static void IMU_config(void)
{
uint8_t error=0;
//Set the Accelerometer control register to work at 6.6kHz Hz,Full Scale 16g
error+= i2c_reg_write_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_CTRL1_XL,0x90);
//Set ODR/4
error+= i2c_reg_write_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_CTRL8_XL,0x1C);
error +=i2c_reg_write_byte(lsm6ds3tr_c,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_CTRL9_XL,0x34);
// A wake up threshold of 5042 mg
error+= i2c_reg_write_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_WAKE_UP_THS,0x0F);
// Wake up duration is in ms therefore value has to be set to 0x00
error+= i2c_reg_write_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_WAKE_UP_DUR,0x60);
// Enables Interrupts
error+= i2c_reg_write_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_TAP_CFG,0xB1);
//Routing of Wake up event
error+= i2c_reg_write_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_MD1_CFG,0x20);
error+= i2c_reg_write_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_INT1_CTRL,0x43);
error+= i2c_reg_write_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_MD2_CFG,0x20);
error+= i2c_reg_write_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_INT2_CTRL,0x03);
}
static void IMU_Sensor(){
//Rd reg
i2c_reg_read_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_OUTX_L_XL,&xAccelL);
i2c_reg_read_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_OUTY_L_XL,&yAccelL);
i2c_reg_read_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_OUTZ_L_XL,&zAccelL);
i2c_reg_read_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_OUTX_H_XL,&xAccelH);
i2c_reg_read_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_OUTY_H_XL,&yAccelH);
i2c_reg_read_byte(lsm6ds3trc,LSM6DSL_VAL_WHO_AM_I,LSM6DSL_REG_OUTZ_H_XL,&zAccelH);
x_accRaw = ((int16_t)(xAccelH<<8))|(xAccelL & 0xFF);
y_accRaw = ((int16_t)(yAccelH<<8))|(yAccelL & 0xFF);
z_accRaw = ((int16_t)(zAccelH<<8))|(zAccelL & 0xFF);
x_accRaw = (x_accRaw*0.061)/15;
y_accRaw = (y_accRaw*0.061)/15;
z_accRaw = (z_accRaw*0.061)/15;
}
void sleep_handler(nrfx_power_sleep_evt_t current_state )
{
switch (current_state)
{
case NRFX_POWER_SLEEP_EVT_ENTER:
printf("System sleep\n");
NRF_POWER->INTENSET=1;//Enables Interrupt
NRF_POWER->EVENTS_SLEEPENTER=1;// CPU enters wait for WFI/WFE
break;
case NRFX_POWER_SLEEP_EVT_EXIT:
NRF_POWER->EVENTS_SLEEPEXIT=1;//CPU Exits WFI/WFE
IMU_config();
IMU_Sensor();
err = i2c_reg_read_byte(lsm6ds3trc, LSM6DSL_VAL_WHO_AM_I, LSM6DSL_REG_WAKE_UP_SRC, &wkp);
if (err)
{
printf("Failed to read wake-up source.");
}
if(wkp && 0x0F){
printk("Exceeded Threshold----------------------->\n");
// Read timestamp
err = i2c_reg_read_byte(lsm6ds3trc, LSM6DSL_VAL_WHO_AM_I, LSM6DSL_REG_TIMESTAMP0, ×tamp0);
err = i2c_reg_read_byte(lsm6ds3trc, LSM6DSL_VAL_WHO_AM_I, LSM6DSL_REG_TIMESTAMP1, ×tamp1);
err = i2c_reg_read_byte(lsm6ds3trc, LSM6DSL_VAL_WHO_AM_I, LSM6DSL_REG_TIMESTAMP2, ×tamp2);
timestamp = ((uint32_t)timestamp2 << 16) | ((uint16_t)timestamp1 << 8) | timestamp0;
// Calculate acceleration
pAc = sqrt(sqr(x_accRaw) + sqr(y_accRaw) + sqr(z_accRaw));
snprintf(X1, sizeof(X1), "Peak %d\n", pAc);
printk("Acceleration=%s\n", X1);
// Check if pAc is greater than 4500
if (pAc > 900)
{
ret=gpio_pin_configure_dt(&led_2,GPIO_OUTPUT_ACTIVE);
bt_ready();
k_sleep(K_SECONDS(10)); // Delay for 10 seconds
bt_disable();
ret=gpio_pin_configure_dt(&led_2,GPIO_OUTPUT_INACTIVE);
}
else
{
printk("No fall detected\n");
}
}
else
{
printf("No wake up in LSM6DS3.\n");
}
default:
//NRF_POWER->TASKS_LOWPWR=1;//Low power mode
break;
}
}
// Interrupt Call back function
void lsm6ds3trc_irq_callback(const struct device *port,struct gpio_callback *cb,gpio_port_pins_t pins)
{
current_state = NRFX_POWER_SLEEP_EVT_EXIT;
sleep_handler(current_state);
printf("Successful Interrupt\n");
NRFX_DELAY_US(100000);
current_state=NRFX_POWER_SLEEP_EVT_ENTER;
sleep_handler(current_state);
}
static struct gpio_callback interrupt_callback={
.handler=lsm6ds3trc_irq_callback,
};
int main(void)
{
int err;
if(!device_is_ready(lsm6ds3trc))
{
printk("LSM6DS3 device not ready\n");
}
IMU_config();
IMU_Sensor();
printf("IMU Configured and Sensed\n");
err=gpio_pin_configure_dt(&irq_pin,GPIO_INPUT);
if(err!=0){
printf("Pin not configured\n");
}
err=gpio_pin_interrupt_configure_dt(&irq_pin,GPIO_INT_EDGE_RISING);
if(err!=0){
printf("Interrupt not configured\n");
}
nrf_gpio_cfg_input(irq_pin.pin,NRFX_GPIOTE_DEFAULT_PULL_CONFIG);
nrf_gpio_cfg_sense_set(irq_pin.pin,NRFX_GPIOTE_ENABLED);
err = i2c_reg_read_byte(lsm6ds3trc, LSM6DSL_VAL_WHO_AM_I, LSM6DSL_REG_WAKE_UP_SRC, &wkp);
if (err)
{
printf("Failed to read wake-up source.");
}
if(wkp && 0x0F){
gpio_init_callback(&interrupt_callback,lsm6ds3trc_irq_callback,BIT(irq_pin.pin));
gpio_add_callback(irq_pin.port,&interrupt_callback);
}
else
{
printf("Wake up threshold not exceeded\n");
}
current_state=NRFX_POWER_SLEEP_EVT_ENTER;
sleep_handler(current_state);
k_sleep(K_MSEC(100));
return 0;
}This the program that I use to make the nRF52840 to go sleep and wake up when an interrupt arrives from lsm6ds3tr_c due to FREE_FALL bit . But it seems like it is not waking up. The same program when used by replacing an external gpio button instead of lsm6ds3tr_c works fine. Could anyone please tell me to find a solution for this.
#define LED2_NODE DT_ALIAS(led2) //BLUE colour LED
#define I2C_NODE DT_NODELABEL(i2c0)
#define INT_NODE DT_NODELABEL(lsm6ds3tr_c)
// Declaration I2C connection of LSM6DS3TRC
static const struct device *lsm6ds3trc = DEVICE_DT_GET(I2C_NODE);
// Declaration of GPIO for pin interrupt
static const struct gpio_dt_spec irq_pin = GPIO_DT_SPEC_GET(INT_NODE,irq_gpios);
// LED declaration
static const struct gpio_dt_spec led_2 = GPIO_DT_SPEC_GET(LED2_NODE, gpios); these are the user defined macros
