Merge remote-tracking branch 'origin/feature/#14-implement-motion-detection' into HEAD

example/IMU/Upside_Downside_Detection/Upside_Downside_Detection.ino

@@ -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();
+  }
+  }
+

example/Led/ColorCycle/ColorCycle/ColorCycle.ino

@@ -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);
+  }
+}

example/example.ino

@@ -0,0 +1,20 @@
+#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() {
+  // put your main code here, to run repeatedly:
+
+  //Serial.println(dezibot.motionDetection.getTemperature());
+  Serial.println(dezibot.motionDetection.getAcceleration().z);
+  //Serial.println(dezibot.motionDetection.getRotation().x);
+  Serial.println(dezibot.motionDetection.getWhoAmI());
+  delay(5000);
+}

src/Dezibot.cpp

@@ -12,7 +12,7 @@
 
 #include "Dezibot.h"
 
-Dezibot::Dezibot():multiColorLight(){
+Dezibot::Dezibot():multiColorLight(),motionDetection(){
 
 };
 
@@ -20,4 +20,5 @@ void Dezibot::begin(void) {
     motion.begin();
     multiColorLight.begin();
     lightDetection.begin();    
+    motionDetection.begin();
 };

src/motionDetection/MotionDetection.cpp

@@ -0,0 +1,77 @@
+#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);
+    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;
+    result.x = readRegister(ACCEL_DATA_X_HIGH)<<8;
+    result.x |= readRegister(ACCEL_DATA_X_LOW);
+    result.y = readRegister(ACCEL_DATA_Y_HIGH)<<8;
+    result.y |= readRegister(ACCEL_DATA_Y_LOW);
+    result.z = readRegister(ACCEL_DATA_Z_HIGH)<<8;
+    result.z |= readRegister(ACCEL_DATA_Z_LOW);
+    return result;
+};
+IMUResult MotionDetection::getRotation(){
+    IMUResult result;
+    result.x = readRegister(GYRO_DATA_X_HIGH) <<8;
+    result.x |= readRegister(GYRO_DATA_X_LOW);
+    result.y = readRegister(GYRO_DATA_Y_HIGH)<<8;
+    result.y |= readRegister(GYRO_DATA_Y_LOW);
+    result.z = readRegister(GYRO_DATA_Z_HIGH)<<8;
+    result.z |= readRegister(GYRO_DATA_Z_LOW);
+    return result;
+};
+float MotionDetection::getTemperature(){
+    int16_t raw_temperatur = readRegister(REG_TEMP_HIGH)<<8;
+    raw_temperatur |= readRegister(REG_TEMP_LOW); 
+    return raw_temperatur/128 +25;
+};
+
+int8_t MotionDetection::getWhoAmI(){
+    return readRegister(WHO_AM_I);    
+};
+
+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));
+};
+
+int8_t MotionDetection::readRegister(uint8_t reg){
+    handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
+    digitalWrite(34,LOW);
+    uint8_t result;
+    result = handler->transfer(cmdRead(reg));
+    result = handler->transfer(0x00);
+     digitalWrite(34,HIGH);
+    handler->endTransaction(); 
+    return result;
+};

src/motionDetection/MotionDetection.h

@@ -1,6 +1,110 @@
+/**
+ * @file MotionDetection.h
+ * @author Hans Haupt
+ * @brief This component controls the IMU (Accelerometer & Gyroscope) ICM-42670-P
+ * @version 0.1
+ * @date 2023-12-15
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
 #ifndef MotionDetection_h
 #define MotionDetection_h
-class MotionDetection{
+#include <SPI.h>
+#include <Arduino.h>
+struct IMUResult{
+    int16_t x;
+    int16_t y;
+    int16_t z;
+};
 
+
+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;
+
+    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);
+
+    int8_t readRegister(uint8_t reg);
+    int16_t readDoubleRegister(uint8_t lowerReg);
+
+    SPIClass * handler = NULL;
+     
+    
+public:
+    MotionDetection();
+
+    /**
+     * @brief initialized the  IMU Component. 
+     * Wakes the IMU from Standby 
+     * Set configuration 
+     * 
+     */
+    void begin(void);
+
+    /**
+     * @brief stops the component
+     * Sets the IMU to Low-Power-Mode
+     * 
+     */
+    void end(void);
+
+    /**
+     * @brief Triggers a new Reading of the accelerationvalues and reads them from the IMU
+     * 
+     * @return IMUResult that contains the new read values
+     */
+    IMUResult getAcceleration();
+
+    /**
+     * @brief Triggers a new reading of the gyroscope and reads the values from the imu
+     * 
+     * @return IMUResult 
+     */
+    IMUResult getRotation();
+
+    /**
+     * @brief Reads the current On Chip temperature of the IMU 
+     * 
+     * @return normalized temperature in degree Centigrade
+     */
+    float getTemperature();
+
+    /**
+     * @brief Returns the value of reading the whoAmI register
+     * When IMU working correctly, value should be 0x67
+     * 
+     * @return the value of the whoami register of the ICM-42670 
+     */
+    int8_t getWhoAmI();
 };
 #endif //MotionDetection