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60303968bb
* add heltec-mesh-node-t1 * fixed low power * Update the sensor enumeration values. Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> * Fix memory leak in ICM42607PSensor * fix ST7735_MISO error --------- Co-authored-by: Ben Meadors <benmmeadors@gmail.com> Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
99 lines
2.9 KiB
C++
99 lines
2.9 KiB
C++
#include "ICM42607PSensor.h"
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#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<ICM42670P.h>)
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#include "detect/ScanI2CTwoWire.h"
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#include <ICM42670P.h>
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static constexpr uint16_t ICM42607P_ACCEL_ODR_HZ = 50;
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static constexpr uint16_t ICM42607P_ACCEL_FSR_G = 2;
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static constexpr float ICM42607P_COUNTS_PER_G = 32768.0f / ICM42607P_ACCEL_FSR_G;
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#ifdef ICM_42607P_INT_PIN
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volatile static bool ICM42607P_IRQ = false;
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void ICM42607PSetInterrupt()
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{
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ICM42607P_IRQ = true;
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}
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#endif
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ICM42607PSensor::ICM42607PSensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice)
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{
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wire = ScanI2CTwoWire::fetchI2CBus(foundDevice.address);
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}
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ICM42607PSensor::~ICM42607PSensor() = default;
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bool ICM42607PSensor::init()
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{
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bool addressLsb = deviceAddress() == ICM42607P_ADDR_ALT;
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LOG_DEBUG("ICM-42607-P begin on addr 0x%02X (port=%d)", deviceAddress(), devicePort());
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sensor.reset();
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auto newSensor = std::make_unique<ICM42670>(*wire, addressLsb);
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int status = newSensor->begin();
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// ICM42670P library returns -3 for ICM42607P because WHO_AM_I differs; the register map is compatible.
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if (status != 0 && status != -3) {
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LOG_DEBUG("ICM-42607-P init error %d", status);
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return false;
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}
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status = newSensor->startAccel(ICM42607P_ACCEL_ODR_HZ, ICM42607P_ACCEL_FSR_G);
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if (status != 0) {
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LOG_DEBUG("ICM-42607-P accel start error %d", status);
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return false;
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}
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#ifdef ICM_42607P_INT_PIN
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ICM42607P_IRQ = false;
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status = newSensor->startWakeOnMotion(ICM_42607P_INT_PIN, ICM42607PSetInterrupt);
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if (status != 0) {
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LOG_DEBUG("ICM-42607-P wake-on-motion start error %d", status);
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return false;
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}
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LOG_DEBUG("ICM-42607-P wake-on-motion interrupt ok pin=%d", ICM_42607P_INT_PIN);
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#endif
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sensor = std::move(newSensor);
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LOG_DEBUG("ICM-42607-P init ok");
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return true;
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}
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int32_t ICM42607PSensor::runOnce()
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{
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#ifdef ICM_42607P_INT_PIN
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if (ICM42607P_IRQ) {
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ICM42607P_IRQ = false;
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LOG_DEBUG("ICM-42607-P motion interrupt");
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wakeScreen();
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}
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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#else
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int16_t x = 0;
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int16_t y = 0;
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int16_t z = 0;
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inv_imu_sensor_event_t event = {};
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if (sensor == nullptr || sensor->getDataFromRegisters(event) != 0) {
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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// getDataFromRegisters() fills accel[] but does not set sensor_mask in this library version.
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if (event.accel[0] == 0 && event.accel[1] == 0 && event.accel[2] == 0) {
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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x = event.accel[0];
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y = event.accel[1];
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z = event.accel[2];
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// LOG_DEBUG("ICM-42607-P accel read x=%.3fg y=%.3fg z=%.3fg", (float)x / ICM42607P_COUNTS_PER_G,
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// (float)y / ICM42607P_COUNTS_PER_G, (float)z / ICM42607P_COUNTS_PER_G);
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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#endif
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}
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#endif
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