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chg: dev: specified interface for the imu

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hhau 2023-12-16 00:16:09 +01:00
parent 31f4a2b281
commit ce5f00a848
1 changed files with 95 additions and 1 deletions
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96
src/motionDetection/MotionDetection.h
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@ -1,6 +1,100 @@
/**
* @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 "driver/spi_master.h"
struct IMUResult{
float x;
float y;
float z;
}
class MotionDetection{
protected:
static const uint8_t MCU_HOST = SPI2_HOST;
static const uint8_t PIN_NUM_MISO = 37;
static const uint8_t PIN_NUM_MOSI = 35;
static const uint8_t PIN_NUM_CLK = 36;
static const uint8_t PIN_NUM_CS = 34;
static const uint8_t PIN_INT0 = 28;
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;
uint16_t imu_read_double_register(uint8_t lowerByteAddress, spi_device_handle_t * spi);
esp_err_t spi_imu_read(spi_device_handle_t * ctx, uint8_t addr, uint8_t* out_data);
esp_err_t spi_imu_write(spi_device_handle_t* ctx, uint8_t addr, uint8_t data);
void cs_high(spi_transaction_t* t);
void cs_low(spi_transaction_t* t);
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();
};
#endif //MotionDetection