chg: dev: specified interface for the imu

src/motionDetection/MotionDetection.h

@@ -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