lsm6dsl Step counter - Pedometer. How to get correct data? I get interrupt every small movement detection. My sensor work on 52 HZ I set thresholds and read data(see blow)

[HTurj.1]

Thresholds:

lsm6dsl_****_debounce_steps_set(&IMU_Ctx, imuParams.debounce_steps);

  lsm6dsl_****_timeout_set(&IMU_Ctx, imuParams.debounce_timeout);

  lsm6dsl_****_threshold_set(&IMU_Ctx, imuParams.step_thd);

function tp get cstep counter:

uint16_t IMU_API_ReadAndClearStepsCounter(void)

{

    uint16_t steps[2];

    int tries = 2;

    // do consensual decision

    do {

      lsm6dsl_read_reg(&IMU_Ctx, LSM6DSL_STEP_COUNTER_L, (uint8_t*)&steps[0], sizeof(uint16_t));

      lsm6dsl_read_reg(&IMU_Ctx, LSM6DSL_STEP_COUNTER_L, (uint8_t*)&steps[1], sizeof(uint16_t));

      tries--;

    }while(tries && (steps[0] != steps[1]));

    if(steps[0] !=steps[1]) {

      steps[0] = (uint16_t)-1;

    }

    // clear steps counter

    lsm6dsl_****_step_reset_set(&IMU_Ctx, 1);  // reset step counter

    lsm6dsl_****_step_reset_set(&IMU_Ctx, 0);  // reset step counter

    return steps[0];

}

[ERose.1]

Hello @HTurj.1​ , Could you please share your sensor setup code with us? I believe there must be a problem when writing to the pedometer enabling registers.

[HTurj.1]

Hi,

First I call to IMU_Setup()

tatic void IMU_Setup(void)

{

  IMU_LOG_DEBUG_MSG("IMU_PreInit()\n");

  IMU_InitLSM6DSL();

  IMU_PowerDown();

  IMU_API_DeferOp(IMU_CMD_PEDOMETER_WRITE);

  IMU_InitInterrupt();

}

static void IMU_InitLSM6DSL(void)

{

  lsm6dsl_reg_t reg;

  wiced_result_t res;

  // IMU Reset procedure - See LSM6DSL power up behavior paragraph 5.7 http://www.st.com/content/ccc/resource/technical/document/application_note/group0/26/07/3f/bf/12/55/47/62/DM00402563/files/DM00402563.pdf/jcr:content/translations/en.DM00402563.pdf

    res = lsm6dsl_gy_data_rate_set(&IMU_Ctx, LSM6DSL_GY_ODR_OFF);

    //APP_ERROR_CHECK(errCode);

    if (res != WICED_SUCCESS)

    {

      IMU_LOG_ERROR_MSG("lsm6dsl_gy_data_rate_set() error. Err=%d\n", res);

    }

    res = lsm6dsl_xl_power_mode_set(&IMU_Ctx, LSM6DSL_XL_HIGH_PERFORMANCE);

    if (res != WICED_SUCCESS)

    {

      IMU_LOG_ERROR_MSG("lsm6dsl_xl_power_mode_set() error. Err=%d\n", res);

    }

    res = lsm6dsl_reset_set(&IMU_Ctx, 1);

    if (res != WICED_SUCCESS)

    {

      IMU_LOG_ERROR_MSG("lsm6dsl_reset_set() error. Err=%d\n", res);

    }

    //vTaskDelay(pdMS_TO_TICKS(1));  // 50 us. See LSM6DSL power up behavior paragraph 5.7 http://www.st.com/content/ccc/resource/technical/document/application_note/group0/26/07/3f/bf/12/55/47/62/DM00402563/files/DM00402563.pdf/jcr:content/translations/en.DM00402563.pdf

    wiced_rtos_delay_milliseconds(1);

    // End of IMU Reset procedure

  while(true)

  {

    res = lsm6dsl_device_id_get(&IMU_Ctx, ®.byte);

    if (res == WICED_SUCCESS)

    {

      if(reg.byte == LSM6DSL_ID)

      {

        IMU_LOG_INFO_MSG("LSM6DSL found. Device id=0x%X\n", reg.byte);

        break;

      }

      else

      {

        wiced_rtos_delay_milliseconds(1000);

      }

    }

    else

    {

      IMU_LOG_ERROR_MSG("lsm6dsl_device_id_get failed\n");

      return;

    }

  };

  //maybe this line not needed

  // 1st disable I2C. See https://community.st.com/s/question/0D53W00000KqH8cSAF/connecting-two-sensors-to-the-same-spi-bus-possible-contention

  //

  res = lsm6dsl_i2c_interface_set(&IMU_Ctx, LSM6DSL_I2C_ENABLE);

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_i2c_interface_set() error. Err=%d\n", res);

  }

  // Accelerometer

  res = lsm6dsl_xl_full_scale_set(&IMU_Ctx, LSM6DSL_8g);

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_xl_full_scale_set() error. Err=%d\n", res);

  }

  res = lsm6dsl_xl_power_mode_set(&IMU_Ctx, LSM6DSL_XL_NORMAL);

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_xl_power_mode_set() error. Err=%d\n", res);

  }

  // Gyro

  res = lsm6dsl_gy_full_scale_set(&IMU_Ctx, LSM6DSL_2000dps);

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_gy_full_scale_set() error. Err=%d\n", res);

  }

  res = lsm6dsl_gy_power_mode_set(&IMU_Ctx, LSM6DSL_GY_NORMAL);

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_gy_power_mode_set() error. Err=%d\n", res);

  }

  // BDU

  res = lsm6dsl_block_data_update_set(&IMU_Ctx, 1);

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_block_data_update_set() error. Err=%d\n", res);

  }

  // DRDY Int2

  res = lsm6dsl_data_ready_mode_set(&IMU_Ctx, LSM6DSL_DRDY_PULSED);

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_data_ready_mode_set() error. Err=%d\n", res);

  }

  res = lsm6dsl_pin_int2_route_set(&IMU_Ctx, IMU_Intr2RouteAccOnly);  // use INT2 as 'main' IMU irq

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_pin_int2_route_set() error. Err=%d\n", res);

  }

  // Pedometer

  res = lsm6dsl_****_sens_set(&IMU_Ctx, 1); // Enable pedometer

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_****_sens_set() error. Err=%d\n", res);

  }

  res = lsm6dsl_****_step_reset_set(&IMU_Ctx, 1); // reset step counter

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_****_step_reset_set() error. Err=%d\n", res);

  }

  res = lsm6dsl_****_step_reset_set(&IMU_Ctx, 0); // reset step counter

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_****_step_reset_set() error. Err=%d\n", res);

  }

  // Set pedometer parameters

  res = lsm6dsl_****_debounce_steps_set(&IMU_Ctx, IMU_PEDOEMETR_DEBOUNCE_STEPS_DEFAULT);

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_****_debounce_steps_set() error. Err=%d\n", res);

  }

  res = lsm6dsl_****_timeout_set(&IMU_Ctx, IMU_PEDOMETER_DEBOUNCE_TIMEOUT_DEFAULT);

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_****_timeout_set() error. Err=%d\n", res);

  }

  res = lsm6dsl_****_threshold_set(&IMU_Ctx, IMU_PEDOMETER_STEP_THD_DEFAULT);

  if (res != WICED_SUCCESS)

  {

    IMU_LOG_ERROR_MSG("lsm6dsl_****_threshold_set() error. Err=%d\n", res);

  }

  IMU_isInitialized = true;

  IMU_LOG_DEBUG_MSG("LSM6DSL setup completed successfully\n");

}

static void IMU_InitInterrupt(void)

{

  IMU_LOG_DEBUG_MSG("IMU_InitInterrupt()\n");

// interrupt

  wiced_gpio_init(IMU_INT1_GPIO, INPUT_HIGH_IMPEDANCE);

  wiced_gpio_init(IMU_INT2_GPIO, INPUT_HIGH_IMPEDANCE);

  wiced_gpio_input_irq_enable(IMU_INT2_GPIO, IRQ_TRIGGER_RISING_EDGE, IMU_Int2Handler, NULL);

  wiced_gpio_input_irq_enable(IMU_INT1_GPIO, IRQ_TRIGGER_RISING_EDGE, IMU_Int1Handler, NULL);

}

In setup function did power_off,

The power on call when all system is power on(wake up)

BR

Harel