Unable to get gpio interrupt from LSM6DS3TR_C to nRF52840 in the Seeed Studio Xiao Ble Sense

[Vivek T Dinesh]

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, &timestamp0);

            err = i2c_reg_read_byte(lsm6ds3trc, LSM6DSL_VAL_WHO_AM_I, LSM6DSL_REG_TIMESTAMP1, &timestamp1);

            err = i2c_reg_read_byte(lsm6ds3trc, LSM6DSL_VAL_WHO_AM_I, LSM6DSL_REG_TIMESTAMP2, &timestamp2);

            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

[Vivek T Dinesh]

But it is mentioned device tree of Seeed Xiao Ble sense that the sensor lsm6dstrc inside it is compatible with LSM6DSL

[runsiv]

Hi 
I think we are talking a bit past each other. Just so that we don't have any misunderstandings. Have you worked with Zephyr before? If not I would recommend that you at least have a look at our NCS Fundamentals course. 
I see that your prj.conf you have not enabled CONFIG_LSM6DSL or any other Kconfig which should be enabled when working with peripherals. I would again advice that you at least take a look at the sample I mentioned in my last reply where you can see how to use the sensor api and the driver that is already in Zephyr

Regards

Runar

[Vivek T Dinesh]

I have tried changes to the prj.config file as you said. Added CONFIG_LSM6DSL=y

[Vivek T Dinesh]

Still unable to get the interrupt from LSM6DS3TR_C, In the program I have used the WAKE_UP_SRC register to check the Free_Fall bit flag raise. I intended to generate gpio interrupt this way.