Tidying up @mkrawcz1 's WOMThreshold example

Author: PaulZC

examples/Arduino/Example3_Interrupts/Example3_Interrupts.ino

@@ -19,8 +19,8 @@
 #define SERIAL_PORT Serial
 
 #define INT_PIN 2       // Make sure to connect this pin on your uC to the "INT" pin on the ICM-20948 breakout
-#define LED_PIN 13
-//#define LED_PIN LED_BUILTIN
+//#define LED_PIN 13
+#define LED_PIN LED_BUILTIN
 #define BUFFER_SAMPLE_NUM 32
 
 #define SPI_PORT SPI    // Your desired SPI port.       Used only when "USE_SPI" is defined

examples/Arduino/Example4_WakeOnMotion/Example4_WakeOnMotion.ino

@@ -1,15 +1,15 @@
 /****************************************************************
  * Example4_WakeOnMotion.ino
- * ICM 20948 Arduino Library Demo 
+ * ICM 20948 Arduino Library Demo
  * Based on Example3_Interrupts.ino by Owen Lyke @ SparkFun Electronics
  * Original Creation Date: Dec 5 2020
  * Created by mkrawcz1 (***** ***)
- * 
- * For this example you must connect the interrupt pin "INT" on the breakout 
+ *
+ * For this example you must connect the interrupt pin "INT" on the breakout
  * board to the pin specified by "INT_PIN" on your microcontroller.
- * 
- * This code is freeware;
- * 
+ *
+ * Please see License.md for the license information.
+ *
  * Distributed as-is; no warranty is given.
  ***************************************************************/
 #include "ICM_20948.h"  // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU
@@ -28,8 +28,8 @@
 #define CS_PIN 2        // Which pin you connect CS to. Used only when "USE_SPI" is defined
 
 #define WIRE_PORT Wire  // Your desired Wire port.      Used when "USE_SPI" is not defined
-#define AD0_VAL   1     // The value of the last bit of the I2C address. 
-                        // On the SparkFun 9DoF IMU breakout the default is 1, and when 
+#define AD0_VAL   1     // The value of the last bit of the I2C address.
+                        // On the SparkFun 9DoF IMU breakout the default is 1, and when
                         // the ADR jumper is closed the value becomes 0
 
 #ifdef USE_SPI
@@ -42,8 +42,10 @@
 volatile bool isrFired = false;
 volatile bool sensorSleep = false;
 volatile bool canToggle = false;
-unsigned int WOM_threshold=255;
-double lastTrigerred;
+unsigned long lastTriggered;
+
+// Threshold LSB is 4mg. Range is 0mg to 1020mg.
+unsigned int WOM_threshold = 255;
 
 void setup() {
 
@@ -62,12 +64,14 @@ void setup() {
     WIRE_PORT.begin();
     WIRE_PORT.setClock(400000);
 #endif
-  
+
+  //myICM.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
+
   bool initialized = false;
   while( !initialized ){
 
 #ifdef USE_SPI
-    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 
+    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
 #else
     myICM.begin( WIRE_PORT, AD0_VAL );
 #endif
@@ -92,7 +96,7 @@ void setup() {
     SERIAL_PORT.println(myICM.statusString());
   }
   delay(250);
-  
+
   // Now wake the sensor up
   myICM.sleep( sensorSleep );
   myICM.lowPower( false );
@@ -102,7 +106,7 @@ void setup() {
   // Set Gyro and Accelerometer to a particular sample mode
   // options: ICM_20948_Sample_Mode_Continuous
   //          ICM_20948_Sample_Mode_Cycled
-  myICM.setSampleMode( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Cycled ); 
+  myICM.setSampleMode( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Cycled );
   SERIAL_PORT.print(F("setSampleMode returned: "));
   SERIAL_PORT.println(myICM.statusString());
 
@@ -112,23 +116,23 @@ void setup() {
   myICM.setSampleRate( ICM_20948_Internal_Gyr, mySmplrt );
   SERIAL_PORT.print(F("setSampleRate returned: "));
   SERIAL_PORT.println(myICM.statusString());
-    
+
   // Set full scale ranges for both acc and gyr
   ICM_20948_fss_t myFSS;  // This uses a "Full Scale Settings" structure that can contain values for all configurable sensors
-  
+
   myFSS.a = gpm2;         // (ICM_20948_ACCEL_CONFIG_FS_SEL_e)
                           // gpm2
                           // gpm4
                           // gpm8
                           // gpm16
-                          
+
   myFSS.g = dps250;       // (ICM_20948_GYRO_CONFIG_1_FS_SEL_e)
                           // dps250
                           // dps500
                           // dps1000
                           // dps2000
-                          
-  myICM.setFullScale( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS );  
+
+  myICM.setFullScale( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS );
   if( myICM.status != ICM_20948_Stat_Ok){
     SERIAL_PORT.print(F("setFullScale returned: "));
     SERIAL_PORT.println(myICM.statusString());
@@ -155,7 +159,7 @@ void setup() {
                                           // gyr_d11bw6_n17bw8
                                           // gyr_d5bw7_n8bw9
                                           // gyr_d361bw4_n376bw5
-                                          
+
   myICM.setDLPFcfg( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myDLPcfg );
   if( myICM.status != ICM_20948_Stat_Ok){
     SERIAL_PORT.print(F("setDLPcfg returned: "));
@@ -194,48 +198,49 @@ void setup() {
   myICM.cfgIntLatch(true);                          // Latch the interrupt until cleared
   SERIAL_PORT.print(F("cfgIntLatch returned: "));
   SERIAL_PORT.println(myICM.statusString());
-  
+
   myICM.WOMThreshold(WOM_threshold); // set WoM threshold
-  SERIAL_PORT.print(F("Set threshold returned: ")); 
+  SERIAL_PORT.print(F("Set threshold returned: "));
   SERIAL_PORT.println(myICM.statusString());
-  
+
   myICM.intEnableWOM(true);                // enable interrupts on WakeOnMotion
   SERIAL_PORT.print(F("intEnableWOM returned: "));
   SERIAL_PORT.println(myICM.statusString());
 
   myICM.WOMThreshold(WOM_threshold); // set WoM threshold - just in case...
-  SERIAL_PORT.print(F("Set threshold returned: ")); 
+  SERIAL_PORT.print(F("Set threshold returned: "));
   SERIAL_PORT.println(myICM.statusString());
 
   SERIAL_PORT.println();
-  SERIAL_PORT.println(F("Configuration complete!")); 
+  SERIAL_PORT.println(F("Configuration complete!"));
 }
 
 void loop() {
   if( isrFired ){                       // If our isr flag is set then clear the interrupts on the ICM
     isrFired = false;
     myICM.getAGMT();                    // get the A, G, M, and T readings
-//    printScaledAGMT( myICM.agmt);   // This function takes into account the sclae settings from when the measurement was made to calculate the values with units
+//    printScaledAGMT( myICM.agmt);   // This function takes into account the scale settings from when the measurement was made to calculate the values with units
     SERIAL_PORT.println(F("Shock detected"));
     digitalWrite(LED_PIN, HIGH);
-    lastTrigerred=millis();
+    lastTriggered = millis();
     delay(30);
     myICM.clearInterrupts();            // This would be efficient... but not compatible with Uno
   }
 
-  myICM.clearInterrupts();              // clear interrupts for next time - 
-                                        //    usually you'd do this only if an interrupt has occurred, however 
+  myICM.clearInterrupts();              // clear interrupts for next time -
+                                        //    usually you'd do this only if an interrupt has occurred, however
                                         //    on the 328p I2C usage can block interrupts. This means that sometimes
                                         //    an interrupt is missed. When missed, if using an edge-based interrupt
-                                        //    and only clearing interrupts when one was detected there will be no more 
-                                        //    edges to respond to, so no more interrupts will be detected. Here are 
+                                        //    and only clearing interrupts when one was detected there will be no more
+                                        //    edges to respond to, so no more interrupts will be detected. Here are
                                         //    some possible solutions:
                                         //    1. use a level based interrupt
                                         //    2. use the pulse-based interrupt in ICM settings (set cfgIntLatch to false)
                                         //    3. use a microcontroller with nestable interrupts
                                         //    4. clear the interrupts often
-    if(millis()-lastTrigerred>1000)
-      digitalWrite(LED_PIN, LOW);;                                  
+
+  if(millis() - lastTriggered > 1000) // Turn the LED off after one second
+    digitalWrite(LED_PIN, LOW);
 }
 
 void icmISR( void ){

keywords.txt

@@ -17,12 +17,12 @@ ICM_20948_InternalSensorID_bm	KEYWORD1
 #######################################
 
 ICM_20948	KEYWORD2
-enableDebugging
-disableDebugging
-debugPrintStatus
-debugPrint
-debugPrintln
-doDebugPrint
+enableDebugging	KEYWORD2
+disableDebugging	KEYWORD2
+debugPrintStatus	KEYWORD2
+debugPrint	KEYWORD2
+debugPrintln	KEYWORD2
+doDebugPrint	KEYWORD2
 getAGMT	KEYWORD2
 magX	KEYWORD2
 magY	KEYWORD2
@@ -70,6 +70,7 @@ magIsConnected	KEYWORD2
 getMagnetometerData	KEYWORD2
 ICM_20948_SPI	KEYWORD2
 begin	KEYWORD2
+WOMThreshold	KEYWORD2
 
 #######################################
 # Constants (LITERAL1)

src/ICM_20948.cpp

@@ -678,7 +678,6 @@ ICM_20948_Status_e ICM_20948::intEnableWatermarkFIFO(uint8_t bm_enable)
     return status;
 }
 
-
 ICM_20948_Status_e ICM_20948::WOMThreshold(uint8_t threshold)
 {
     ICM_20948_ACCEL_WOM_THR_t thr;                      // storage
@@ -701,8 +700,6 @@ ICM_20948_Status_e ICM_20948::WOMThreshold(uint8_t threshold)
     return status;
 }
 
-
-
 // Interface Options
 ICM_20948_Status_e ICM_20948::i2cMasterPassthrough(bool passthrough)
 {
@@ -1274,26 +1271,3 @@ ICM_20948_Status_e ICM_20948_read_SPI(uint8_t reg, uint8_t *buff, uint32_t len,
 
     return ICM_20948_Stat_Ok;
 }
-/*
-ICM_20948_Status_e ICM_20948::WOMThreshold(uint8_t threshold)
-{
-    ICM_20948_ACCEL_WOM_THR_t thr;                          // storage
-    status = ICM_20948_wom_threshold(&_device, NULL, &thr); // read phase
-    if (status != ICM_20948_Stat_Ok)
-    {
-        return status;
-    }
-    thr.WOM_THRESHOLD = threshold;                            // change the setting
-    status = ICM_20948_wom_threshold(&_device, &thr, &thr); // write phase w/ readback
-    if (status != ICM_20948_Stat_Ok)
-    {
-        return status;
-    }
-    if (thr.WOM_THRESHOLD != threshold)
-    {
-        status = ICM_20948_Stat_Err;
-        return status;
-    }
-    return status;
-}
-*/

src/ICM_20948.h

@@ -130,8 +130,8 @@ class ICM_20948
     ICM_20948_Status_e intEnableOverflowFIFO(uint8_t bm_enable);
     ICM_20948_Status_e intEnableWatermarkFIFO(uint8_t bm_enable);
 
-	ICM_20948_Status_e ICM_20948::WOMThreshold(uint8_t threshold);
-	
+    ICM_20948_Status_e WOMThreshold(uint8_t threshold);
+
     // Interface Options
     ICM_20948_Status_e i2cMasterPassthrough(bool passthrough = true);
     ICM_20948_Status_e i2cMasterEnable(bool enable = true);

src/util/ICM_20948_C.c

@@ -425,12 +425,6 @@ ICM_20948_Status_e ICM_20948_int_enable(ICM_20948_Device_t *pdev, ICM_20948_INT_
 	return retval;
 }
 
-
-
-
-
-
-
 ICM_20948_Status_e ICM_20948_wom_threshold(ICM_20948_Device_t *pdev, ICM_20948_ACCEL_WOM_THR_t *write, ICM_20948_ACCEL_WOM_THR_t *read)
 {
 	ICM_20948_Status_e retval = ICM_20948_Stat_Ok;
@@ -442,7 +436,7 @@ ICM_20948_Status_e ICM_20948_wom_threshold(ICM_20948_Device_t *pdev, ICM_20948_A
 	if (write != NULL)
 	{ // If the write pointer is not NULL then write to the registers BEFORE reading
 		thr.WOM_THRESHOLD = write->WOM_THRESHOLD;
-		
+
 		retval = ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_WOM_THR, (uint8_t *)&thr, sizeof(ICM_20948_ACCEL_WOM_THR_t));
 		if (retval != ICM_20948_Stat_Ok)
 		{