XIAO BLE Sense - LSM6DS3 INT1 Single Tap Interrupt

Ray_White · April 30, 2024, 9:15pm

Hi, PJ_Glasso

I am experiencing same problem as esmunus but I just want to stay on BSP nrf52 v1.1.8
NRF_POWER->SYSTEMOFF = 1;

#define NRF_POWER_S ((NRF_POWER_Type*) NRF_POWER_S_BASE)

Seeed-Studio/Adafruit_nRF52_Arduino/blob/master/cores/nRF5/nordic/nrfx/mdk/nrf5340_application.h#L3328

      
        
            #define NRF_CACHE_S                 ((NRF_CACHE_Type*)         NRF_CACHE_S_BASE)
            #define NRF_SPU_S                   ((NRF_SPU_Type*)           NRF_SPU_S_BASE)
            #define NRF_OSCILLATORS_NS          ((NRF_OSCILLATORS_Type*)   NRF_OSCILLATORS_NS_BASE)
            #define NRF_REGULATORS_NS           ((NRF_REGULATORS_Type*)    NRF_REGULATORS_NS_BASE)
            #define NRF_OSCILLATORS_S           ((NRF_OSCILLATORS_Type*)   NRF_OSCILLATORS_S_BASE)
            #define NRF_REGULATORS_S            ((NRF_REGULATORS_Type*)    NRF_REGULATORS_S_BASE)
            #define NRF_CLOCK_NS                ((NRF_CLOCK_Type*)         NRF_CLOCK_NS_BASE)
            #define NRF_POWER_NS                ((NRF_POWER_Type*)         NRF_POWER_NS_BASE)
            #define NRF_RESET_NS                ((NRF_RESET_Type*)         NRF_RESET_NS_BASE)
            #define NRF_CLOCK_S                 ((NRF_CLOCK_Type*)         NRF_CLOCK_S_BASE)
            #define NRF_POWER_S                 ((NRF_POWER_Type*)         NRF_POWER_S_BASE)
            #define NRF_RESET_S                 ((NRF_RESET_Type*)         NRF_RESET_S_BASE)
            #define NRF_CTRLAP_NS               ((NRF_CTRLAPPERI_Type*)    NRF_CTRLAP_NS_BASE)
            #define NRF_CTRLAP_S                ((NRF_CTRLAPPERI_Type*)    NRF_CTRLAP_S_BASE)
            #define NRF_SPIM0_NS                ((NRF_SPIM_Type*)          NRF_SPIM0_NS_BASE)
            #define NRF_SPIS0_NS                ((NRF_SPIS_Type*)          NRF_SPIS0_NS_BASE)
            #define NRF_TWIM0_NS                ((NRF_TWIM_Type*)          NRF_TWIM0_NS_BASE)
            #define NRF_TWIS0_NS                ((NRF_TWIS_Type*)          NRF_TWIS0_NS_BASE)
            #define NRF_UARTE0_NS               ((NRF_UARTE_Type*)         NRF_UARTE0_NS_BASE)
            #define NRF_SPIM0_S                 ((NRF_SPIM_Type*)          NRF_SPIM0_S_BASE)
            #define NRF_SPIS0_S                 ((NRF_SPIS_Type*)          NRF_SPIS0_S_BASE)

github.com

Seeed-Studio/Adafruit_nRF52_Arduino/blob/master/cores/nRF5/nordic/nrfx/mdk/nrf5340_application.h#L3174

      
        
            #define NRF_CACHE_S_BASE            0x50001000UL
            #define NRF_SPU_S_BASE              0x50003000UL
            #define NRF_OSCILLATORS_NS_BASE     0x40004000UL
            #define NRF_REGULATORS_NS_BASE      0x40004000UL
            #define NRF_OSCILLATORS_S_BASE      0x50004000UL
            #define NRF_REGULATORS_S_BASE       0x50004000UL
            #define NRF_CLOCK_NS_BASE           0x40005000UL
            #define NRF_POWER_NS_BASE           0x40005000UL
            #define NRF_RESET_NS_BASE           0x40005000UL
            #define NRF_CLOCK_S_BASE            0x50005000UL
            #define NRF_POWER_S_BASE            0x50005000UL
            #define NRF_RESET_S_BASE            0x50005000UL
            #define NRF_CTRLAP_NS_BASE          0x40006000UL
            #define NRF_CTRLAP_S_BASE           0x50006000UL
            #define NRF_SPIM0_NS_BASE           0x40008000UL
            #define NRF_SPIS0_NS_BASE           0x40008000UL
            #define NRF_TWIM0_NS_BASE           0x40008000UL
            #define NRF_TWIS0_NS_BASE           0x40008000UL
            #define NRF_UARTE0_NS_BASE          0x40008000UL
            #define NRF_SPIM0_S_BASE            0x50008000UL
            #define NRF_SPIS0_S_BASE            0x50008000UL

Do you know what is the peripheralAddr in your BSP 2.9.1?

Ray_White · April 30, 2024, 9:29pm

What I found for nrf52840 seems it needs to be 0x40000000UL

github.com

Seeed-Studio/Adafruit_nRF52_Arduino/blob/master/cores/nRF5/nordic/nrfx/mdk/nrf52840.h#L2741

      
        
            /* =========================================================================================================================== */
            
            

            
/** @addtogroup Device_Peripheral_peripheralAddr
              * @{
              */
            
            
#define NRF_FICR_BASE               0x10000000UL
            #define NRF_UICR_BASE               0x10001000UL
            #define NRF_CLOCK_BASE              0x40000000UL
            #define NRF_POWER_BASE              0x40000000UL
            #define NRF_P0_BASE                 0x50000000UL
            #define NRF_P1_BASE                 0x50000300UL
            #define NRF_RADIO_BASE              0x40001000UL
            #define NRF_UART0_BASE              0x40002000UL
            #define NRF_UARTE0_BASE             0x40002000UL
            #define NRF_SPI0_BASE               0x40003000UL
            #define NRF_SPIM0_BASE              0x40003000UL
            #define NRF_SPIS0_BASE              0x40003000UL
            #define NRF_TWI0_BASE               0x40003000UL
            #define NRF_TWIM0_BASE              0x40003000UL

PJ_Glasso · April 30, 2024, 9:34pm

Hi there,
cores/nRF5/nordic/nrfx/mdk/nrf52840_peripherals.h
but I don’t think the issue is that , I believe if you use the GPIO number and the delay it will work with the 1.1.8 BSP.
HTH
GL PJ

Ray_White · April 30, 2024, 9:46pm

Hi,

Yeah, doesn’t look like there would be a register problem. I am not sure where did you mean to use GPIO number?

The following goes to system_off it stays off with intention to test the power off

void goToPowerOff() {
  Serial.println("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(200);
  // Trigger System OFF
  NRF_POWER->SYSTEMOFF = 1;
}

The following wakes up immediately

void goToPowerOff() {
  Serial.println("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(200);
  // Trigger System OFF
  NRF_POWER->SYSTEMOFF = 1;
}

Thanks, RW

PJ_Glasso · May 1, 2024, 3:21am

Hi there,
Yes, So I went back and found the one that works with 1.1.8 as well, it’s a single nudge/tap and could be adjusted to the same function as the original, but this one sleeps properly and shuts down the flash also. It stays asleep until you beat it up a little (low sensitivity)
You can blend these two together and get what you need.
HTH
GL PJ

// This is compiled with BSP 1.1.8 , sleeps AOK, and wakes up with a nudge via the Tap 
// interrupt as GPIO
// toasted and poached by PJG 4/29/24
//
#include <Adafruit_SPIFlash.h>
#include <LSM6DS3.h>
#include <nrf52840.h>
#include <Wire.h>

Adafruit_FlashTransport_QSPI flashTransport;
LSM6DS3 myIMU; // Default is I2C mode

void QSPIF_sleep(void)
{
  flashTransport.begin();
  flashTransport.runCommand(0xB9);
  flashTransport.end();
}

void setupWakeUpInterrupt()
{
  // Start with LSM6DS3 in disabled to save power
  myIMU.settings.gyroEnabled = 0;
  myIMU.settings.accelEnabled = 0;

  myIMU.begin();

  // Set up the accelerometer for Wake-up interrupt.
  // Per the application note, use a two step set up to avoid spurious interrupts
  // Set up values are from the application note, and then adjusted for minimum power

  myIMU.writeRegister(LSM6DS3_ACC_GYRO_WAKE_UP_DUR, 0x00); // No duration
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_WAKE_UP_THS, 0x02); // Set wake-up threshold
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_TAP_CFG1, 0x80);    // Enable interrupts and apply slope filter; latch mode disabled
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_CTRL1_XL, 0x70);    // Turn on the accelerometer
                                                           // ODR_XL = 833 Hz, FS_XL = ±2 g
  delay(4);                                                // Delay time per application note
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_CTRL1_XL, 0xB0);    // ODR_XL = 1.6 Hz
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_CTRL6_G, 0x10);     // High-performance operating mode disabled for accelerometer
  myIMU.writeRegister(LSM6DS3_ACC_GYRO_MD1_CFG, 0x20);     // Wake-up interrupt driven to INT1 pin

  // Set up the sense mechanism to generate the DETECT signal to wake from system_off
  // No need to attach a handler, if just waking with the GPIO input.
	pinMode(PIN_LSM6DS3TR_C_INT1, INPUT_PULLDOWN_SENSE);

  return;
}

void setup()
{
  pinMode(LED_RED, OUTPUT);
  pinMode(LED_GREEN, OUTPUT);
  
  digitalWrite(LED_RED, HIGH);
  digitalWrite(LED_GREEN, HIGH);

  QSPIF_sleep();

  // Flash green to see power on, reset, and wake from system_off
  digitalWrite(LED_GREEN, LOW);
  delay(1000);
  digitalWrite(LED_GREEN, HIGH);;

  // Minimizes power when bluetooth is used
  NRF_POWER->DCDCEN = 1;
}

void loop()
{
  // FreeRTOS will automatically put the system in system_on sleep mode here
  delay(10000); // Measure idle loop power during this period

  // Flash red before system_off sleep
  digitalWrite(LED_RED, LOW);
  delay(1000);
  digitalWrite(LED_RED, HIGH);;

  // Setup up double tap interrupt to wake back up
  setupWakeUpInterrupt();

  // Execution should not go beyond this
  NRF_POWER->SYSTEMOFF=1;
}

The Led will turn green when it wakes up !

Mark_Luk · May 1, 2024, 7:30am

Hi,

Try to use digitalPinToPinName instead of digitalPinToInterrupt when calling nrf_gpio_cfg_sense_input, which will expect a nrf_gpio pin input (should be P0.11). However, digitalPinToInterrupt will only return the Arduino pin number, they are not matched. digitalPinToPinName(P) will do the pin mapping, g_ADigitalPinMap[P] will also work, actually which is the definition of digitalPinToPinName.

nrf_gpio_cfg_sense_input(digitalPinToPinName(int1Pin), NRF_GPIO_PIN_PULLDOWN, NRF_GPIO_PIN_SENSE_HIGH);

Ray_White · May 1, 2024, 1:49pm

Hi,

Thanks!
That was a solution for me.

nrf_gpio_cfg_sense_input(digitalPinToPinName(int1Pin), NRF_GPIO_PIN_PULLDOWN, NRF_GPIO_PIN_SENSE_HIGH);

part of setup

  // Attach interrupt signal from myIMU for wake up function
  pinMode(int1Pin, INPUT_PULLDOWN);
  // Attach interrupt to the IMU
  attachInterrupt(digitalPinToInterrupt(int1Pin), int1ISR, RISING);
  // Attach interrupt to the IMU for wakeups
  nrf_gpio_cfg_sense_input(digitalPinToPinName(int1Pin), NRF_GPIO_PIN_PULLDOWN, NRF_GPIO_PIN_SENSE_HIGH);

  setupDoubleTapInterrupt();

and my goToPoweOff

void goToPowerOff() {
  Serial.println("Going to System OFF");
 // Delay to allow serial to print
  delay(500);
  // Trigger System OFF
  NRF_POWER->SYSTEMOFF = 1;
}

Ray_White · May 1, 2024, 2:04pm

Hi,

Is it expected that when you trigger SYSTEM_OFF, the nrf52840 stays in its last state? I have turned on LED_RED ON before triggering SYSTEM_OFF, and it stays ON. Is this expected behavior?

PJ_Glasso · May 1, 2024, 2:58pm

Hi there,
It is, and will be reflected in the power draw asleep. You can shutdown the SD as well may override that behavior?
Some users also “flush” the serial port in order to avoid any spurious uart interrupts.
HTH
GL PJ

Ray_White · May 1, 2024, 4:10pm

Hi,

I tried to replace NRF_POWER->SYSTEMOFF = 1; with
sd_power_system_off();
Is that what you mean by using SD?

With the following system doesn’t stay OFF

void goToPowerOff() {
  Serial.println("Going to System OFF");
 // Delay to allow serial to print
  delay(500);
  // Trigger System OFF
  // NRF_POWER->SYSTEMOFF = 1;
  sd_power_system_off();
}

PJ_Glasso · May 1, 2024, 5:49pm

Hi there,
No it won’t by itself, You need both to be most power efficient is what I was getting at.
The example I posted Does stay asleep and wakes up with movement.
HTH
GL PJ

lucamox · April 5, 2025, 4:16am

Hi Honvl,
Did you manage to get working the tilt detection on int1?
If yes post some code to understand how activate it, pls.
I would like to use it as wakeup source during deep sleep.
Actually I’m using a mercury tilt switch , it works but is not the smartest solution.
Thks
Luca

PJ_Glasso · April 5, 2025, 4:48am

Hi there,

Yes, there is another thread on AWT, if it is that which you seek…
just search that out “AWT” the first HIT… Sound like if you want a degree interrupt? that’s possible, but set a high sensitivity in motion code and that works real well too.

HTH
GL PJ

lucamox · April 5, 2025, 2:59pm

Hi Pj.
Well, what I need is to wake up on a rotation of the z axis.
Is a pretty slow rotation, nothing of tap or impact detection.
Something like 200deg/sec of angular speed.

PJ_Glasso · April 5, 2025, 3:24pm

Hi there,

SO “Yaw” then ? if that’s the case you almost really need a magnetometer. You can do some via calculation and a filter, albeit not as accurate. Check that link I posted They talk about it and show an example if I recall , SParkFun has more than Seeed for info on it and there LIB does some other stuff too, Best bet is Register reads and Writes though for more advanced tech.
You can do it also with BLE , using AOA , and AOD but we would need a Xiao with a Nrf54L15

I think with the Accelerometer Data and the Kalman Filter you can get it going, there are examples let’s see who else can chime in. I think the Sense Parts are Fantastic, Seeed should really refine it and make it even better.

HTH
GL PJ

lucamox · April 5, 2025, 4:22pm

I will check the link you posted before.
I hope it is possible with the default hardware, my goal is just to wake with some kind of movement, the electronic is mounted on a wheel, with the z axis rotating with the wheel axis (not really coaxial but almost). I need to wakeup when the wheel is rotated, doesn’t matter the speed.

PJ_Glasso · April 5, 2025, 6:48pm

Hi there,

Ok, So Would the “park Demo” apply ? i.e. there’s a point where it’s pretty much still or within a margin. after some timer it’s considered “parked” if you set the threshold (low enough) correctly you can sense if the winds blows too hard on it, or in the case it’s sitting on a table, even a slight vibration or move with set it off. all are demonstrated with code on here.

HTH
GL PJ

lucamox · April 5, 2025, 7:20pm

Yes exactly, but not a very low treshold , the real case is an intentional movement after a steady period.
I search for the parked app.
Thank you