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Merged
PaulaScharf merged 1 commit into from
Jan 22, 2026
Merged

feat: also support icm20948 #46

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1 change: 1 addition & 0 deletions senseBox-bike-atrai-v2/platformio.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -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
24 changes: 21 additions & 3 deletions senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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");
Expand All @@ -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()
{
Expand Down Expand Up @@ -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)
Expand Down
6 changes: 5 additions & 1 deletion senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
{
Expand All @@ -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
1 change: 1 addition & 0 deletions senseBox-bike-nancy/platformio.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -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
17 changes: 17 additions & 0 deletions senseBox-bike-nancy/src/sensors/AccelerationSensor/AccelerationSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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");
Expand Down Expand Up @@ -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
Expand Down
6 changes: 5 additions & 1 deletion senseBox-bike-nancy/src/sensors/AccelerationSensor/AccelerationSensor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
{
Expand All @@ -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