From e42a471a33ca04f78cf5352b1a845323882ef9e6 Mon Sep 17 00:00:00 2001
From: Hans Haupt <hans.haupt@dezibot.de>
Date: Fri, 3 May 2024 09:29:53 +0200
Subject: [PATCH] wip:reading acceleration

---
 src/Dezibot.cpp                         |  1 +
 src/motionDetection/MotionDetection.cpp | 14 ++++++++------
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/src/Dezibot.cpp b/src/Dezibot.cpp
index cf2084e..273a5a2 100644
--- a/src/Dezibot.cpp
+++ b/src/Dezibot.cpp
@@ -17,4 +17,5 @@ Dezibot::Dezibot():multiColorLight(),motionDetection(){
 };
 void Dezibot::begin(void) {
     multiColorLight.begin();
+    motionDetection.begin();
 };
diff --git a/src/motionDetection/MotionDetection.cpp b/src/motionDetection/MotionDetection.cpp
index e2c2ca3..5e648ec 100644
--- a/src/motionDetection/MotionDetection.cpp
+++ b/src/motionDetection/MotionDetection.cpp
@@ -8,9 +8,8 @@ void MotionDetection::begin(void){
      pinMode(34,OUTPUT);
      digitalWrite(34,HIGH);
      handler->begin(36,37,35,34);
-    
      
-     //handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
+     handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
      
     digitalWrite(34,LOW);
         // set Accel and Gyroscop to Low Noise
@@ -20,7 +19,7 @@ void MotionDetection::begin(void){
         delayMicroseconds(200);
         
     digitalWrite(34,HIGH);
-     //handler->endTransaction();*/
+    handler->endTransaction();
 };
 void MotionDetection::end(void){
     handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
@@ -35,9 +34,12 @@ IMUResult MotionDetection::getAcceleration(){
     IMUResult result;
     handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
     digitalWrite(34,LOW);
-    result.x = handler->transfer16(cmdRead(ACCEL_DATA_X_HIGH,ACCEL_DATA_X_LOW));
-    result.y = handler->transfer16(cmdRead(ACCEL_DATA_Y_HIGH,ACCEL_DATA_Y_LOW));
-    result.z = handler->transfer16(cmdRead(ACCEL_DATA_Z_HIGH,ACCEL_DATA_Z_LOW));
+    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);
     digitalWrite(34,HIGH);
     handler->endTransaction();
     return result;