mirror of
https://github.com/SlimeVR/SlimeVR-Tracker-ESP.git
synced 2026-04-06 02:01:57 +02:00
662c684def
* Clean up sensorbuilder * Join namespaces declarations * Formatting * Change around defines * Add missing include * Change primary/secondary logic to booleans * Formatting * Undo defines changes * Fix messed up code * Fix some compiler warnings * Formatting * Update src/sensorinterface/i2cimpl.h Co-authored-by: unlogisch04 <98281608+unlogisch04@users.noreply.github.com> * Send BMI firmware to progmem * Formattign * Rework getRegisterInterface logic
131 lines
3.5 KiB
C++
131 lines
3.5 KiB
C++
/*
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SlimeVR Code is placed under the MIT license
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Copyright (c) 2025 Eiren Rain & SlimeVR Contributors
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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*/
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#pragma once
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#include <PinInterface.h>
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#include <SPI.h>
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#include <cstdint>
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#include "../logging/Logger.h"
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#include "DirectSPIInterface.h"
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#include "RegisterInterface.h"
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#define ICM_READ_FLAG 0x80
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namespace SlimeVR::Sensors {
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struct SPIImpl : public RegisterInterface {
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SPIImpl(DirectSPIInterface* spi, PinInterface* csPin)
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: m_spi(spi)
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, m_csPin(csPin) {
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auto& spiSettings = spi->getSpiSettings();
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m_Logger.info(
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"SPI settings: clock: %d, bit order: 0x%02X, data mode: 0x%02X",
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spiSettings._clock,
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spiSettings._bitOrder,
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spiSettings._dataMode
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);
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csPin->pinMode(OUTPUT);
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csPin->digitalWrite(HIGH);
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}
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uint8_t readReg(uint8_t regAddr) const override {
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m_spi->beginTransaction(m_csPin);
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m_spi->transfer(regAddr | ICM_READ_FLAG);
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uint8_t buffer = m_spi->transfer(0);
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m_spi->endTransaction(m_csPin);
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return buffer;
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}
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uint16_t readReg16(uint8_t regAddr) const override {
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m_spi->beginTransaction(m_csPin);
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m_spi->transfer(regAddr | ICM_READ_FLAG);
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uint8_t b1 = m_spi->transfer(0);
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uint8_t b2 = m_spi->transfer(0);
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m_spi->endTransaction(m_csPin);
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return b2 << 8 | b1;
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}
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void writeReg(uint8_t regAddr, uint8_t value) const override {
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m_spi->beginTransaction(m_csPin);
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m_spi->transfer(regAddr);
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m_spi->transfer(value);
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m_spi->endTransaction(m_csPin);
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}
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void writeReg16(uint8_t regAddr, uint16_t value) const override {
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m_spi->beginTransaction(m_csPin);
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m_spi->transfer(regAddr);
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m_spi->transfer(value & 0xFF);
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m_spi->transfer(value >> 8);
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m_spi->endTransaction(m_csPin);
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}
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void readBytes(uint8_t regAddr, uint8_t size, uint8_t* buffer) const override {
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m_spi->beginTransaction(m_csPin);
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m_spi->transfer(regAddr | ICM_READ_FLAG);
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for (uint8_t i = 0; i < size; ++i) {
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buffer[i] = m_spi->transfer(0);
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}
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m_spi->endTransaction(m_csPin);
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}
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void writeBytes(uint8_t regAddr, uint8_t size, uint8_t* buffer) const override {
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m_spi->beginTransaction(m_csPin);
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m_spi->transfer(regAddr);
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for (uint8_t i = 0; i < size; ++i) {
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m_spi->transfer(buffer[i]);
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}
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m_spi->endTransaction(m_csPin);
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}
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bool hasSensorOnBus() override {
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return true; // TODO
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}
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uint8_t getAddress() const override { return 0; }
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std::string toString() const override { return std::string("SPI"); }
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private:
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DirectSPIInterface* m_spi;
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PinInterface* m_csPin;
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SlimeVR::Logging::Logger m_Logger = SlimeVR::Logging::Logger("SPI");
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};
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} // namespace SlimeVR::Sensors
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