Initial commit: PI_mikrokontroler changes

firmware_adxl345_spi/include/ADXL345FreshSPI.h

@@ -0,0 +1,87 @@
+#pragma once
+#include <Arduino.h>
+#include <SPI.h>
+#include "ADXL345Registers.h"
+#include <Logger.h>
+
+class ADXL345FreshSPI {
+public:
+  enum class Range { G2=0, G4=1, G8=2, G16=3 };
+  enum class FIFOmode { BYPASS, FIFO, STREAM, TRIGGER };
+
+  struct SampleI16 {
+    int16_t x, y, z;
+    uint32_t ts_us;
+  };
+  struct SampleSI {
+    float ax_g, ay_g, az_g;
+    float ax_ms2, ay_ms2, az_ms2;
+    uint32_t ts_us;
+  };
+
+  ADXL345FreshSPI() = default;
+
+  // --- Init (SPI) ---
+  // Uwaga: ADXL345 wymaga SPI MODE3, zegar ≤ ~5 MHz.
+  bool begin(SPIClass *spi, uint8_t csPin, uint32_t clockHz = 5000000);
+
+  // --- Konfiguracja ---
+  bool setODR_Hz(float odr_hz);
+  bool setRange(Range r, bool fullRes=true);
+  bool enableFIFO(FIFOmode mode, uint8_t triggerLevel=16);
+  bool enableDataReadyInterrupt(bool enable=true); // przy pollingu pozostaw false
+
+  // --- Status ---
+  bool ping();             // DEVID == 0xE5 ?
+  bool available();        // DATA_READY z INT_SOURCE
+
+  // --- Odczyty „świeże” (blokujące do timeout_ms) ---
+  bool readFresh(SampleI16& out, uint32_t timeout_ms = 100);
+  bool readFresh(SampleSI&  out, uint32_t timeout_ms = 100);
+
+  // --- Zrzut FIFO (do n elementów) ---
+  size_t readFIFOBurst(SampleI16* buf, size_t maxCount);
+  size_t readFIFOBurst(SampleSI*  buf, size_t maxCount);
+
+  // --- Parametry pomocnicze ---
+  void  setGConstant(float g = 9.80665f) { g_ms2 = g; }
+  
+  float lsb_per_g() const { return 1.0f / scale_g_per_lsb; }
+  //bool write8(uint8_t reg, uint8_t val);
+  //bool read8(uint8_t reg, uint8_t& val);
+
+  /*
+  Zwraca tryb pracy akcelerometru
+  */
+  uint8_t getADXLRange();
+
+  /* Zwraca czy jest FULL_RES w akcelerometrze */
+  bool getADXLFullRes();
+  
+  void showRangeFull(String txt="");
+
+  // niskopoziomowe
+  bool write8(uint8_t reg, uint8_t val);
+  bool read8(uint8_t reg, uint8_t& val);
+
+  private:
+  SPIClass* spi = nullptr;
+  uint8_t cs = 255;
+  uint32_t spiHz = 5000000;
+
+  float scale_g_per_lsb = 0.0039f; // full-res ~3.9 mg/LSB
+  float g_ms2 = 9.80665f;
+  bool  fullRes = true;
+
+  // niskopoziomowe
+  //bool write8(uint8_t reg, uint8_t val);
+  //bool read8(uint8_t reg, uint8_t& val);
+  bool readMulti(uint8_t reg, uint8_t* dst, size_t n);
+
+  void spiSelect();
+  void spiDeselect();
+
+  bool configurePowerMeasure();
+  uint8_t odrCodeFromHz(float hz);
+  void countsToSI(const SampleI16& in, SampleSI& out);
+};