Any example of using IMU with XiaoBle using Wake-Up Interrupt

Products & Technology XIAO
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6

Hi there,

So you were close , However I think you are conflating the two subjects and functions. Motion & Free Fall,or Motion and IMPACT is also possible. Keep looking at the threads for both Motion and FALL detection.
Try this sketch bellow, See if you get where you went off track.
BSP 2.9.1 was discovered by @msfujino that only worked if you Defined the GPIO pin Number the macro didn’t hook.
I tested this just now again, and it works great!
DOuble tap the can it will interrupt and increment the count, after the third Double-Tap it will sleep and wait for a tap to wake up. You can also have any motion wake it up as well if you change the code.

#include "LSM6DS3.h"
#include "Wire.h"
LSM6DS3 myIMU(I2C_MODE, 0x6A); // IMU
//#define int1Pin PIN_LSM6DS3TR_C_INT1
#define int1Pin P0_11 // <--- GPIO pin number 

const int ledPin = LED_BUILTIN; // set ledPin to on-board LED

uint8_t interruptCount = 0; // Amount of received interrupts
uint8_t prevInterruptCount = 0; // Interrupt Counter from last loop

void setup() {
  Serial.begin(9600);
  while ( !Serial ) delay(10);   // for nrf52840 with native usb
  pinMode(ledPin, OUTPUT); // use the LED as an output
  Wire.setClock(1000000);  // Set I2C to 1 MHz (Fast Mode Plus)
  Serial.println("Hello, I am awake!");
  myIMU.settings.gyroEnabled = 0; // Gyro currently not used, disabled to save power
  if (myIMU.begin() != 0) {
    Serial.println("IMU error");
  } else {
    Serial.println("IMU OK!");
  }

  setupDoubleTapInterrupt();

  pinMode(int1Pin, INPUT);
  attachInterrupt(digitalPinToInterrupt(int1Pin), int1ISR, RISING);
}

void loop() {
  setLED(false);
  Serial.print("Interrupt Counter: ");
  Serial.println(interruptCount);

  if (interruptCount > prevInterruptCount) {
    Serial.println("Interrupt received!");
  }
  prevInterruptCount = interruptCount;

  if (interruptCount >= 3) {
    // Trigger System OFF after 5 interrupts
    goToPowerOff();
  }

  delay(500);
}

void goToPowerOff() {
  Serial.println("Going to System OFF");
  setLED(true);
  setupDoubleTapInterrupt();
  delay(1000); // delay seems important to apply settings, before going to System OFF
  //Ensure interrupt pin from IMU is set to wake up device
  nrf_gpio_cfg_sense_input(digitalPinToInterrupt(int1Pin), NRF_GPIO_PIN_PULLDOWN, NRF_GPIO_PIN_SENSE_HIGH);
  //delay(2000);// Trigger System OFF
  NRF_POWER->SYSTEMOFF = 1;
}

void setupDoubleTapInterrupt() {
  uint8_t error = 0;
  uint8_t dataToWrite = 0;

  // Double Tap Config
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_CTRL1_XL, 0x60); //* Acc = 416Hz (High-Performance mode)// Turn on the accelerometer
  // ODR_XL = 416 Hz, FS_XL = 2g
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_TAP_CFG1, 0x8E);// INTERRUPTS_ENABLE, SLOPE_FDS// Enable interrupts and tap detection on X, Y, Z-axis
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_TAP_THS_6D, 0x85);// Set tap threshold 8C
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_INT_DUR2, 0x7F);// Set Duration, Quiet and Shock time windows 7F
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_WAKE_UP_THS, 0x80);// Single & double-tap enabled (SINGLE_DOUBLE_TAP = 1)
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_MD1_CFG, 0x08);// Double-tap interrupt driven to INT1 pin
}

void int1ISR() {
  interruptCount++;
}

  void setLED(bool on)
  {
  // data = 1 -> LED = On
  // data = 0 -> LED = Off
  digitalWrite(LED_BUILTIN, on ? HIGH : LOW);
  }

HTH
GL :slight_smile: PJ :v:

not sure which you are trying to accomplish, You can detect movement (motion) or you can detect Free-Fall, or you can detect Free-Fall with Impacts, also AWT(like on a mobile phone). You can use all with Interrupts and Wakeup can be achieved by the same as well as the “double-TAP”. I have successfully used every mode. High performance and low power modes work very well. There is some nuance involved with detecting and configuration. so ask what you don’t understand. :+1:

Serial output;

Hello, I am awake!
IMU OK!
Interrupt Counter: 0
Interrupt Counter: 0
Interrupt Counter: 0
Interrupt Counter: 0
Interrupt Counter: 0
Interrupt Counter: 0
Interrupt Counter: 0
Interrupt Counter: 0
Interrupt Counter: 0
Interrupt Counter: 1
Interrupt received!
Interrupt Counter: 1
Interrupt Counter: 1
Interrupt Counter: 1
Interrupt Counter: 2
Interrupt received!
Interrupt Counter: 2
Interrupt Counter: 2
Interrupt Counter: 2
Interrupt Counter: 3
Interrupt received!
Going to System OFF

Look here…