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9456c42fc0
* Initial upload * Tidy up * Update ICM20948Sensor.cpp * Update AccelerometerThread.h * Initial upload * Tidy up * Update ICM20948Sensor.cpp * Update AccelerometerThread.h --------- Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
96 lines
2.6 KiB
C++
Executable File
96 lines
2.6 KiB
C++
Executable File
#pragma once
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#ifndef _ICM_20948_SENSOR_H_
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#define _ICM_20948_SENSOR_H_
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#include "MotionSensor.h"
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#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
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#include <ICM_20948.h>
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// Set the default gyro scale - dps250, dps500, dps1000, dps2000
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#ifndef ICM_20948_MPU_GYRO_SCALE
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#define ICM_20948_MPU_GYRO_SCALE dps250
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#endif
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// Set the default accelerometer scale - gpm2, gpm4, gpm8, gpm16
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#ifndef ICM_20948_MPU_ACCEL_SCALE
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#define ICM_20948_MPU_ACCEL_SCALE gpm2
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#endif
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// Define a threshold for Wake on Motion Sensing (0mg to 1020mg)
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#ifndef ICM_20948_WOM_THRESHOLD
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#define ICM_20948_WOM_THRESHOLD 16U
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#endif
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// Define a pin in variant.h to use interrupts to read the ICM-20948
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#ifndef ICM_20948_WOM_THRESHOLD
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#define ICM_20948_INT_PIN 255
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#endif
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// Uncomment this line to enable helpful debug messages on Serial
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// #define ICM_20948_DEBUG 1
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// Uncomment this line to enable the onboard digital motion processor (to be added in a future PR)
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// #define ICM_20948_DMP_IS_ENABLED 1
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// Check for a mandatory compiler flag to use the DMP (to be added in a future PR)
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#ifdef ICM_20948_DMP_IS_ENABLED
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#ifndef ICM_20948_USE_DMP
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#error To use the digital motion processor, please either set the compiler flag ICM_20948_USE_DMP or uncomment line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h
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#endif
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#endif
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// The I2C address of the Accelerometer (if found) from main.cpp
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extern ScanI2C::DeviceAddress accelerometer_found;
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// Singleton wrapper for the Sparkfun ICM_20948_I2C class
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class ICM20948Singleton : public ICM_20948_I2C
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{
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private:
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static ICM20948Singleton *pinstance;
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protected:
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ICM20948Singleton();
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~ICM20948Singleton();
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public:
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// Create a singleton instance (not thread safe)
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static ICM20948Singleton *GetInstance();
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// Singletons should not be cloneable.
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ICM20948Singleton(ICM20948Singleton &other) = delete;
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// Singletons should not be assignable.
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void operator=(const ICM20948Singleton &) = delete;
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// Initialise the motion sensor singleton for normal operation
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bool init(ScanI2C::FoundDevice device);
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// Enable Wake on Motion interrupts (sensor must be initialised first)
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bool setWakeOnMotion();
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#ifdef ICM_20948_DMP_IS_ENABLED
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// Initialise the motion sensor singleton for digital motion processing
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bool initDMP();
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#endif
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};
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class ICM20948Sensor : public MotionSensor
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{
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private:
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ICM20948Singleton *sensor = nullptr;
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public:
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explicit ICM20948Sensor(ScanI2C::FoundDevice foundDevice);
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// Initialise the motion sensor
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virtual bool init() override;
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// Called each time our sensor gets a chance to run
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virtual int32_t runOnce() override;
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};
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#endif
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#endif |