Adjust sensitivity for startWakeOnMotion and startTiltDetection

[chinswain]

Is it possible to adjust the sensitivity of startWakeOnMotion and startTiltDetection functions?
I see the attached in the datasheet, are you able to add this to the library?

[tdk-opensource]

Thank you for opening this issue! We will look into it shortly.

Notifying @tdk-invn-oss/motion-maintainers @tdk-invn-oss/arduino-maintainers

[rbuisson-invn]

Hello Chinswain,

The registers you mention control the full scale when reading accel data.

For WakeOnMotion or TiltDetection features you should better have a look to the APEX_CONFIG registers.
For Tilt you can configure the duration to detect a tilt using this register:

For WakeOnMotion, you can set a threshold for detection as shown in following picture:

You can write these registers through I2C or SPI depending on your hardware.

Regards,

[chinswain]

Thanks for the prompt reply, I'll take a look. My use case is inside a beehive, I wish to determine if the beehive has fallen over, startWakeOnMotion seems to be the best for this.

#include "ICM42670P.h"

ICM42670 IMU(Wire, 0);

volatile bool wake_up = false;

void irq_handler(void) {
  wake_up = true;
}

void setup() {
  int ret;
  Serial.begin(115200);
  while (!Serial) {}
  pinMode(14, INPUT_PULLUP);
  // Initializing the ICM42670
  ret = IMU.begin();
  if (ret != 0) {
    Serial.print("ICM42670 initialization failed: ");
    Serial.println(ret);
    while (1)
      ;
  }

  IMU.startWakeOnMotion(14, irq_handler);
  Serial.println("Going to sleep");
}

void loop() {
  if (wake_up) {
    Serial.println("Wake-up");
    IMU.startAccel(100, 16);   // 100 Hz, ±16g
    IMU.startGyro(100, 2000);  // 100 Hz, ±2000 dps
    delay(100);
    inv_imu_sensor_event_t imu_event;
    int ret = IMU.getDataFromRegisters(imu_event);
    if (ret == 0) {
      // Convert acceleration to g
      float accelX = imu_event.accel[0] / 2048.0;
      float accelY = imu_event.accel[1] / 2048.0;
      float accelZ = imu_event.accel[2] / 2048.0;
      // Convert gyroscope to dps
      float gyroX = imu_event.gyro[0] / 16.4;
      float gyroY = imu_event.gyro[1] / 16.4;
      float gyroZ = imu_event.gyro[2] / 16.4;

      // Determine beehive position based on Z-axis acceleration
      String position;
      if (accelZ < -0.8) {
        position = "Upright";
      } else if (accelZ > 0.8) {
        position = "Upside down";
      } else {
        position = "On its side";
      }

      // Report position if not upright
      if (position != "Upright") {
        Serial.println("Beehive is NOT upright.");
        Serial.print("Position: ");
        Serial.println(position);
        Serial.print("Acceleration: ");
        Serial.print("X: ");
        Serial.print(accelX);
        Serial.print(", Y: ");
        Serial.print(accelY);
        Serial.print(", Z: ");
        Serial.println(accelZ);
      } else {
        Serial.println("Beehive is upright.");
      }
    }
    delay(2000);
    wake_up = false;
    Serial.println("Going to sleep");
  }
}