forked from Akcelerometry_drgania_WMT/PI_mikrokontroler
140 lines
3.5 KiB
C++
140 lines
3.5 KiB
C++
#include "ADXL345FastSPI.h"
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static const char *TAG_FRESH = "ADXLFAST";
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bool ADXL345FastSPI::begin(SPIClass *spi, uint32_t spiHz, Rate rate, Range range, uint8_t /*options*/){
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spi_ = spi;
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spiHz_ = spiHz;
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odrHz_ = mapRateToHz(rate);
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auto r = mapRange(range);
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//spi_->begin(); 28.01.2026
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presentCnt_ = 0;
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for (uint8_t i = 0; i < count_; ++i) {
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bool ok = dev_[i].begin(spi_, cs_[i], spiHz_)
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&& dev_[i].setRange(r, true)
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&& dev_[i].setODR_Hz(odrHz_);
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dev_[i].showRangeFull(String(i));
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if (ok) {
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dev_[i].enableFIFO(ADXL345FreshSPI::FIFOmode::STREAM, 32); // wariant B
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present_[i] = true;
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presentCnt_++;
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} else {
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present_[i] = false;
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}
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}
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return presentCnt_ > 0;
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}
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bool ADXL345FastSPI::availableAll() {
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for (uint8_t i = 0; i < count_; ++i) {
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if (!present_[i]) continue;
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// else {
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// dev_[i].showRangeFull("AVAILABLE ADXL");
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// }
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if (!dev_[i].available()) return false;
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}
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return true;
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}
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uint8_t ADXL345FastSPI::readAlignedOnce(int16_t* x, int16_t* y, int16_t* z, uint32_t* ts_us){
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// 1) Czekaj aż każdy ma ≥1 próbkę (DATA_READY => FIFO>0)
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while (!availableAll()) {
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// micro-spin; w razie potrzeby można dodać yield() / feed watchdog poza hot-path
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}
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// 2) Zdejmij najstarszą z każdego sensora
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uint8_t got = 0;
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for (uint8_t i = 0; i < count_; ++i) {
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if (!present_[i]) continue;
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ADXL345FreshSPI::SampleI16 one[1];
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size_t n = dev_[i].readFIFOBurst(one, 1);
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if (n == 0) {
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ADXL345FreshSPI::SampleI16 s;
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if (!dev_[i].readFresh(s, 1)) break;
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one[0] = s;
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}
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if (x) x[i] = one[0].x;
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if (y) y[i] = one[0].y;
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if (z) z[i] = one[0].z;
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if (ts_us) ts_us[i] = one[0].ts_us;
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got++;
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}
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return got;
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}
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bool ADXL345FastSPI::readNewSample(uint8_t idx, int16_t& x, int16_t& y, int16_t& z, bool& ready)
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{
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if (idx >= count_ || !present_[idx]) { ready = false; return false; }
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ADXL345FreshSPI::SampleI16 one[1];
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size_t n = dev_[idx].readFIFOBurst(one, 1);
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if (n == 0) {
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ADXL345FreshSPI::SampleI16 s;
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if (!dev_[idx].readFresh(s, 1)) { ready = false; return false; }
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one[0] = s;
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}
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x = one[0].x; y = one[0].y; z = one[0].z;
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ready = true;
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return true;
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}
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uint8_t ADXL345FastSPI::refreshConnectedSensorsCount(){
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uint8_t cnt = 0;
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for (uint8_t i = 0; i < count_; ++i) {
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// ping() czyta DEVID (0xE5) wewnętrznie i zwraca true/false
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if (dev_[i].ping()) {
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present_[i] = true;
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cnt++;
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} else {
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present_[i] = false;
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}
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}
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presentCnt_ = cnt;
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return cnt;
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}
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/*
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Zwraca maskę bitową aktywnych sensorów (np. do szybkiej diagnostyki: który CS nie odpowiada)
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Uzycie:
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uint8_t mask = adxl.refreshActiveMask();
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ESP_LOGI(TAG_MAIN, "Aktywne sensory (bitmask): 0x%02X, count=%u",
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mask, adxl.connectedSensorsCount());
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// Sprawdzenie konkretnego sensora:
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if (mask & (1u << 3)) {
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ESP_LOGI(TAG_MAIN, "Sensor #3 online");
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} else {
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ESP_LOGW(TAG_MAIN, "Sensor #3 offline");
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}
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*/
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uint8_t ADXL345FastSPI::refreshActiveMask(){
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uint8_t m = 0;
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uint8_t cnt = 0;
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for (uint8_t i = 0; i < count_; ++i) {
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if (dev_[i].ping()) {
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present_[i] = true;
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m |= (1u << i);
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cnt++;
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} else {
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present_[i] = false;
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}
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}
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presentCnt_ = cnt;
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return m;
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}
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// Pobiera zakres wybranego akcelerometru
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uint8_t ADXL345FastSPI::getRange(uint8_t accel){
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return dev_[accel].getADXLRange();
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}
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bool ADXL345FastSPI::getFullRes(uint8_t accel){
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return dev_[accel].getADXLFullRes();
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} |