMicroseconds(200); delayMicroseconds(200);
digitalWrite(34,HIGH); digitalWrite(34,HIGH);
handler->endTransaction(); handler->endTransaction();
}; };
@ -32,37 +30,27 @@ void MotionDetection::end(void){
}; };
IMUResult MotionDetection::getAcceleration(){ IMUResult MotionDetection::getAcceleration(){
IMUResult result; IMUResult result;
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
result.x = readRegister(ACCEL_DATA_X_HIGH)<<8; result.x = readRegister(ACCEL_DATA_X_HIGH)<<8;
result.x |= readRegister(ACCEL_DATA_X_LOW); result.x |= readRegister(ACCEL_DATA_X_LOW);
result.y = readRegister(ACCEL_DATA_Y_HIGH)<<8; result.y = readRegister(ACCEL_DATA_Y_HIGH)<<8;
result.y |= readRegister(ACCEL_DATA_Y_LOW); result.y |= readRegister(ACCEL_DATA_Y_LOW);
result.z = readRegister(ACCEL_DATA_Z_HIGH)<<8; result.z = readRegister(ACCEL_DATA_Z_HIGH)<<8;
result.z |= readRegister(ACCEL_DATA_Z_LOW); result.z |= readRegister(ACCEL_DATA_Z_LOW);
digitalWrite(34,HIGH);
handler->endTransaction();
return result; return result;
}; };
IMUResult MotionDetection::getRotation(){ IMUResult MotionDetection::getRotation(){
IMUResult result; IMUResult result;
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0)); result.x = readRegister(GYRO_DATA_X_HIGH) <<8;
digitalWrite(34,LOW); result.x |= readRegister(GYRO_DATA_X_LOW);
result.x = handler->transfer16(cmdRead(GYRO_DATA_X_HIGH,GYRO_DATA_X_LOW)); result.y = readRegister(GYRO_DATA_Y_HIGH)<<8;
result.y = handler->transfer16(cmdRead(GYRO_DATA_Y_HIGH,GYRO_DATA_Y_LOW)); result.y |= readRegister(GYRO_DATA_Y_LOW);
result.z = handler->transfer16(cmdRead(GYRO_DATA_Z_HIGH,GYRO_DATA_Z_LOW)); result.z = readRegister(GYRO_DATA_Z_HIGH)<<8;
digitalWrite(34,HIGH); result.z |= readRegister(GYRO_DATA_Z_LOW);
handler->endTransaction();
return result; return result;
}; };
float MotionDetection::getTemperature(){ float MotionDetection::getTemperature(){
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0)); int16_t raw_temperatur = readRegister(REG_TEMP_HIGH)<<8;
digitalWrite(34,LOW); raw_temperatur |= readRegister(REG_TEMP_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();
return raw_temperatur/128 +25; return raw_temperatur/128 +25;
}; };
@ -70,14 +58,6 @@ int8_t MotionDetection::getWhoAmI(){
return readRegister(WHO_AM_I); 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){ uint8_t MotionDetection::cmdRead(uint8_t reg){
return (CMD_READ | (reg & ADDR_MASK)); return (CMD_READ | (reg & ADDR_MASK));
}; };
@ -95,7 +75,3 @@ int8_t MotionDetection::readRegister(uint8_t reg){
handler->endTransaction(); handler->endTransaction();
return result; return result;
}; };
int16_t MotionDetection::readDoubleRegister(uint8_t lowerReg){
return 0;
}