#include <MotionDetection.h>

Public Member Functions
	MotionDetection ()

void	begin (void)
	initialized the IMU Component. Wakes the IMU from Standby Set configuration

void	end (void)
	stops the component Sets the IMU to Low-Power-Mode

IMUResult	getAcceleration (void)
	Triggers a new Reading of the accelerationvalues and reads them from the IMU.

IMUResult	getRotation (void)
	Triggers a new reading of the gyroscope and reads the values from the imu.

float	getTemperature (void)
	Reads the current On Chip temperature of the IMU.

int8_t	getWhoAmI (void)
	Returns the value of reading the whoAmI register When IMU working correctly, value should be 0x67.

bool	isShaken (uint32_t threshold=defaultShakeThreshold, uint8_t axis=xAxis\|yAxis\|zAxis)
	Detects if at the time of calling is shaken. Therefore the sum over all accelerationvalues is calculated and checked against threshold. If sum > threshold a shake is detected, else not.

Orientation	getTilt ()
	calculates how the robot is tilted. It is set, that when the robot is placed normally on a flat table, the result will be (0,0) Tilting the robot, so that the front leg is deeper than the other to results in an increasing degrees, tilting the front leg up will increase negativ degrees Tilting the robot to the right will increase the degrees until 180° (upside down), tilting it left will result in increasing negativ degrees (-1,-2,...,-180). On the top there is a jump of the values from 180->-180 and vice versa.

Direction	getTiltDirection (uint tolerance=10)
	Checks in which direction (Front, Left, Right, Back) the robot is tilted.

void	calibrateZAxis (uint gforceValue)

uint	getDataFromFIFO (FIFO_Package *buffer)
	will read all availible packages from fifo, after 40ms Fifo is full

Protected Types
enum	registerBank { MREG1 , MREG2 , MREG3 }

Protected Member Functions
uint8_t	readFromRegisterBank (registerBank bank, uint8_t reg)

void	writeToRegisterBank (registerBank bank, uint8_t reg, uint8_t value)

void	resetRegisterBankAccess ()

uint16_t	cmdRead (uint8_t regHigh, uint8_t regLow)

uint16_t	cmdWrite (uint8_t regHigh, uint8_t regLow)

uint8_t	cmdRead (uint8_t reg)

uint8_t	cmdWrite (uint8_t reg)

uint8_t	readRegister (uint8_t reg)

int16_t	readDoubleRegister (uint8_t lowerReg)

void	writeRegister (uint8_t reg, uint8_t value)

void	initFIFO ()

Protected Attributes
const uint	bufferLength = 64*16

int8_t *	buf = new int8_t[bufferLength]

SPIClass *	handler = NULL

uint	gForceCalib = 4050

Static Protected Attributes
static const uint	frequency = 24000000

static const uint16_t	defaultShakeThreshold = 500

Detailed Description

Definition at line 51 of file MotionDetection.h.

Member Enumeration Documentation

◆ registerBank

enum MotionDetection::registerBank

protected

Enumerator
MREG1
MREG2
MREG3

Definition at line 53 of file MotionDetection.h.

Constructor & Destructor Documentation

◆ MotionDetection()

MotionDetection::MotionDetection ( )

Definition at line 4 of file MotionDetection.cpp.

Member Function Documentation

◆ begin()

void MotionDetection::begin ( void )

initialized the IMU Component. Wakes the IMU from Standby Set configuration

Definition at line 8 of file MotionDetection.cpp.

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◆ calibrateZAxis()

void MotionDetection::calibrateZAxis ( uint gforceValue )

can be used to set a custom value for the gforceReading of the zaxis, which will improve the getTiltFunction.

Attention: this method is not persisten, so the value is not stored when the programm is restarted / the robot is powerd off

Parameters

gforceValue the value the IMU returns for the gravitationforce -> to get this value, place the robot on a leveled surface and read the value getAcceleration().z

Definition at line 74 of file MotionDetection.cpp.

◆ cmdRead() [1/2]

uint8_t MotionDetection::cmdRead ( uint8_t reg )

protected

Definition at line 155 of file MotionDetection.cpp.

◆ cmdRead() [2/2]

uint16_t MotionDetection::cmdRead	(	uint8_t	regHigh,
		uint8_t	regLow )

protected

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◆ cmdWrite() [1/2]

uint8_t MotionDetection::cmdWrite ( uint8_t reg )

protected

Definition at line 158 of file MotionDetection.cpp.

◆ cmdWrite() [2/2]

uint16_t MotionDetection::cmdWrite	(	uint8_t	regHigh,
		uint8_t	regLow )

protected

◆ end()

void MotionDetection::end ( void )

stops the component Sets the IMU to Low-Power-Mode

Definition at line 25 of file MotionDetection.cpp.

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◆ getAcceleration()

IMUResult MotionDetection::getAcceleration ( void )

Triggers a new Reading of the accelerationvalues and reads them from the IMU.

Returns: IMUResult that contains the new read values

Definition at line 28 of file MotionDetection.cpp.

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◆ getDataFromFIFO()

uint MotionDetection::getDataFromFIFO ( FIFO_Package * buffer )

will read all availible packages from fifo, after 40ms Fifo is full

Parameters

buffer pointer to FIFO_Package Struct that at least must have size 64 (this is the max package count with APEX Enabled)

Returns: the amount of acutally fetched packages

Definition at line 245 of file MotionDetection.cpp.

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◆ getRotation()

IMUResult MotionDetection::getRotation ( void )

Triggers a new reading of the gyroscope and reads the values from the imu.

Returns: IMUResult

Definition at line 35 of file MotionDetection.cpp.

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◆ getTemperature()

float MotionDetection::getTemperature ( void )

Reads the current On Chip temperature of the IMU.

Returns: normalized temperature in degree Centigrade

Definition at line 45 of file MotionDetection.cpp.

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◆ getTilt()

Orientation MotionDetection::getTilt ( )

calculates how the robot is tilted. It is set, that when the robot is placed normally on a flat table, the result will be (0,0) Tilting the robot, so that the front leg is deeper than the other to results in an increasing degrees, tilting the front leg up will increase negativ degrees Tilting the robot to the right will increase the degrees until 180° (upside down), tilting it left will result in increasing negativ degrees (-1,-2,...,-180). On the top there is a jump of the values from 180->-180 and vice versa.

Precision is rounded to 1 deg steps

Attention: The results are only valid, if the robot is not moved in any way during the measurment, as the calculation is made by using the accelration values. If it's detected, that the robot is accelerated while measuring, the method will return max(int). Please note that the imu is pretty sensitiv, even walking next to the table may influcene the result.

Definition at line 78 of file MotionDetection.cpp.

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◆ getTiltDirection()

Direction MotionDetection::getTiltDirection ( uint tolerance = 10 )

Checks in which direction (Front, Left, Right, Back) the robot is tilted.

Attention: Does only work if the robot is not moving

Parameters

tolerance (optional, default = 10) how many degrees can the robot be tilted, and still will be considerd as neutral.

Returns: Direction the direction in that the robot is tilted most. Front is onsiderd as the direction of driving. If robot is not tilted more than the tolerance in any direction, return is Neutral. If Robot is upside down, return is Flipped. If Robot is moved, return is Error

Definition at line 122 of file MotionDetection.cpp.

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◆ getWhoAmI()

int8_t MotionDetection::getWhoAmI ( void )

Returns the value of reading the whoAmI register When IMU working correctly, value should be 0x67.

Returns: the value of the whoami register of the ICM-42670

Definition at line 51 of file MotionDetection.cpp.

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◆ initFIFO()

void MotionDetection::initFIFO ( )

protected

Definition at line 231 of file MotionDetection.cpp.

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◆ isShaken()

bool MotionDetection::isShaken	(	uint32_t	threshold = defaultShakeThreshold,
		uint8_t	axis = xAxis\|yAxis\|zAxis )

Detects if at the time of calling is shaken. Therefore the sum over all accelerationvalues is calculated and checked against threshold. If sum > threshold a shake is detected, else not.

Parameters

threshold	(optional) the level of acceleration that must be reached to detect a shake
axis	(optional) select which axis should be used for detection. Possible values ar xAxis,yAxis,zAxis It's possible to combine multiple axis with the bitwise or Operator \| For Example: to detect x and y axis: axis = xAxis\|yAxis

Returns: true if a shake is detected, false else

Definition at line 55 of file MotionDetection.cpp.

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◆ readDoubleRegister()

int16_t MotionDetection::readDoubleRegister ( uint8_t lowerReg )

protected

◆ readFromRegisterBank()

uint8_t MotionDetection::readFromRegisterBank	(	registerBank	bank,
		uint8_t	reg )

protected

Definition at line 173 of file MotionDetection.cpp.

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◆ readRegister()

uint8_t MotionDetection::readRegister ( uint8_t reg )

protected

Definition at line 162 of file MotionDetection.cpp.

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◆ resetRegisterBankAccess()

void MotionDetection::resetRegisterBankAccess ( )

protected

Definition at line 224 of file MotionDetection.cpp.

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◆ writeRegister()

void MotionDetection::writeRegister	(	uint8_t	reg,
		uint8_t	value )

protected

Definition at line 279 of file MotionDetection.cpp.

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◆ writeToRegisterBank()

void MotionDetection::writeToRegisterBank	(	registerBank	bank,
		uint8_t	reg,
		uint8_t	value )

protected

Definition at line 194 of file MotionDetection.cpp.

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Member Data Documentation

◆ buf

int8_t* MotionDetection::buf = new int8_t[bufferLength]

protected

Definition at line 57 of file MotionDetection.h.

◆ bufferLength

const uint MotionDetection::bufferLength = 64*16

protected

Definition at line 56 of file MotionDetection.h.

◆ defaultShakeThreshold

const uint16_t MotionDetection::defaultShakeThreshold = 500

staticprotected

Definition at line 55 of file MotionDetection.h.

◆ frequency

const uint MotionDetection::frequency = 24000000

staticprotected

Definition at line 54 of file MotionDetection.h.

◆ gForceCalib

uint MotionDetection::gForceCalib = 4050

protected

Definition at line 74 of file MotionDetection.h.

◆ handler

SPIClass* MotionDetection::handler = NULL

protected

Definition at line 72 of file MotionDetection.h.

The documentation for this class was generated from the following files:

src/motionDetection/MotionDetection.h
src/motionDetection/MotionDetection.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ registerBank

Constructor & Destructor Documentation

◆ MotionDetection()

Member Function Documentation

◆ begin()

◆ calibrateZAxis()

◆ cmdRead() [1/2]

◆ cmdRead() [2/2]

◆ cmdWrite() [1/2]

◆ cmdWrite() [2/2]

◆ end()

◆ getAcceleration()

◆ getDataFromFIFO()

◆ getRotation()

◆ getTemperature()

◆ getTilt()

◆ getTiltDirection()

◆ getWhoAmI()

◆ initFIFO()

◆ isShaken()

◆ readDoubleRegister()

◆ readFromRegisterBank()

◆ readRegister()

◆ resetRegisterBankAccess()

◆ writeRegister()

◆ writeToRegisterBank()

Member Data Documentation

◆ buf

◆ bufferLength

◆ defaultShakeThreshold

◆ frequency

◆ gForceCalib

◆ handler