MotionDetection.h

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#ifndef MotionDetection_h
#define MotionDetection_h
#include <SPI.h>
#include <Arduino.h>
#include "IMU_CMDs.h"
struct IMUResult{
    int16_t x;
    int16_t y;
    int16_t z;
};
enum Axis{
    xAxis = 0x01,
    yAxis = 0x02,
    zAxis = 0x04
};
 
struct Orientation{
    int xRotation;
    int yRotation;
};
 
enum Direction{
    Front,
    Left,
    Right,
    Back,
    Neutral,
    Flipped,
    Error
};
 
struct FIFO_Package{
    int8_t header;
    IMUResult gyro;
    IMUResult accel;
    int16_t temperature;
    int16_t timestamp;
};
 
 
class MotionDetection{
protected:
    enum registerBank{MREG1,MREG2,MREG3};
    static const uint frequency = 24000000;
    static const uint16_t defaultShakeThreshold = 500;
    const uint bufferLength = 64*16;
    int8_t* buf = new int8_t[bufferLength];
    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(void);
    void startFIFO(void);
    void stopFIFO(void);
 
    SPIClass * handler = NULL;
 
    uint gForceCalib = 2050;
     
    
public:
    MotionDetection();
 
    void begin(void);
 
    void end(void);
 
    IMUResult getAcceleration(void);
 
    IMUResult getRotation(void);
 
    float getTemperature(void);
 
    int8_t getWhoAmI(void);
 
    bool isShaken(uint32_t threshold = defaultShakeThreshold,uint8_t axis = xAxis|yAxis|zAxis);
 
    Orientation getTilt();
 
 
    Direction getTiltDirection(uint tolerance = 10);
 
    void calibrateZAxis(uint gforceValue);
 
    uint getDataFromFIFO(FIFO_Package* buffer);
 
    friend class Motion;
};
#endif //MotionDetection