Calibration Values

Using Arduino Microcontrollers
1

So I have a code for fall detection


#include <Arduino_LSM6DS3.h>
#include <LiquidCrystal.h>
#include <ArduinoBLE.h>


void setup() {
   Serial.begin(9600);  // initialize serial bus (Serial Monitor)
   while (!Serial);  // wait for serial initialization
   Serial.print("LSM6DS3 IMU initialization ");
   lcd.begin(16, 2);
   if (IMU.begin()) {  // initialize IMU
      Serial.println("completed successfully.");
   } else {
      Serial.println("FAILED.");
      IMU.end();
      while (1);
   }
    . */
            
   
   Serial.println();
}


void loop() {
   char buffer[8];    // string buffer for use with dtostrf() function
   float ax, ay, az;  // accelerometer values
   float gx, gy, gz;  // gyroscope values



   boolean fall = false; //stores if a fall has occurred
boolean trigger1=false; //stores if first trigger (lower threshold) has occurred
boolean trigger2=false; //stores if second trigger (upper threshold) has occurred
boolean trigger3=false; //stores if third trigger (orientation change) has occurred
byte trigger1count=0; //stores the counts past since trigger 1 was set true
byte trigger2count=0; //stores the counts past since trigger 2 was set true
byte trigger3count=0; //stores the counts past since trigger 3 was set true
int angleChange=0;

float Raw_Amp = pow(pow(ax,2)+pow(ay,2)+pow(az,2),0.5);
 int Amp = Raw_Amp * 10;  // Mulitiplied by 10 bcz values are between 0 to 1
 Serial.println(Amp);
 if (Amp<=2 && trigger2==false){ //if AM breaks lower threshold (0.4g)
   trigger1=true;
   Serial.println("TRIGGER 1 ACTIVATED");
   }
 if (trigger1==true){
   trigger1count++;
   if (Amp>=12){ //if AM breaks upper threshold (3g)
     trigger2=true;
     Serial.println("TRIGGER 2 ACTIVATED");
     trigger1=false; trigger1count=0;
     }
 }
 if (trigger2==true){
   trigger2count++;
   angleChange = pow(pow(gx,2)+pow(gy,2)+pow(gz,2),0.5); Serial.println(angleChange);
   if (angleChange>=30 && angleChange<=400){ //if orientation changes by between 80-100 degrees
     trigger3=true; trigger2=false; trigger2count=0;
     Serial.println(angleChange);
     Serial.println("TRIGGER 3 ACTIVATED");
       }
   }
 if (trigger3==true){
    trigger3count++;
    if (trigger3count>=10){ 
       angleChange = pow(pow(gx,2)+pow(gy,2)+pow(gz,2),0.5);
       //delay(10);
       Serial.println(angleChange); 
       if ((angleChange>=0) && (angleChange<=10)){ //if orientation changes remains between 0-10 degrees
           fall=true; trigger3=false; trigger3count=0;
           Serial.println(angleChange);
             }
       else{ //user regained normal orientation
          trigger3=false; trigger3count=0;
          Serial.println("TRIGGER 3 DEACTIVATED");
       }
     }
  }
 if (fall==true){ //in event of a fall detection
   Serial.print("FALL DETECTED");
   fall=false;
   return 1;
   }
 if (trigger2count>=6){ //allow 0.5s for orientation change
   trigger2=false; trigger2count=0;
   Serial.println("TRIGGER 2 DECACTIVATED");
   }
 if (trigger1count>=6){ //allow 0.5s for AM to break upper threshold
   trigger1=false; trigger1count=0;
   Serial.println("TRIGGER 1 DECACTIVATED");
   }

   // Retrieve and print IMU values
   if (IMU.accelerationAvailable() && IMU.gyroscopeAvailable()
      && IMU.readAcceleration(ax, ay, az) && IMU.readGyroscope(gx, gy, gz)) {
      Serial.print("ax = ");  Serial.print(dtostrf(ax, 4, 1, buffer));  Serial.print(" g, ");
      Serial.print("ay = ");  Serial.print(dtostrf(ay, 4, 1, buffer));  Serial.print(" g, ");
      Serial.print("az = ");  Serial.print(dtostrf(az, 4, 1, buffer));  Serial.print(" g, ");
      Serial.print("gx = ");  Serial.print(dtostrf(gx, 7, 1, buffer));  Serial.print(" °/s, ");
      Serial.print("gy = ");  Serial.print(dtostrf(gy, 7, 1, buffer));  Serial.print(" °/s, ");
      Serial.print("gz = ");  Serial.print(dtostrf(gz, 7, 1, buffer));  Serial.println(" °/s");
   }
   delay(100);  // wait one second between readings
}

but originally this code for mpu6050 but I use lsm6ds3, so the output values are not right, so maybe because I don’t do a calibration, because for mpu6050 they calibrated ax,ay,as,gx and so on, but I don’t know do we need do the same thing for LSM

2
  • "one-tenth of a second"
3

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