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.h

@@ -0,0 +1,96 @@
+#pragma once
+#ifndef _ICM_20948_SENSOR_H_
+#define _ICM_20948_SENSOR_H_
+
+#include "MotionSensor.h"
+
+#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
+
+#include <ICM_20948.h>
+
+// Set the default gyro scale - dps250, dps500, dps1000, dps2000
+#ifndef ICM_20948_MPU_GYRO_SCALE
+#define ICM_20948_MPU_GYRO_SCALE dps250
+#endif
+
+// Set the default accelerometer scale - gpm2, gpm4, gpm8, gpm16
+#ifndef ICM_20948_MPU_ACCEL_SCALE
+#define ICM_20948_MPU_ACCEL_SCALE gpm2
+#endif
+
+// Define a threshold for Wake on Motion Sensing (0mg to 1020mg)
+#ifndef ICM_20948_WOM_THRESHOLD
+#define ICM_20948_WOM_THRESHOLD 16U
+#endif
+
+// Define a pin in variant.h to use interrupts to read the ICM-20948
+#ifndef ICM_20948_WOM_THRESHOLD
+#define ICM_20948_INT_PIN 255
+#endif
+
+// Uncomment this line to enable helpful debug messages on Serial
+// #define ICM_20948_DEBUG 1
+
+// Uncomment this line to enable the onboard digital motion processor (to be added in a future PR)
+// #define ICM_20948_DMP_IS_ENABLED 1
+
+// Check for a mandatory compiler flag to use the DMP (to be added in a future PR)
+#ifdef ICM_20948_DMP_IS_ENABLED
+#ifndef ICM_20948_USE_DMP
+#error To use the digital motion processor, please either set the compiler flag ICM_20948_USE_DMP or uncomment line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h
+#endif
+#endif
+
+// The I2C address of the Accelerometer (if found) from main.cpp
+extern ScanI2C::DeviceAddress accelerometer_found;
+
+// Singleton wrapper for the Sparkfun ICM_20948_I2C class
+class ICM20948Singleton : public ICM_20948_I2C
+{
+  private:
+    static ICM20948Singleton *pinstance;
+
+  protected:
+    ICM20948Singleton();
+    ~ICM20948Singleton();
+
+  public:
+    // Create a singleton instance (not thread safe)
+    static ICM20948Singleton *GetInstance();
+
+    // Singletons should not be cloneable.
+    ICM20948Singleton(ICM20948Singleton &other) = delete;
+
+    // Singletons should not be assignable.
+    void operator=(const ICM20948Singleton &) = delete;
+
+    // Initialise the motion sensor singleton for normal operation
+    bool init(ScanI2C::FoundDevice device);
+
+    // Enable Wake on Motion interrupts (sensor must be initialised first)
+    bool setWakeOnMotion();
+
+#ifdef ICM_20948_DMP_IS_ENABLED
+    // Initialise the motion sensor singleton for digital motion processing
+    bool initDMP();
+#endif
+};
+
+class ICM20948Sensor : public MotionSensor
+{
+  private:
+    ICM20948Singleton *sensor = nullptr;
+
+  public:
+    explicit ICM20948Sensor(ScanI2C::FoundDevice foundDevice);
+
+    // Initialise the motion sensor
+    virtual bool init() override;
+
+    // Called each time our sensor gets a chance to run
+    virtual int32_t runOnce() override;
+};
+
+#endif
+
+#endif