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small changes and many new sensors

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This commit is contained in:
FrankE
2023-10-30 14:30:02 +01:00
parent 07917fe5ba
commit aad07c1b0a
21 changed files with 1642 additions and 297 deletions
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74
ext/sens/CMPS10.h Normal file
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#pragma once
#include "../../Platforms.h"
#include "../../Debug.h"
/**
* CMPS10 3-axis magnetometer/accelerometer module
* https://www.robot-electronics.co.uk/htm/cmps10i2c.htm
*/
template <typename I2C> class CMPS10 {
I2C& i2c;
static constexpr const char* NAME = "CMPS10";
static constexpr uint8_t ADDR7 = 0xC0>>1;
static constexpr uint8_t REG_MAG_X = 10; //10+11;
static constexpr uint8_t REG_MAG_Y = 12; //12+13;
static constexpr uint8_t REG_MAG_Z = 14; //14+15;
static constexpr uint8_t REG_ACC_X = 16; //16+17;
static constexpr uint8_t REG_ACC_Y = 18; //18+19;
static constexpr uint8_t REG_ACC_Z = 20; //20+21;
public:
struct Magnetometer {
int16_t x;
int16_t y;
int16_t z;
};
struct Acceleromter {
int16_t x;
int16_t y;
int16_t z;
};
public:
CMPS10(I2C& i2c, uint8_t addrOffset = 0) : i2c(i2c){
}
bool isPresent() {
return i2c.query(ADDR7);
}
Magnetometer getMagnetometer() {
uint8_t res[6];
i2c.readReg(ADDR7, REG_MAG_X, 6, res);
Magnetometer mag;
mag.x = ((res[0] << 8) | (res[1] << 0));
mag.y = ((res[2] << 8) | (res[3] << 0));
mag.z = ((res[4] << 8) | (res[5] << 0));
return mag;
}
Acceleromter getAcceleromter() {
uint8_t res[6];
i2c.readReg(ADDR7, REG_ACC_X, 6, res);
Acceleromter acc;
acc.x = ((res[0] << 8) | (res[1] << 0));
acc.y = ((res[2] << 8) | (res[3] << 0));
acc.z = ((res[4] << 8) | (res[5] << 0));
return acc;
}
};