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‎examples/Arduino/Example4_WakeOnMotion/Example4_WakeOnMotion.ino.ino

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/****************************************************************
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* Example4_WakeOnMotion.ino
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* ICM 20948 Arduino Library Demo
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* Based on Example3_Interrupts.ino by Owen Lyke @ SparkFun Electronics
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* Original Creation Date: Dec 5 2020
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* Created by mkrawcz1 (***** ***)
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*
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* For this example you must connect the interrupt pin "INT" on the breakout
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* board to the pin specified by "INT_PIN" on your microcontroller.
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*
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* This code is freeware;
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*
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* Distributed as-is; no warranty is given.
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***************************************************************/
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#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU
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//#define USE_SPI // Uncomment this to use SPI
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#define SERIAL_PORT Serial
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#define INT_PIN 2 // Make sure to connect this pin on your uC to the "INT" pin on the ICM-20948 breakout
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//#define LED_PIN 13
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#define LED_PIN LED_BUILTIN
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#define BUFFER_SAMPLE_NUM 32
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#define SPI_PORT SPI // Your desired SPI port. Used only when "USE_SPI" is defined
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#define SPI_FREQ 5000000// You can override the default SPI frequency
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#define CS_PIN 2 // Which pin you connect CS to. Used only when "USE_SPI" is defined
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#define WIRE_PORT Wire // Your desired Wire port. Used when "USE_SPI" is not defined
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#define AD0_VAL 1 // The value of the last bit of the I2C address.
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// On the SparkFun 9DoF IMU breakout the default is 1, and when
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// the ADR jumper is closed the value becomes 0
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#ifdef USE_SPI
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ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
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#else
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ICM_20948_I2C myICM; // Otherwise create an ICM_20948_I2C object
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#endif
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// Some vars to control or respond to interrupts
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volatile bool isrFired = false;
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volatile bool sensorSleep = false;
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volatile bool canToggle = false;
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unsigned int WOM_threshold=200;
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void setup() {
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pinMode(INT_PIN, INPUT_PULLUP); // Using a pullup b/c ICM-20948 Breakout board has an onboard pullup as well and we don't want them to compete
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attachInterrupt(digitalPinToInterrupt(INT_PIN), icmISR, FALLING); // Set up a falling interrupt
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pinMode(LED_PIN, OUTPUT);
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digitalWrite(LED_PIN, !sensorSleep);
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SERIAL_PORT.begin(115200);
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while(!SERIAL_PORT){};
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#ifdef USE_SPI
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SPI_PORT.begin();
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#else
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WIRE_PORT.begin();
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WIRE_PORT.setClock(400000);
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#endif
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bool initialized = false;
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while( !initialized ){
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#ifdef USE_SPI
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myICM.begin( CS_PIN, SPI_PORT, SPI_FREQ ); // Here we are using the user-defined SPI_FREQ as the clock speed of the SPI bus
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#else
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myICM.begin( WIRE_PORT, AD0_VAL );
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#endif
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SERIAL_PORT.print( F("Initialization of the sensor returned: ") );
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SERIAL_PORT.println( myICM.statusString() );
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if( myICM.status != ICM_20948_Stat_Ok ){
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SERIAL_PORT.println( "Trying again..." );
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delay(500);
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}else{
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initialized = true;
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}
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}
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// In this advanced example we'll cover how to do WakeOn Motion action using interrupts
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SERIAL_PORT.println("Device connected!");
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// Here we are doing a SW reset to make sure the device starts in a known state
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myICM.swReset( );
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if( myICM.status != ICM_20948_Stat_Ok){
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SERIAL_PORT.print(F("Software Reset returned: "));
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SERIAL_PORT.println(myICM.statusString());
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}
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delay(250);
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// Now wake the sensor up
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myICM.sleep( sensorSleep );
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myICM.lowPower( false );
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// The next few configuration functions accept a bit-mask of sensors for which the settings should be applied.
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// Set Gyro and Accelerometer to a particular sample mode
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// options: ICM_20948_Sample_Mode_Continuous
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// ICM_20948_Sample_Mode_Cycled
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myICM.setSampleMode( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Cycled );
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SERIAL_PORT.print(F("setSampleMode returned: "));
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SERIAL_PORT.println(myICM.statusString());
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ICM_20948_smplrt_t mySmplrt;
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mySmplrt.g = 54;
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myICM.setSampleRate( ICM_20948_Internal_Gyr, mySmplrt );
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SERIAL_PORT.print(F("setSampleRate returned: "));
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SERIAL_PORT.println(myICM.statusString());
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// Set full scale ranges for both acc and gyr
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ICM_20948_fss_t myFSS; // This uses a "Full Scale Settings" structure that can contain values for all configurable sensors
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myFSS.a = gpm2; // (ICM_20948_ACCEL_CONFIG_FS_SEL_e)
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// gpm2
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// gpm4
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// gpm8
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// gpm16
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myFSS.g = dps250; // (ICM_20948_GYRO_CONFIG_1_FS_SEL_e)
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// dps250
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// dps500
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// dps1000
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// dps2000
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myICM.setFullScale( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS );
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if( myICM.status != ICM_20948_Stat_Ok){
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SERIAL_PORT.print(F("setFullScale returned: "));
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SERIAL_PORT.println(myICM.statusString());
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}
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// Set up Digital Low-Pass Filter configuration
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ICM_20948_dlpcfg_t myDLPcfg; // Similar to FSS, this uses a configuration structure for the desired sensors
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myDLPcfg.a = acc_d473bw_n499bw; // (ICM_20948_ACCEL_CONFIG_DLPCFG_e)
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// acc_d246bw_n265bw - means 3db bandwidth is 246 hz and nyquist bandwidth is 265 hz
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// acc_d111bw4_n136bw
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// acc_d50bw4_n68bw8
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// acc_d23bw9_n34bw4
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// acc_d11bw5_n17bw
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// acc_d5bw7_n8bw3 - means 3 db bandwidth is 5.7 hz and nyquist bandwidth is 8.3 hz
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// acc_d473bw_n499bw
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myDLPcfg.g = gyr_d361bw4_n376bw5; // (ICM_20948_GYRO_CONFIG_1_DLPCFG_e)
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// gyr_d196bw6_n229bw8
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// gyr_d151bw8_n187bw6
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// gyr_d119bw5_n154bw3
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// gyr_d51bw2_n73bw3
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// gyr_d23bw9_n35bw9
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// gyr_d11bw6_n17bw8
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// gyr_d5bw7_n8bw9
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// gyr_d361bw4_n376bw5
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myICM.setDLPFcfg( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myDLPcfg );
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if( myICM.status != ICM_20948_Stat_Ok){
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SERIAL_PORT.print(F("setDLPcfg returned: "));
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SERIAL_PORT.println(myICM.statusString());
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}
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// Choose whether or not to use DLPF
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// Here we're also showing another way to access the status values, and that it is OK to supply individual sensor masks to these functions
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ICM_20948_Status_e accDLPEnableStat = myICM.enableDLPF( ICM_20948_Internal_Acc, true );
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ICM_20948_Status_e gyrDLPEnableStat = myICM.enableDLPF( ICM_20948_Internal_Gyr, true );
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SERIAL_PORT.print(F("Enable DLPF for Accelerometer returned: ")); SERIAL_PORT.println(myICM.statusString(accDLPEnableStat));
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SERIAL_PORT.print(F("Enable DLPF for Gyroscope returned: ")); SERIAL_PORT.println(myICM.statusString(gyrDLPEnableStat));
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// Now we're going to set up interrupts. There are a lot of options, but for this test we're just configuring the interrupt pin and enabling interrupts to tell us when new data is ready
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/*
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ICM_20948_Status_e cfgIntActiveLow ( bool active_low );
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ICM_20948_Status_e cfgIntOpenDrain ( bool open_drain );
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ICM_20948_Status_e cfgIntLatch ( bool latching ); // If not latching then the interrupt is a 50 us pulse
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ICM_20948_Status_e cfgIntAnyReadToClear ( bool enabled ); // If enabled, *ANY* read will clear the INT_STATUS register. So if you have multiple interrupt sources enabled be sure to read INT_STATUS first
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ICM_20948_Status_e cfgFsyncActiveLow ( bool active_low );
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ICM_20948_Status_e cfgFsyncIntMode ( bool interrupt_mode ); // Can ue FSYNC as an interrupt input that sets the I2C Master Status register's PASS_THROUGH bit
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ICM_20948_Status_e intEnableI2C ( bool enable );
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ICM_20948_Status_e intEnableDMP ( bool enable );
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ICM_20948_Status_e intEnablePLL ( bool enable );
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ICM_20948_Status_e intEnableWOM ( bool enable );
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ICM_20948_Status_e intEnableWOF ( bool enable );
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ICM_20948_Status_e intEnableRawDataReady ( bool enable );
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ICM_20948_Status_e intEnableOverflowFIFO ( uint8_t bm_enable );
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ICM_20948_Status_e intEnableWatermarkFIFO ( uint8_t bm_enable );
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*/
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myICM.cfgIntActiveLow(true); // Active low to be compatible with the breakout board's pullup resistor
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myICM.cfgIntOpenDrain(false); // Push-pull, though open-drain would also work thanks to the pull-up resistors on the breakout
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myICM.cfgIntLatch(true); // Latch the interrupt until cleared
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SERIAL_PORT.print(F("cfgIntLatch returned: "));
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SERIAL_PORT.println(myICM.statusString());
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myICM.WOMThreshold(WOM_threshold); // set WoM threshold
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SERIAL_PORT.print(F("Set threshold returned: "));
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SERIAL_PORT.println(myICM.statusString());
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myICM.intEnableWOM(true); // enable interrupts on WakeOnMotion
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SERIAL_PORT.print(F("intEnableWOM returned: "));
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SERIAL_PORT.println(myICM.statusString());
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myICM.WOMThreshold(WOM_threshold); // set WoM threshold - just in case...
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SERIAL_PORT.print(F("Set threshold returned: "));
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SERIAL_PORT.println(myICM.statusString());
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SERIAL_PORT.println();
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SERIAL_PORT.println(F("Configuration complete!"));
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}
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void loop() {
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if( isrFired ){ // If our isr flag is set then clear the interrupts on the ICM
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isrFired = false;
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myICM.getAGMT(); // get the A, G, M, and T readings
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// printScaledAGMT( myICM.agmt); // This function takes into account the sclae settings from when the measurement was made to calculate the values with units
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SERIAL_PORT.println(F("Shock detected"));
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delay(30);
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myICM.clearInterrupts(); // This would be efficient... but not compatible with Uno
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}
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myICM.clearInterrupts(); // clear interrupts for next time -
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// usually you'd do this only if an interrupt has occurred, however
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// on the 328p I2C usage can block interrupts. This means that sometimes
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// an interrupt is missed. When missed, if using an edge-based interrupt
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// and only clearing interrupts when one was detected there will be no more
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// edges to respond to, so no more interrupts will be detected. Here are
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// some possible solutions:
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// 1. use a level based interrupt
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// 2. use the pulse-based interrupt in ICM settings (set cfgIntLatch to false)
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// 3. use a microcontroller with nestable interrupts
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// 4. clear the interrupts often
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}
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void icmISR( void ){
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isrFired = true; // Can't use I2C within ISR on 328p, so just set a flag to know that data is available
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}
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// Below here are some helper functions to print the data nicely!
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void printPaddedInt16b( int16_t val ){
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if(val > 0){
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SERIAL_PORT.print(" ");
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if(val < 10000){ SERIAL_PORT.print("0"); }
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if(val < 1000 ){ SERIAL_PORT.print("0"); }
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if(val < 100 ){ SERIAL_PORT.print("0"); }
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if(val < 10 ){ SERIAL_PORT.print("0"); }
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}else{
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SERIAL_PORT.print("-");
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if(abs(val) < 10000){ SERIAL_PORT.print("0"); }
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if(abs(val) < 1000 ){ SERIAL_PORT.print("0"); }
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if(abs(val) < 100 ){ SERIAL_PORT.print("0"); }
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if(abs(val) < 10 ){ SERIAL_PORT.print("0"); }
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}
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SERIAL_PORT.print(abs(val));
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}
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void printRawAGMT( ICM_20948_AGMT_t agmt){
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SERIAL_PORT.print("RAW. Acc [ ");
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printPaddedInt16b( agmt.acc.axes.x );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.acc.axes.y );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.acc.axes.z );
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SERIAL_PORT.print(" ], Gyr [ ");
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printPaddedInt16b( agmt.gyr.axes.x );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.gyr.axes.y );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.gyr.axes.z );
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SERIAL_PORT.print(" ], Mag [ ");
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printPaddedInt16b( agmt.mag.axes.x );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.mag.axes.y );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.mag.axes.z );
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SERIAL_PORT.print(" ], Tmp [ ");
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printPaddedInt16b( agmt.tmp.val );
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SERIAL_PORT.print(" ]");
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SERIAL_PORT.println();
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}
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void printFormattedFloat(float val, uint8_t leading, uint8_t decimals){
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float aval = abs(val);
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if(val < 0){
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SERIAL_PORT.print("-");
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}else{
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SERIAL_PORT.print(" ");
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}
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for( uint8_t indi = 0; indi < leading; indi++ ){
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uint32_t tenpow = 0;
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if( indi < (leading-1) ){
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tenpow = 1;
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}
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for(uint8_t c = 0; c < (leading-1-indi); c++){
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tenpow *= 10;
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}
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if( aval < tenpow){
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SERIAL_PORT.print("0");
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}else{
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break;
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}
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}
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if(val < 0){
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SERIAL_PORT.print(-val, decimals);
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}else{
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SERIAL_PORT.print(val, decimals);
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}
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}
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void printScaledAGMT( ICM_20948_AGMT_t agmt){
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SERIAL_PORT.print("Scaled. Acc (mg) [ ");
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printFormattedFloat( myICM.accX(), 5, 2 );
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SERIAL_PORT.print(", ");
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printFormattedFloat( myICM.accY(), 5, 2 );
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SERIAL_PORT.print(", ");
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printFormattedFloat( myICM.accZ(), 5, 2 );
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SERIAL_PORT.print(" ], Gyr (DPS) [ ");
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printFormattedFloat( myICM.gyrX(), 5, 2 );
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SERIAL_PORT.print(", ");
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printFormattedFloat( myICM.gyrY(), 5, 2 );
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SERIAL_PORT.print(", ");
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printFormattedFloat( myICM.gyrZ(), 5, 2 );
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SERIAL_PORT.print(" ], Mag (uT) [ ");
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printFormattedFloat( myICM.magX(), 5, 2 );
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SERIAL_PORT.print(", ");
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printFormattedFloat( myICM.magY(), 5, 2 );
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SERIAL_PORT.print(", ");
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printFormattedFloat( myICM.magZ(), 5, 2 );
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SERIAL_PORT.print(" ], Tmp (C) [ ");
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printFormattedFloat( myICM.temp(), 5, 2 );
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SERIAL_PORT.print(" ]");
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SERIAL_PORT.println();
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}

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