Refactor AccelerometerThread.h (#4831)

* Initial upload

* Tidy up

* Update ICM20948Sensor.cpp

* Update AccelerometerThread.h

* Initial upload

* Tidy up

* Update ICM20948Sensor.cpp

* Update AccelerometerThread.h

---------

Co-authored-by: Ben Meadors <benmmeadors@gmail.com>

src/motion/ICM20948Sensor.cpp

@@ -0,0 +1,186 @@
+#include "ICM20948Sensor.h"
+
+#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
+
+// Flag when an interrupt has been detected
+volatile static bool ICM20948_IRQ = false;
+
+// Interrupt service routine
+void ICM20948SetInterrupt()
+{
+    ICM20948_IRQ = true;
+}
+
+ICM20948Sensor::ICM20948Sensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
+
+bool ICM20948Sensor::init()
+{
+    // Initialise the sensor
+    sensor = ICM20948Singleton::GetInstance();
+    if (!sensor->init(device))
+        return false;
+
+    // Enable simple Wake on Motion
+    return sensor->setWakeOnMotion();
+}
+
+#ifdef ICM_20948_INT_PIN
+
+int32_t ICM20948Sensor::runOnce()
+{
+    // Wake on motion using hardware interrupts - this is the most efficient way to check for motion
+    if (ICM20948_IRQ) {
+        ICM20948_IRQ = false;
+        sensor->clearInterrupts();
+        wakeScreen();
+    }
+    return MOTION_SENSOR_CHECK_INTERVAL_MS;
+}
+
+#else
+
+int32_t ICM20948Sensor::runOnce()
+{
+    // Wake on motion using polling  - this is not as efficient as using hardware interrupt pin (see above)
+    auto status = sensor->setBank(0);
+    if (sensor->status != ICM_20948_Stat_Ok) {
+        LOG_DEBUG("ICM20948Sensor::isWakeOnMotion failed to set bank - %s\n", sensor->statusString());
+        return MOTION_SENSOR_CHECK_INTERVAL_MS;
+    }
+
+    ICM_20948_INT_STATUS_t int_stat;
+    status = sensor->read(AGB0_REG_INT_STATUS, (uint8_t *)&int_stat, sizeof(ICM_20948_INT_STATUS_t));
+    if (status != ICM_20948_Stat_Ok) {
+        LOG_DEBUG("ICM20948Sensor::isWakeOnMotion failed to read interrupts - %s\n", sensor->statusString());
+        return MOTION_SENSOR_CHECK_INTERVAL_MS;
+    }
+
+    if (int_stat.WOM_INT != 0) {
+        // Wake up!
+        wakeScreen();
+    }
+    return MOTION_SENSOR_CHECK_INTERVAL_MS;
+}
+
+#endif
+
+// ----------------------------------------------------------------------
+// ICM20948Singleton
+// ----------------------------------------------------------------------
+
+// Get a singleton wrapper for an Sparkfun ICM_20948_I2C
+ICM20948Singleton *ICM20948Singleton::GetInstance()
+{
+    if (pinstance == nullptr) {
+        pinstance = new ICM20948Singleton();
+    }
+    return pinstance;
+}
+
+ICM20948Singleton::ICM20948Singleton() {}
+
+ICM20948Singleton::~ICM20948Singleton() {}
+
+ICM20948Singleton *ICM20948Singleton::pinstance{nullptr};
+
+// Initialise the ICM20948 Sensor
+bool ICM20948Singleton::init(ScanI2C::FoundDevice device)
+{
+#ifdef ICM_20948_DEBUG
+    // Set ICM_20948_DEBUG to enable helpful debug messages on Serial
+    enableDebugging();
+#endif
+
+// startup
+#ifdef Wire1
+    ICM_20948_Status_e status =
+        begin(device.address.port == ScanI2C::I2CPort::WIRE1 ? Wire1 : Wire, device.address.address == ICM20948_ADDR ? 1 : 0);
+#else
+    ICM_20948_Status_e status = begin(Wire, device.address.address == ICM20948_ADDR ? 1 : 0);
+#endif
+    if (status != ICM_20948_Stat_Ok) {
+        LOG_DEBUG("ICM20948Sensor::init begin - %s\n", statusString());
+        return false;
+    }
+
+    // SW reset to make sure the device starts in a known state
+    if (swReset() != ICM_20948_Stat_Ok) {
+        LOG_DEBUG("ICM20948Sensor::init reset - %s\n", statusString());
+        return false;
+    }
+    delay(200);
+
+    // Now wake the sensor up
+    if (sleep(false) != ICM_20948_Stat_Ok) {
+        LOG_DEBUG("ICM20948Sensor::init wake - %s\n", statusString());
+        return false;
+    }
+
+    if (lowPower(false) != ICM_20948_Stat_Ok) {
+        LOG_DEBUG("ICM20948Sensor::init high power - %s\n", statusString());
+        return false;
+    }
+
+#ifdef ICM_20948_INT_PIN
+
+    // Active low
+    cfgIntActiveLow(true);
+    LOG_DEBUG("ICM20948Sensor::init set cfgIntActiveLow - %s\n", statusString());
+
+    // Push-pull
+    cfgIntOpenDrain(false);
+    LOG_DEBUG("ICM20948Sensor::init set cfgIntOpenDrain - %s\n", statusString());
+
+    // If enabled, *ANY* read will clear the INT_STATUS register.
+    cfgIntAnyReadToClear(true);
+    LOG_DEBUG("ICM20948Sensor::init set cfgIntAnyReadToClear - %s\n", statusString());
+
+    // Latch the interrupt until cleared
+    cfgIntLatch(true);
+    LOG_DEBUG("ICM20948Sensor::init set cfgIntLatch - %s\n", statusString());
+
+    // Set up an interrupt pin with an internal pullup for active low
+    pinMode(ICM_20948_INT_PIN, INPUT_PULLUP);
+
+    // Set up an interrupt service routine
+    attachInterrupt(ICM_20948_INT_PIN, ICM20948SetInterrupt, FALLING);
+
+#endif
+    return true;
+}
+
+#ifdef ICM_20948_DMP_IS_ENABLED
+
+// Stub
+bool ICM20948Sensor::initDMP()
+{
+    return false;
+}
+
+#endif
+
+bool ICM20948Singleton::setWakeOnMotion()
+{
+    // Set WoM threshold in milli G's
+    auto status = WOMThreshold(ICM_20948_WOM_THRESHOLD);
+    if (status != ICM_20948_Stat_Ok)
+        return false;
+
+    // Enable WoM Logic mode 1 = Compare the current sample with the previous sample
+    status = WOMLogic(true, 1);
+    LOG_DEBUG("ICM20948Sensor::init set WOMLogic - %s\n", statusString());
+    if (status != ICM_20948_Stat_Ok)
+        return false;
+
+    // Enable interrupts on WakeOnMotion
+    status = intEnableWOM(true);
+    LOG_DEBUG("ICM20948Sensor::init set intEnableWOM - %s\n", statusString());
+    return status == ICM_20948_Stat_Ok;
+
+    // Clear any current interrupts
+    ICM20948_IRQ = false;
+    clearInterrupts();
+    return true;
+}
+
+#endif