qmi8658_pedometer.ino

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#include <Arduino.h>
#include <stdarg.h>
#include <stdio.h>
#include <Wire.h>
#include <ImuDrv.hpp>
#include "DevicesPins.h"
 
 
// #define USE_I2C_INTERFACE        true
// #define USE_SPI_INTERFACE        true
 
#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE)
#define USE_I2C_INTERFACE
#warning "No interface type is selected, use I2C interface"
#endif
 
#if defined(USE_SPI_INTERFACE)
 
#ifndef SPI_MOSI
#define SPI_MOSI    35
#endif
 
#ifndef SPI_MISO
#define SPI_MISO    37
#endif
 
#ifndef SPI_SCK
#define SPI_SCK     36
#endif
 
#ifndef IMU_CS
#define IMU_CS      34
#endif
 
#ifndef IMU_IRQ
#define IMU_IRQ      33
#endif
 
#else /* USE_I2C_INTERFACE */
 
#ifndef IMU_SDA
#define IMU_SDA      17
#endif
 
#ifndef IMU_SCL
#define IMU_SCL      18
#endif
 
#ifndef IMU_IRQ
#define IMU_IRQ       33
#endif
 
#endif /* USE_SPI_INTERFACE */
 
 
SensorQMI8658 imu;
uint32_t lastSteps = 0;
volatile bool isInterruptTriggered = false;
 
#ifdef ARDUINO_T_BEAM_S3_SUPREME
#include <XPowersAXP2101.tpp>   //PMU Library https://github.com/lewisxhe/XPowersLib.git
#endif
__attribute__ ((weak))  void setupPower()
{
    // T_BEAM_S3_SUPREME The PMU voltage needs to be turned on to use the sensor
#if defined(ARDUINO_T_BEAM_S3_SUPREME)
    XPowersAXP2101 power;
    power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41);
    power.disableALDO1();
    power.disableALDO2();
    delay(250);
    power.setALDO1Voltage(3300); power.enableALDO1();
    power.setALDO2Voltage(3300); power.enableALDO2();
#endif
 
}
 
void pedometerCallback()
{
    Serial.println("[PEDOMETER] Step detected!");
    uint32_t steps = imu.getStepCount();
    if (steps != lastSteps) {
        serialPrintFmt("[PEDOMETER]  Steps: %u\n", steps);
        lastSteps = steps;
    }
}
 
static void serialPrintFmt(const char *fmt, ...)
{
    char buf[256];
    va_list args;
    va_start(args, fmt);
    vsnprintf(buf, sizeof(buf), fmt, args);
    va_end(args);
    Serial.print(buf);
}
 
void setup()
{
    Serial.begin(115200);
    while (!Serial);
 
    setupPower();
 
    Serial.println("QMI8658 Pedometer Example");
 
#ifdef USE_I2C_INTERFACE
    if (!imu.begin(Wire, QMI8658_H_SLAVE_ADDRESS, IMU_SDA, IMU_SCL)) {
        Serial.println("Failed to initialize QMI8658!");
        while (1) {
            delay(1000);
        }
    }
#endif
 
#ifdef USE_SPI_INTERFACE
    // Using SPI interface
    if (!imu.begin(SPI, IMU_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) {
        Serial.println("Failed to initialize QMI8658!");
        while (1) {
            delay(1000);
        }
    }
#endif
 
    imu.setPins(IMU_IRQ);
 
    // Keep ACC+GYR both enabled, matching vendor pedometer runtime path.
    // In 6DOF mode, synchronized ODR base follows gyro natural frequency.
    // Accelerometer: FS_2G(000), FS_4G(001), FS_8G(010), FS_16G(011)
    // ODR: 1000, 500, 250, 125, 62.5, 31.25, 128, 21, 11, 3 Hz (6DOF: 448/224/112/56/28 Hz)
    imu.configAccel(AccelFullScaleRange::FS_4G,
                    112.0f);
    // Gyroscope: FS_125_DPS, FS_250_DPS, FS_500_DPS, FS_1000_DPS, FS_2000_DPS, FS_4000_DPS
    // ODR: 7174/3587/1793/896/448/224/112/56/28 Hz
    imu.configGyro(GyroFullScaleRange::FS_1000_DPS,
                   112.0f);
 
    imu.enableAccel();
    imu.enableGyro();
 
    Serial.println("\nUsing pedometer debug profile (easier trigger than strict walking profile)");
    // Datasheet profile is conservative and designed to reject non-step vibration.
    // For handheld bring-up, use a lower entry count and lower thresholds.
    // sample_cnt=50, peak2peak=80mg, peak=60mg, time_up=400, time_low=8,
    // entry=1, precision=0, sig_count=1
    bool cfg_ok = imu.configPedometer(50, 80, 60, 400, 8, 1, 0, 1);
    serialPrintFmt("configPedometer: %s\n", cfg_ok ? "OK" : "FAIL");
 
    imu.resetStepCount();
    bool ped_ok = imu.enablePedometer(SensorQMI8658::IntPin::PIN1);
    serialPrintFmt("enablePedometer: %s\n", ped_ok ? "OK" : "FAIL");
 
    Serial.println("\nRegister snapshot after pedometer setup:");
    imu.dumpRegisters();
 
    imu.setPedometerCallback(pedometerCallback);
 
    Serial.println("\nPedometer configured. Start walking!");
    Serial.println("Tip: step engine is for periodic gait, not random shaking.");
    Serial.println("For handheld debug: simulate walking cadence (1-2Hz up/down motion).\n");
    Serial.println("Note: Pedometer callback is triggered by step-count change, not only by status bit.");
 
    int irq = digitalPinToInterrupt(IMU_IRQ);
    if (irq >= 0) {
        attachInterrupt(irq, +[]() {
            isInterruptTriggered = true;
        }, CHANGE);
        serialPrintFmt("IRQ attached on pin %d (CHANGE trigger)\n", IMU_IRQ);
    } else {
        serialPrintFmt("IRQ pin %d has no interrupt mapping, polling only\n", IMU_IRQ);
    }
 
}
 
void loop()
{
    // Fallback poll period when no IRQ arrives (ms).
    constexpr uint32_t kPollIntervalMs = 50;
    static uint32_t lastPollMs = 0;
 
    bool doUpdate = false;
    if (isInterruptTriggered) {
        isInterruptTriggered = false;
        doUpdate = true;
    }
 
    uint32_t now = millis();
    if (!doUpdate && (now - lastPollMs >= kPollIntervalMs)) {
        doUpdate = true;
    }
 
    if (doUpdate) {
        lastPollMs = now;
        imu.update();
    }
    delay(10);
}