phillip/dezibot
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added general readRegister Method for IMU

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This commit is contained in:
hhaupt 2024-04-26 10:11:47 +02:00
parent 21f8dc65f1
commit c948b5515b
3 changed files with 41 additions and 26 deletions
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15
example/example.ino
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@ -1,21 +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(5);
//Serial.println(dezibot.motionDetection.getTemperature());
Serial.println(dezibot.motionDetection.getAcceleration().z);
//Serial.println(dezibot.motionDetection.getRotation().x);
Serial.println(dezibot.motionDetection.getWhoAmI());
delay(5000);
}

41
src/motionDetection/MotionDetection.cpp
View File

@ -14,11 +14,10 @@ void MotionDetection::begin(void){
digitalWrite(34,LOW);
// set Accel and Gyroscop to Low Noise
//handler->transfer(0x1F);
//handler->transfer(0x0F);
handler->transfer(0x1F);
handler->transfer(0x0F);
//busy Wait for startup
//delayMicroseconds(200);
handler->transfer(cmdRead(WHO_AM_I));
delayMicroseconds(200);
digitalWrite(34,HIGH);
//handler->endTransaction();*/
@ -58,26 +57,19 @@ 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));
int16_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;
int8_t MotionDetection::getWhoAmI(){
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);
};
@ -89,4 +81,19 @@ uint8_t MotionDetection::cmdRead(uint8_t reg){
};
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;
};
int16_t MotionDetection::readDoubleRegister(uint8_t lowerReg){
return 0;
}

11
src/motionDetection/MotionDetection.h
View File

@ -54,6 +54,9 @@ protected:
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;
@ -96,6 +99,12 @@ public:
*/
float getTemperature();
uint8_t getWhoAmI();
/**
* @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