Merge pull request #46 from sensebox/feat/icm20948

feat: also support icm20948

Author: PaulaScharf

senseBox-bike-atrai-v2/platformio.ini

@@ -24,3 +24,4 @@ lib_deps =
 	sensebox/SenseBoxBLE@^1.1.0
 	adafruit/Adafruit NeoPixel@^1.12.2
 	invensenseinc/ICM42670P@^1.0.7
+	adafruit/Adafruit ICM20X@^2.0.7

senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.cpp

@@ -27,6 +27,12 @@ void AccelerationSensor::initSensor()
     icm.startGyro(21, 500); // Gyro ODR = 100 Hz, Full Scale Range = 2000 dps
     activeSensor = ICM42670X;
   }
+  else if (icm2.begin_I2C(0x68, &Wire1))
+  {
+    icm2.setAccelRange(ICM20948_ACCEL_RANGE_8_G);
+    icm2.setAccelRateDivisor(10.25); // 100 Hz sample rate
+    activeSensor = ICM20948;
+  }
   else
   {
     Serial.println("No compatible acceleration sensor found");
@@ -46,7 +52,7 @@ float probSett = 0.0;
 float probStanding = 0.0;
 float anomaly = 0.0;
 
-float prevAccTime = millis();
+// float prevAccTime = millis();
 
 bool AccelerationSensor::readSensorData()
 {
@@ -75,13 +81,25 @@ bool AccelerationSensor::readSensorData()
     buffer[ix++] = (imu_event.gyro[1]*2.0)/6550.0;
     buffer[ix++] = (imu_event.gyro[2]*2.0)/6550.0;
   }
+  else if (activeSensor == ICM20948)
+  {
+    sensors_event_t a, g, m, temp;
+    icm2.getEvent(&a, &g, &m, &temp);
+    buffer[ix++] = a.acceleration.x;
+    buffer[ix++] = a.acceleration.y;
+    buffer[ix++] = a.acceleration.z;
+    buffer[ix++] = g.gyro.x;
+    buffer[ix++] = g.gyro.y;
+    buffer[ix++] = g.gyro.z;
+  }
   else
   {
     return false; // No sensor active
   }
 
-  Serial.println(millis() - prevAccTime);
-  prevAccTime = millis();
+  // Serial.print("acc: ");
+  // Serial.println(millis() - prevAccTime);
+  // prevAccTime = millis();
 
   // one second interval
   if (EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE <= ix)

senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.h

@@ -4,6 +4,8 @@
 #include "../BaseSensor.h"
 #include <Adafruit_MPU6050.h>
 #include "ICM42670P.h" // Include for ICM42670P
+#include <Adafruit_ICM20948.h> // Include for ICM20948
+#include <Adafruit_Sensor.h> // Include for ICM20948
 
 class AccelerationSensor : public BaseSensor
 {
@@ -20,12 +22,14 @@ class AccelerationSensor : public BaseSensor
   {
     NONE,
     MPU6050,
-    ICM42670X // ICM42670X is a placeholder for the ICM42670P
+    ICM42670X, // ICM42670X is a placeholder for the ICM42670P
+    ICM20948
   };
 
   SensorType activeSensor = NONE; // Track which sensor is active
   Adafruit_MPU6050 mpu;
   ICM42670 icm = ICM42670(Wire1, 0); // Instantiate an ICM42670 with LSB address set to 0
+  Adafruit_ICM20948 icm2;
 };
 
 #endif // ACCELERATION_SENSOR_H

senseBox-bike-nancy/platformio.ini

@@ -24,3 +24,4 @@ lib_deps =
 	sensebox/SenseBoxBLE@^1.1.0
 	adafruit/Adafruit NeoPixel@^1.12.2
 	invensenseinc/ICM42670P@^1.0.7
+	adafruit/Adafruit ICM20X@^2.0.7

senseBox-bike-nancy/src/sensors/AccelerationSensor/AccelerationSensor.cpp

@@ -27,6 +27,12 @@ void AccelerationSensor::initSensor()
     icm.startGyro(21, 500); // Gyro ODR = 100 Hz, Full Scale Range = 2000 dps
     activeSensor = ICM42670X;
   }
+  else if (icm2.begin_I2C(0x68, &Wire1))
+  {
+    icm2.setAccelRange(ICM20948_ACCEL_RANGE_8_G);
+    icm2.setAccelRateDivisor(10.25); // 100 Hz sample rate
+    activeSensor = ICM20948;
+  }
   else
   {
     Serial.println("No compatible acceleration sensor found");
@@ -75,6 +81,17 @@ bool AccelerationSensor::readSensorData()
     buffer[ix++] = (imu_event.gyro[1]*2.0)/6550.0;
     buffer[ix++] = (imu_event.gyro[2]*2.0)/6550.0;
   }
+  else if (activeSensor == ICM20948)
+  {
+    sensors_event_t a, g, m, temp;
+    icm2.getEvent(&a, &g, &m, &temp);
+    buffer[ix++] = a.acceleration.x;
+    buffer[ix++] = a.acceleration.y;
+    buffer[ix++] = a.acceleration.z;
+    buffer[ix++] = g.gyro.x;
+    buffer[ix++] = g.gyro.y;
+    buffer[ix++] = g.gyro.z;
+  }
   else
   {
     return false; // No sensor active

senseBox-bike-nancy/src/sensors/AccelerationSensor/AccelerationSensor.h

@@ -4,6 +4,8 @@
 #include "../BaseSensor.h"
 #include <Adafruit_MPU6050.h>
 #include "ICM42670P.h" // Include for ICM42670P
+#include <Adafruit_ICM20948.h> // Include for ICM20948
+#include <Adafruit_Sensor.h> // Include for ICM20948
 
 class AccelerationSensor : public BaseSensor
 {
@@ -20,12 +22,14 @@ class AccelerationSensor : public BaseSensor
   {
     NONE,
     MPU6050,
-    ICM42670X // ICM42670X is a placeholder for the ICM42670P
+    ICM42670X, // ICM42670X is a placeholder for the ICM42670P
+    ICM20948
   };
 
   SensorType activeSensor = NONE; // Track which sensor is active
   Adafruit_MPU6050 mpu;
   ICM42670 icm = ICM42670(Wire1, 0); // Instantiate an ICM42670 with LSB address set to 0
+  Adafruit_ICM20948 icm2;
 };
 
 #endif // ACCELERATION_SENSOR_H