ESP32 Forum

// I am trying to enable the INT1 interrupt when sudden acceleration occurs. ESP32 interfaced with LSMDSRX and camera 5640 via i2c // // I need suggestion to correct this code//

[Codebox]
#include <Wire.h>
#include <SD_MMC.h>
#include <esp_camera.h>
#include <esp_task_wdt.h>

int value;
#define LSM6DSR_ADDRESS 0x6B // I2C address of the sensor
#define CTRL1_XL_REG 0x10 // Register address for accelerometer control
#define CTRL2_G_REG 0x11 // Register address for gyroscope control
#define ACCEL_DATA_REG 0x28 // Register address for accelerometer data (LSB)
#define GYRO_DATA_REG 0x22 // Register address for accelerometer data (LSB)
#define INT1_CTRL_REG 0x0D // Register address for INT1_CTRL

#define INT1_PIN 34 // This could be any digital pin on the ESP32 for INT1
volatile bool suddenAccelerationDetected = false;

byte receivedData[6];

int16_t accelX;
int16_t accelY;
int16_t accelZ;
double x3;
double y3;
double z3;
double Xarray[2];
int threshold = 5;

#define minVal -8315
#define maxVal 8315

#define FILE_NAME_SIZE 100
#define FILE_NAME_ADDR 0 // EEPROM address to store the image name
#define MAX_IMAGES 1000
char fileName[FILE_NAME_SIZE] = "/image.jpg"; // Default image name
File file;

// Define the pins for the camera module
#define CAMERA_MODEL_ESP_EYE // Has PSRAM
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 15
#define SIOD_GPIO_NUM 20
#define SIOC_GPIO_NUM 19
#define Y9_GPIO_NUM 16
#define Y8_GPIO_NUM 17
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 12
#define Y5_GPIO_NUM 10
#define Y4_GPIO_NUM 8
#define Y3_GPIO_NUM 9
#define Y2_GPIO_NUM 11
#define VSYNC_GPIO_NUM 6
#define HREF_GPIO_NUM 7
#define PCLK_GPIO_NUM 13



void setup() {

Serial.begin(115200); // Start serial communication for debugging
initCamera();
// Initialize the WDT with a timeout of 3 seconds (adjust as needed)
esp_task_wdt_init(1, true);
// Initialize SD card
SD_MMC.setPins(39, 38, 40);
if (!SD_MMC.begin("/sdcard", true, false, 20000, 5)) {
Serial.println("SD card initialization failed");
return;
}
Wire.begin(4,5); // Initialize I2C communication
Serial.println("SD card Initialzed");
initializeSensor();
Serial.println("Sensor Initialzed");
pinMode(INT1_PIN, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(INT1_PIN), handleLSMInterrupt, RISING);
}

void loop() {
// Reset the WDT timer periodically in your loop
esp_task_wdt_reset();
// captureAndSaveImage();
readAndPrintSensorData();
if (suddenAccelerationDetected) {
suddenAccelerationDetected = false;
handleSuddenAcceleration();
}
delay(1000); // Delay for 1 second before the next reading
}

void handleLSMInterrupt() {
suddenAccelerationDetected = true;
captureAndSaveImage();
}

void handleSuddenAcceleration() {
Wire.beginTransmission(LSM6DSR_ADDRESS);
Wire.write(GYRO_DATA_REG);
Wire.endTransmission();

Wire.requestFrom(LSM6DSR_ADDRESS, 6, false); // Request 6 bytes (X, Y, Z accelerometer data)
for (int i = 0; i < 6; i++) {
receivedData = Wire.read();
}
accelX = (receivedData[1] << 8) | receivedData[0]; // Combine LSB and MSB
accelY = (receivedData[3] << 8) | receivedData[2];
accelZ = (receivedData[5] << 8) | receivedData[4];

int xAng = map(accelX, minVal, maxVal, -90, 90);
int yAng = map(accelY, minVal, maxVal, -90, 90);
int zAng = map(accelZ, minVal, maxVal, -90, 90);
x3 = RAD_TO_DEG * (atan2(-yAng, -zAng) + PI);
y3 = RAD_TO_DEG * (atan2(-xAng, -zAng) + PI);
z3 = RAD_TO_DEG * (atan2(-yAng, -xAng) + PI);

Serial.print("Sudden Acceleration Detected! X:");
Serial.println(x3);
}


void initializeSensor() {
// Configure accelerometer settings
Serial.println("Sensor Initialzation procress on-going 1");
Wire.beginTransmission(LSM6DSR_ADDRESS);
Serial.println("Sensor Initialzation procress on-going 2");
Wire.write(CTRL1_XL_REG);
Serial.println("Sensor Initialzation procress on-going 3");
// Set the accelerometer scale to ±2g (you can choose ±4g, ±8g, or ±16g as well)
Wire.write(0x18);
Serial.println("Sensor Initialzation procress on-going 4");
Wire.endTransmission();
Serial.println("Sensor Initialzation procress on-going 5");

}

void readAndPrintSensorData() {
Wire.beginTransmission(LSM6DSR_ADDRESS);
Wire.write(ACCEL_DATA_REG);
Wire.endTransmission();
Wire.requestFrom(LSM6DSR_ADDRESS, 6); // Request 6 bytes (X, Y, Z accelerometer data)
for (int i = 0; i < 6; i++) {
receivedData = Wire.read();
}
accelX = (receivedData[1] << 8) | receivedData[0] ; // Combine LSB and MSB
accelY = (receivedData[3] << 8) | receivedData[2] ;
accelZ = (receivedData[5] << 8) | receivedData[4] ;

int xAng = map(accelX, minVal, maxVal, -90, 90);
int yAng = map(accelY, minVal, maxVal, -90, 90);
int zAng = map(accelZ, minVal, maxVal, -90, 90);
x3 = RAD_TO_DEG * (atan2(-yAng, -zAng) + PI);
y3 = RAD_TO_DEG * (atan2(-xAng, -zAng) + PI);
z3 = RAD_TO_DEG * (atan2(-yAng, -xAng) + PI);

Xarray[0] = Xarray[1];
Xarray[1] = x3;
float Xaxis_difff = abs(Xarray[1] - Xarray[0]);

Serial.print("X:");
Serial.println(x3);
Serial.print("Angle difference: ");
Serial.println(Xaxis_difff);

if (Xaxis_difff > threshold) {
suddenAccelerationDetected = true;
}
}


void captureAndSaveImage() {
camera_fb_t* fb = NULL;
fb = esp_camera_fb_get();
if (!fb) {
Serial.println("Failed to capture image");
return;
}

// Save the image with the given file name to SD card
file = SD_MMC.open(fileName, FILE_WRITE);
if (file) {
file.write(fb->buf, fb->len);
file.close();
Serial.println("Image saved to SD card");
} else {
Serial.println("Failed to save image to SD card");
}
esp_camera_fb_return(fb);
}

void initCamera(){
// OV2640 camera module
camera_config_t config;
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_d1 = Y3_GPIO_NUM;
config.pin_d2 = Y4_GPIO_NUM;
config.pin_d3 = Y5_GPIO_NUM;
config.pin_d4 = Y6_GPIO_NUM;
config.pin_d5 = Y7_GPIO_NUM;
config.pin_d6 = Y8_GPIO_NUM;
config.pin_d7 = Y9_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
config.pin_pclk = PCLK_GPIO_NUM;
config.pin_vsync = VSYNC_GPIO_NUM;
config.pin_href = HREF_GPIO_NUM;
config.pin_sscb_sda = SIOD_GPIO_NUM;
config.pin_sscb_scl = SIOC_GPIO_NUM;
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = 20000000;
config.pixel_format = PIXFORMAT_JPEG;
config.grab_mode = CAMERA_GRAB_LATEST;

if (psramFound()) {
config.frame_size = FRAMESIZE_SVGA;
config.jpeg_quality = 10;
config.fb_count = 1;
Serial.println("Camera initialized with QSXGA");
} else {
config.frame_size = FRAMESIZE_SVGA;
config.jpeg_quality = 12;
config.fb_count = 1;
}
// Camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
Serial.printf("Camera init failed with error 0x%x", err);
ESP.restart();
}
}
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