Hi, i'm facing a similar problem with any motion interrupt. I created a task and configured the BMI160 in normal mode but I don't know where is the problem to have an interrupt. Please someone can help me. void task_bmi160_normal_mode() { //esp_sleep_enable_ext0_wakeup(GPIO_NUM_4, 1); //gpio_set_direction(GPIO_NUM_4, GPIO_MODE_INPUT); /* Select the Interrupt channel/pin */ int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1 /* Select the Interrupt type */ int_config.int_type = BMI160_ACC_ANY_MOTION_INT;// Choosing Any motion interrupt /* Select the interrupt channel/pin settings */ int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin int_config.int_pin_settg.output_mode = BMI160_ENABLE;// Choosing push-pull mode for interrupt pin int_config.int_pin_settg.output_type = BMI160_DISABLE;// Choosing active low output int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output /* Select the Any-motion interrupt parameters */ int_config.int_type_cfg.acc_any_motion_int.anymotion_en = BMI160_ENABLE;// 1- Enable the any-motion, 0- disable any-motion int_config.int_type_cfg.acc_any_motion_int.anymotion_x = BMI160_ENABLE;// Enabling x-axis for any motion interrupt int_config.int_type_cfg.acc_any_motion_int.anymotion_y = BMI160_ENABLE;// Enabling y-axis for any motion interrupt int_config.int_type_cfg.acc_any_motion_int.anymotion_z = BMI160_ENABLE;// Enabling z-axis for any motion interrupt int_config.int_type_cfg.acc_any_motion_int.anymotion_dur = 0;// any-motion duration int_config.int_type_cfg.acc_any_motion_int.anymotion_thr = 20;// (2-g range) -> (slope_thr) * 3.91 mg, (4-g range) -> (slope_thr) * 7.81 mg, (8-g range) ->(slope_thr) * 15.63 mg, (16-g range) -> (slope_thr) * 31.25 mg /* Set the Any-motion interrupt */ bmi160_set_int_config(&int_config, &sensor_bmi160); /* sensor is an instance of the structure bmi160_dev */ while (1) { bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL), &accel, &gyro, &imu->sensor_bmi160); #if 0 float ax = convert_raw_acceleration(accel.x);// float ay = convert_raw_acceleration(accel.y); float az = convert_raw_acceleration(accel.z); float gx = convert_raw_gyro(gyro.x); float gy = convert_raw_gyro(gyro.y); float gz = convert_raw_gyro(gyro.z); #endif float ax = getAccelerationBMI160_x();// float ay = getAccelerationBMI160_x(); float az = getAccelerationBMI160_x(); float gx = getGyroBMI160_x(); float gy = getGyroBMI160_y(); float gz = getGyroBMI160_z(); ESP_LOGI(TAG, "[ACCEL] X: %2f, Y: %2f, Z: %2f", ax, ay, az); ESP_LOGI(TAG, "[GYRO] X: %2f, Y: %2f, Z: %2f", gx, gy, gz); int_status_sel = BMI160_INT_STATUS_ALL; rslt = bmi160_get_int_status(int_status_sel, &interrupt, &sensor_bmi160); if (interrupt.bit.anym) printf("Step detector interrupt occured\n"); //esp_light_sleep_start(); /* Task delay */ vTaskDelay(10 / portTICK_PERIOD_MS); } vTaskDelete(NULL); }
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