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Fixed FiFo access

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This commit is contained in:
hhaupt 2024-06-13 04:17:12 +02:00
parent a058b3f205
commit 841202897b
2 changed files with 35 additions and 107 deletions
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133
src/motionDetection/MotionDetection.cpp
View File

@ -8,40 +8,21 @@ 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
this->writeRegister(PWR_MGMT0,0x1F);
//handler->transfer(PWR_MGMT0);
//handler->transfer(0x1F);
//busy Wait for startup
delayMicroseconds(250);
//set accelconfig
this->writeRegister(0x21,0x05);
//set Gyroconfig
this->writeRegister(0x20,0x25);
//handler->transfer(0x20);
//handler->transfer(0x25);
//set Gyro Filter
this->writeRegister(0x23,0x37);
//handler->transfer(0x23);
//handler->transfer(0x37);
//Disable FIFO Bypass
//handler->transfer(FIFO_CONFIG1);
//handler->transfer(0x00);
//digitalWrite(34,HIGH);
//handler->endTransaction();
//Enable Gyro and Acceldata in FIFO
this->initFIFO();
};
void MotionDetection::end(void){
//handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
//digitalWrite(34,LOW);
this->writeRegister(PWR_MGMT0,0x00);
//handler->transfer(cmdWrite(PWR_MGMT0));
//turn Accel and Gyroscope off
//handler->transfer(0x00);
//digitalWrite(34,HIGH);
//handler->end();
};
IMUResult MotionDetection::getAcceleration(){
IMUResult result;
@ -93,30 +74,18 @@ uint8_t MotionDetection::readRegister(uint8_t reg){
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):
this->writeRegister(BLK_SEL_R,0x00);
//result = handler->transfer(BLK_SEL_R);
//result = handler->transfer(0x00);
break;
case(MREG2):
this->writeRegister(BLK_SEL_R,0x28);
//result = handler->transfer(BLK_SEL_R);
//result = handler->transfer(0x28);
break;
case(MREG3):
this->writeRegister(BLK_SEL_R,0x50);
//result = handler->transfer(BLK_SEL_R);
//result = handler->transfer(0x50);
break;
}
this->writeRegister(MADDR_R,reg);
//result = handler->transfer(MADDR_R);
//result = handler->transfer(reg);
//digitalWrite(34,HIGH);
//handler->endTransaction();
delayMicroseconds(10);
result=this->readRegister(M_R);
delayMicroseconds(10);
@ -132,117 +101,75 @@ void MotionDetection::writeToRegisterBank(registerBank bank, uint8_t reg, uint8_
uint8_t result = this->readRegister(PWR_MGMT0);
Serial.print("MADDR_W: ");
Serial.println(readRegister(MADDR_W));
//handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
//digitalWrite(34,LOW);
//set Idle Bit
this->writeRegister(PWR_MGMT0,result|0x10);
//handler->transfer(PWR_MGMT0);
//handler->transfer(result|0x10);
switch(bank){
case(MREG1):
this->writeRegister(BLK_SEL_W,0x00);
// handler->transfer(BLK_SEL_W);
// handler->transfer(0x00);
break;
case(MREG2):
this->writeRegister(BLK_SEL_W,0x28);
//handler->transfer(BLK_SEL_W);
//handler->transfer(0x28);
break;
case(MREG3):
this->writeRegister(BLK_SEL_W,0x50);
//handler->transfer(BLK_SEL_W);
//handler->transfer(0x50);
break;
}
this->writeRegister(MADDR_W,reg);
//handler->transfer(MADDR_W);
//handler->transfer(reg);
this->writeRegister(M_W,value);
//handler->transfer(M_W);
//handler->transfer(value);
delayMicroseconds(10);
this->writeRegister(PWR_MGMT0,result&0xEF);
//handler->transfer(PWR_MGMT0);
//handler->transfer(result&0xEF);
//digitalWrite(34,HIGH);
//handler->endTransaction();
Serial.print("MADDR_W: ");
Serial.println(readRegister(MADDR_W));
this->resetRegisterBankAccess();
};
void MotionDetection::resetRegisterBankAccess(){
//handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
//digitalWrite(34,LOW);
this->writeRegister(BLK_SEL_R,0x00);
//handler->transfer(BLK_SEL_R);
//handler->transfer(0x00);
this->writeRegister(BLK_SEL_W,0x00);
//handler->transfer(BLK_SEL_W);
//handler->transfer(0x00);
this->writeRegister(MADDR_R,0x00);
//handler->transfer(MADDR_R);
//handler->transfer(0x00);
this->writeRegister(MADDR_W,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,FIFO_CONFIG5));
uint16_t fifocount = this->readRegister(FIFO_COUNTH)<<8;
uint16_t fifocount;
while(fifocount < 20){
fifocount = 0;
fifocount = (this->readRegister(FIFO_COUNTH)<<8);
fifocount |= this->readRegister(FIFO_COUNTL);
Serial.print("FiFo Count: ");
Serial.println(fifocount);
uint16_t fifocount = this->readRegister(FIFO_COUNTH)<<8;
fifocount |= this->readRegister(FIFO_COUNTL);
Serial.print("FiFo Count: ");
Serial.println(fifocount);
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));
};
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
digitalWrite(34,LOW);
handler->transfer(cmdRead(0x3f));
handler->transfer(buf,8*fifocount);
//delayMicroseconds(10);
digitalWrite(34,HIGH);
handler->endTransaction();
Serial.println("=============");
writeRegister(0x02,0x04);
delayMicroseconds(10);
fifocount = 0;
fifocount = (this->readRegister(FIFO_COUNTH)<<8);
fifocount |= this->readRegister(FIFO_COUNTL);
Serial.print("FiFo Count: ");
Serial.println(fifocount);
}
void MotionDetection::initFIFO(){
//handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
//digitalWrite(34,LOW);
delay(60);
//set INTF_CONFIG0 FIFO_COUNT_REC_RECORD und Little Endian
this->writeRegister(INTF_CONFIG0,0x70);
//handler->transfer(INTF_CONFIG0);
//handler->transfer(0x70);
this->writeRegister(INTF_CONFIG0,0x60);
//set FIFO_CONFIG1 to Mode Snapshot and BYPASS Off
this->writeRegister(FIFO_CONFIG1,0x02);
//handler->transfer(FIFO_CONFIG1);
//handler->transfer(0x02);
this->writeRegister(FIFO_CONFIG1,0x00);
//set TMST_CONFIG1_MREG1 TMST_CONFIIG1_TMST_EN
//digitalWrite(34,HIGH);
//handler->endTransaction();
this->writeToRegisterBank(MREG1,TMST_CONFIG1,0x03);
this->writeToRegisterBank(MREG1,TMST_CONFIG1,0x00);
//set FiFO config 5 GYRO_EN,TMST_FSYNC, ACCEL_EN, WM_GT_TH_EN
this->writeToRegisterBank(MREG1,FIFO_CONFIG5,0x27);
this->writeToRegisterBank(MREG1,FIFO_CONFIG5,0x21);
//set FOF_CONFIG2 0x1 (INT triggerd each packaged)
//handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
//digitalWrite(34,LOW);
this->writeRegister(FIFO_CONFIG2,0x0A);
//handler->transfer(FIFO_CONFIG2);
//handler->transfer(0x0A);
//disable Data Read Interrupt
//digitalWrite(34,HIGH);
//handler->endTransaction();
};
void MotionDetection::writeRegister(uint8_t reg, uint8_t value){
@ -250,7 +177,7 @@ void MotionDetection::writeRegister(uint8_t reg, uint8_t value){
digitalWrite(34,LOW);
handler->transfer(reg);
handler->transfer(value);
delayMicroseconds(10);
digitalWrite(34,HIGH);
delayMicroseconds(10);
handler->endTransaction();
};

1
src/motionDetection/MotionDetection.h
View File

@ -24,6 +24,7 @@ class MotionDetection{
protected:
enum registerBank{MREG1,MREG2,MREG3};
static const uint frequency = 10000000;
int8_t* buf = new int8_t[16*200];
uint8_t readFromRegisterBank(registerBank bank,uint8_t reg);
void writeToRegisterBank(registerBank bank, uint8_t reg, uint8_t value);
void resetRegisterBankAccess();