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imu: Add way of detecting when watch is stationary.
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Can be used to further implement new power saving functionality.
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@jakkra
jakkra committed Aug 12, 2023
1 parent 28b58c4 commit 2a8ba32
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Showing 3 changed files with 64 additions and 17 deletions.
65 changes: 49 additions & 16 deletions app/src/zsw_imu.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,9 @@
#include <events/accel_event.h>
#include <zephyr/zbus/zbus.h>

LOG_MODULE_REGISTER(accel, LOG_LEVEL_DBG);
LOG_MODULE_REGISTER(accel, LOG_LEVEL_INF);

#define USE_ANYMOTION 0
#define USE_ANYMOTION 1
#define USE_GYRO 1

/*! Earth's gravity in m/s^2 */
Expand Down Expand Up @@ -37,6 +37,7 @@ static void configure_anymotion(struct bmi2_sens_config *config);
#endif
static void configure_gesture_detect(struct bmi2_sens_config *config);
static void configure_wrist_wakeup(struct bmi2_sens_config *config);
static void configure_no_motion(struct bmi2_sens_config *config);

static int bmi270_init_interrupt(void);
static void bmi270_int1_work_cb(struct k_work *work);
Expand All @@ -52,11 +53,12 @@ static bmi270_feature_config_set_t bmi270_enabled_features[] = {
{ .sensor_id = BMI2_STEP_COUNTER, .cfg_func = configure_step_counter},
{ .sensor_id = BMI2_SIG_MOTION, .cfg_func = NULL, .isr_disable = true},
#if USE_ANYMOTION
{ .sensor_id = BMI2_ANY_MOTION, .cfg_func = configure_anymotion},
{ .sensor_id = BMI2_ANY_MOTION, .cfg_func = configure_anymotion, .isr_disable = true},
#endif
{ .sensor_id = BMI2_STEP_ACTIVITY, .cfg_func = NULL, .isr_disable = true},
{ .sensor_id = BMI2_WRIST_GESTURE, .cfg_func = configure_gesture_detect, .isr_disable = false},
{ .sensor_id = BMI2_WRIST_WEAR_WAKE_UP, .cfg_func = configure_wrist_wakeup},
{ .sensor_id = BMI2_NO_MOTION, .cfg_func = configure_no_motion},
};

static struct bmi2_dev bmi2_dev;
Expand Down Expand Up @@ -178,6 +180,24 @@ int zsw_imu_reset_step_count(void)
return -ENOENT;
}

int zsw_imu_any_motion_int_set_enabled(bool enabled)
{
int8_t rslt;
struct bmi2_sens_int_config cfg;

if (enabled) {
cfg.hw_int_pin = BMI2_INT2;
} else {
cfg.hw_int_pin = BMI2_INT_NONE;
}
cfg.type = BMI2_ANY_MOTION;

rslt = bmi270_map_feat_int(&cfg, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);

return rslt == BMI2_OK;
}

static void send_accel_event(zsw_imu_evt_t *data)
{
zbus_chan_pub(&accel_data_chan, data, K_MSEC(250));
Expand Down Expand Up @@ -242,17 +262,17 @@ static void bmi270_int2_work_cb(struct k_work *work)
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);

// For some reason step count ISR is nor firing, for now
// just poll it whenever there is another event.
int_status |= BMI270_STEP_CNT_STATUS_MASK;

if (int_status & BMI270_SIG_MOT_STATUS_MASK) {
LOG_DBG("INT: BMI270_SIG_MOT_STATUS_MASK\n");
LOG_INF("INT: BMI270_SIG_MOT_STATUS_MASK\n");
evt.type = ZSW_IMU_EVT_TYPE_SIGNIFICANT_MOTION;
send_accel_event(&evt);
}
if (int_status & BMI270_STEP_CNT_STATUS_MASK) {
LOG_DBG("INT: BMI270_STEP_CNT_STATUS_MASK\n");
// For some reason step count ISR is nor firing, for now
// just poll it whenever there is another event.
if (true || int_status & BMI270_STEP_CNT_STATUS_MASK) {
if (int_status & BMI270_STEP_CNT_STATUS_MASK) {
LOG_INF("INT: BMI270_STEP_CNT_STATUS_MASK\n");
}
sensor_data.type = BMI2_STEP_COUNTER;
rslt = bmi270_get_feature_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
Expand All @@ -262,7 +282,7 @@ static void bmi270_int2_work_cb(struct k_work *work)
LOG_DBG("No of steps counted = %lu", (long unsigned int)evt.data.step.count );
}
if (int_status & BMI270_STEP_ACT_STATUS_MASK) {
LOG_DBG("INT: BMI270_STEP_ACT_STATUS_MASK\n");
LOG_INF("INT: BMI270_STEP_ACT_STATUS_MASK\n");
sensor_data.type = BMI2_STEP_ACTIVITY;
rslt = bmi270_get_feature_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
Expand All @@ -273,12 +293,12 @@ static void bmi270_int2_work_cb(struct k_work *work)
send_accel_event(&evt);
}
if (int_status & BMI270_WRIST_WAKE_UP_STATUS_MASK) {
LOG_DBG("INT: BMI270_WRIST_WAKE_UP_STATUS_MASK\n");
LOG_INF("INT: BMI270_WRIST_WAKE_UP_STATUS_MASK\n");
evt.type = ZSW_IMU_EVT_TYPE_WRIST_WAKEUP;
send_accel_event(&evt);
}
if (int_status & BMI270_WRIST_GEST_STATUS_MASK) {
LOG_DBG("INT: BMI270_WRIST_GEST_STATUS_MASK\n");
LOG_INF("INT: BMI270_WRIST_GEST_STATUS_MASK\n");
sensor_data.type = BMI2_WRIST_GESTURE;
rslt = bmi270_get_feature_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
Expand All @@ -288,11 +308,17 @@ static void bmi270_int2_work_cb(struct k_work *work)
LOG_DBG("Gesture detected: %s", gesture_output[sensor_data.sens_data.wrist_gesture_output]);
send_accel_event(&evt);
}
if (int_status & BMI270_NO_MOT_STATUS_MASK) {
LOG_DBG("No MO");
// After a NO_MOTION INT and the INT status is cleared, then
// when any other INT is triggered, also NO_MOTION status bit is set once more.
// To workaround that, only care about NO_MOTION
// when the INT was only for NO_MOTION.
if (int_status == BMI270_NO_MOT_STATUS_MASK) {
evt.type = ZSW_IMU_EVT_TYPE_NO_MOTION;
send_accel_event(&evt);
}
if (int_status & BMI270_ANY_MOT_STATUS_MASK) {
LOG_DBG("No any MO");
evt.type = ZSW_IMU_EVT_TYPE_ANY_MOTION;
send_accel_event(&evt);
}

setup_int2(true);
Expand Down Expand Up @@ -420,6 +446,13 @@ static void configure_wrist_wakeup(struct bmi2_sens_config *config)
// TODO many things to configure here
}

static void configure_no_motion(struct bmi2_sens_config *config)
{
// 1LSB equals 20ms. Default is 100ms, setting to 80ms.
// Max value is 163 seconds, hence below calc. We want max.
config->cfg.no_motion.duration = (120 * 1000) / 20;
}

static bool is_sensor_feature(uint8_t sensor_id)
{
switch (sensor_id) {
Expand Down
5 changes: 4 additions & 1 deletion app/src/zsw_imu.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,9 @@ typedef enum zsw_imu_evt_type_t {
ZSW_IMU_EVT_TYPE_TILT,
ZSW_IMU_EVT_TYPE_GESTURE,
ZSW_IMU_EVT_TYPE_SIGNIFICANT_MOTION,
ZSW_IMU_EVT_TYPE_WRIST_WAKEUP
ZSW_IMU_EVT_TYPE_WRIST_WAKEUP,
ZSW_IMU_EVT_TYPE_NO_MOTION,
ZSW_IMU_EVT_TYPE_ANY_MOTION
} zsw_imu_evt_type_t;

typedef enum zsw_imu_data_step_activity_t {
Expand Down Expand Up @@ -62,5 +64,6 @@ int zsw_imu_fetch_num_steps(uint32_t *num_steps);

int zsw_imu_reset_step_count(void);

int zsw_imu_any_motion_int_set_enabled(bool enabled);

#endif
11 changes: 11 additions & 0 deletions app/src/zsw_power_manager.c
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Original file line number Diff line number Diff line change
Expand Up @@ -126,6 +126,17 @@ static void zbus_accel_data_callback(const struct zbus_channel *chan)
switch (event->data.type) {
case ZSW_IMU_EVT_TYPE_WRIST_WAKEUP: {
should_wakeup = true;
break;
}
case ZSW_IMU_EVT_TYPE_NO_MOTION: {
LOG_ERR("Should power down more");
zsw_imu_any_motion_int_set_enabled(true);
break;
}
case ZSW_IMU_EVT_TYPE_ANY_MOTION: {
LOG_ERR("Should power UP AGAIN");
zsw_imu_any_motion_int_set_enabled(false);
break;
}
default:
break;
Expand Down

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