The devil resides in the word "seems" here.. I final resort could be checking for NaN values which may be returned by sensors:
float newMag = lastMag; //Use previous reading as fallback
if (isnan(mag.magnetic.x) || isnan(mag.magnetic.y) || isnan(mag.magnetic.z)) Serial.println("Sensor malreading");
else newMag = sqrt(sq(mag.magnetic.x) + sq(mag.magnetic.y) + sq(mag.magnetic.z));
Just tried adding this...any code I've tried to add with "sqrt(sq(x) (...) " has caused the sensor to take a single reading and then crash. It's not even getting to the point of checking "if (isnan(x) (...)"
Unless I'm just doing something totally wrong (which is entirely possible btw) i don't know why it's not working. Here is the updated code:
#include <Adafruit_ICM20649.h>
#include <Adafruit_ICM20948.h>
#include <Adafruit_ICM20X.h>
#include <english.h>
#include <sound.h>
#include <TTS.h>
#include <Wire.h>
#include <SPI.h>
#include <Adafruit_Sensor.h>
//#include <avr/pgmspace.h>
// i2c, initialize the sensor breakout board
Adafruit_ICM20948 icm;
uint16_t measurement_delay_us = 65535; // Delay between measurements for testing
Adafruit_Sensor *icm_temp, *icm_accel, *icm_gyro, *icm_mag;
#define ICM_CS 10
#define ICM_SCK 25
//#define ICM_SDA 21
//#define ICM_SCL 22
#define ICM_MISO 23
#define ICM_MOSI 24
/*void setupSensor()
{
// Set the magnetometer sensitivity
/*icm_temp = icm.getTemperatureSensor();
icm_temp->printSensorDetails();
icm_accel = icm.getAccelerometerSensor();
icm_accel->printSensorDetails();
icm_gyro = icm.getGyroSensor();
icm_gyro->printSensorDetails();
icm_mag = icm.getMagnetometerSensor();
icm_mag->printSensorDetails();*/
// Dictionary of the 1000 most common English words.
char *words[] = {"the", "of", "to", "and", "a", "in", "is", "it", "you", "that", "he", "was", "for", "on", "are", "with", "as", "I", "his", "they", "be", "at", "one", "have", "this", "from", "or", "had", "by", "hot", "word", "but", "what", "some", "we", "can", "out", "other", "were", "all", "there", "when", "up", "use", "your", "how", "said", "an", "each", "she", "which", "do", "their", "time", "if", "will", "way", "about", "many", "then", "them", "write", "would", "like", "so", "these", "her", "long", "make", "thing", "see", "him", "two", "has", "look", "more", "day", "could", "go", "come", "did", "number", "sound", "no", "most", "people", "my", "over", "know", "water", "than", "call", "first", "who", "may", "down", "side", "been", "now", "find", "any", "new", "work", "part", "take", "get", "place", "made", "live", "where", "after", "back", "little", "only", "round", "man", "year", "came", "show", "every", "good", "me", "give", "our", "under", "name", "very", "through", "just", "form", "sentence", "great", "think", "say", "help", "low", "line", "differ", "turn", "cause", "much", "mean", "before", "move", "right", "boy", "old", "too", "same", "tell", "does", "set", "three", "want", "air", "well", "also", "play", "small", "end", "put", "home", "read", "hand", "port", "large", "spell", "add", "even", "land", "here", "must", "big", "high", "such", "follow", "act", "why", "ask", "men", "change", "went", "light", "kind", "off", "need", "house", "picture", "try", "us", "again", "animal", "point", "mother", "world", "near", "build", "self", "earth", "father", "head", "stand", "own", "page", "should", "country", "found", "answer", "school", "grow", "study", "still", "learn", "plant", "cover", "food", "sun", "four", "between", "state", "keep", "eye", "never", "last", "let", "thought", "city", "tree", "cross", "farm", "hard", "start", "might", "story", "saw", "far", "sea", "draw", "left", "late", "run", "don't", "while", "press", "close", "night", "real", "life", "few", "north", "open", "seem", "together", "next", "white", "children", "begin", "got", "walk", "example", "ease", "paper", "group", "always", "music", "those", "both", "mark", "often", "letter", "until", "mile", "river", "car", "feet", "care", "second", "book", "carry", "took", "science", "eat", "room", "friend", "began", "idea", "fish", "mountain", "stop", "once", "base", "hear", "horse", "cut", "sure", "watch", "color", "face", "wood", "main", "enough", "plain", "girl", "usual", "young", "ready", "above", "ever", "red", "list", "though", "feel", "talk", "bird", "soon", "body", "dog", "family", "direct", "pose", "leave", "song", "measure", "door", "product", "black", "short", "numeral", "class", "wind", "question", "happen", "complete", "ship", "area", "half", "rock", "order", "fire", "south", "problem", "piece", "told", "knew", "pass", "since", "top", "whole", "king", "space", "heard", "best", "hour", "better", "true", "during", "hundred", "five", "remember", "step", "early", "hold", "west", "ground", "interest", "reach", "fast", "verb", "sing", "listen", "six", "table", "travel", "less", "morning", "ten", "simple", "several", "vowel", "toward", "war", "lay", "against", "pattern", "slow", "center", "love", "person", "money", "serve", "appear", "road", "map", "rain", "rule", "govern", "pull", "cold", "notice", "voice", "unit", "power", "town", "fine", "certain", "fly", "fall", "lead", "cry", "dark", "machine", "note", "wait", "plan", "figure", "star", "box", "noun", "field", "rest", "correct", "able", "pound", "done", "beauty", "drive", "stood", "contain", "front", "teach", "week", "final", "gave", "green", "oh", "quick", "develop", "ocean", "warm", "free", "minute", "strong", "special", "mind", "behind", "clear", "tail", "produce", "fact", "street", "inch", "multiply", "nothing", "course", "stay", "wheel", "full", "force", "blue", "object", "decide", "surface", "deep", "moon", "island", "foot", "system", "busy", "test", "record", "boat", "common", "gold", "possible", "plane", "stead", "dry", "wonder", "laugh", "thousand", "ago", "ran", "check", "game", "shape", "equate", "hot", "miss", "brought", "heat", "snow", "tire", "bring", "yes", "distant", "fill", "east", "paint", "language", "among", "grand", "ball", "yet", "wave", "drop", "heart", "am", "present", "heavy", "dance", "engine", "position", "arm", "wide", "sail", "material", "size", "vary", "settle", "speak", "weight", "general", "ice", "matter", "circle", "pair", "include", "divide", "syllable", "felt", "perhaps", "pick", "sudden", "count", "square", "reason", "length", "represent", "art", "subject", "region", "energy", "hunt", "probable", "bed", "brother", "egg", "ride", "cell", "believe", "fraction", "forest", "sit", "race", "window", "store", "summer", "train", "sleep", "prove", "lone", "leg", "exercise", "wall", "catch", "mount", "wish", "sky", "board", "joy", "winter", "sat", "written", "wild", "instrument", "kept", "glass", "grass", "cow", "job", "edge", "sign", "visit", "past", "soft", "fun", "bright", "gas", "weather", "month", "million", "bear", "finish", "happy", "hope", "flower", "clothe", "strange", "gone", "jump", "baby", "eight", "village", "meet", "root", "buy", "raise", "solve", "metal", "whether", "push", "seven", "paragraph", "third", "shall", "held", "hair", "describe", "cook", "floor", "either", "result", "burn", "hill", "safe", "cat", "century", "consider", "type", "law", "bit", "coast", "copy", "phrase", "silent", "tall", "sand", "soil", "roll", "temperature", "finger", "industry", "value", "fight", "lie", "beat", "excite", "natural", "view", "sense", "ear", "else", "quite", "broke", "case", "middle", "kill", "son", "lake", "moment", "scale", "loud", "spring", "observe", "child", "straight", "consonant", "nation", "dictionary", "milk", "speed", "method", "organ", "pay", "age", "section", "dress", "cloud", "surprise", "quiet", "stone", "tiny", "climb", "cool", "design", "poor", "lot", "experiment", "bottom", "key", "iron", "single", "stick", "flat", "twenty", "skin", "smile", "crease", "hole", "trade", "melody", "trip", "office", "receive", "row", "mouth", "exact", "symbol", "die", "least", "trouble", "shout", "except", "wrote", "seed", "tone", "join", "suggest", "clean", "break", "lady", "yard", "rise", "bad", "blow", "oil", "blood", "touch", "grew", "cent", "mix", "team", "wire", "cost", "lost", "brown", "wear", "garden", "equal", "sent", "choose", "fell", "fit", "flow", "fair", "bank", "collect", "save", "control", "decimal", "gentle", "woman", "captain", "practice", "separate", "difficult", "doctor", "please", "protect", "noon", "whose", "locate", "ring", "character", "insect", "caught", "period", "indicate", "radio", "spoke", "atom", "human", "history", "effect", "electric", "expect", "crop", "modern", "element", "hit", "student", "corner", "party", "supply", "bone", "rail", "imagine", "provide", "agree", "thus", "capital", "won't", "chair", "danger", "fruit", "rich", "thick", "soldier", "process", "operate", "guess", "necessary", "sharp", "wing", "create", "neighbor", "wash", "bat", "rather", "crowd", "corn", "compare", "poem", "string", "bell", "depend", "meat", "rub", "tube", "famous", "dollar", "stream", "fear", "sight", "thin", "triangle", "planet", "hurry", "chief", "colony", "clock", "mine", "tie", "enter", "major", "fresh", "search", "send", "yellow", "gun", "allow", "print", "dead", "spot", "desert", "suit", "current", "lift", "rose", "continue", "block", "chart", "hat", "sell", "success", "company", "subtract", "event", "particular", "deal", "swim", "term", "opposite", "wife", "shoe", "shoulder", "spread", "arrange", "camp", "invent", "cotton", "born", "determine", "quart", "nine", "truck", "noise", "level", "chance", "gather", "shop", "stretch", "throw", "shine", "property", "column", "molecule", "select", "wrong", "gray", "repeat", "require", "broad", "prepare", "salt", "nose", "plural", "anger", "claim", "continent", "oxygen", "sugar", "death", "pretty", "skill", "women", "season", "solution", "magnet", "silver", "thank", "branch", "match", "suffix", "especially", "fig", "afraid", "huge", "sister", "steel", "discuss", "forward", "similar", "guide", "experience", "score", "apple", "bought", "led", "pitch", "coat", "mass", "card", "band", "rope", "slip", "win", "dream", "evening", "condition", "feed", "tool", "total", "basic", "smell", "valley", "nor", "double", "seat", "arrive", "master", "track", "parent", "shore", "division", "sheet", "substance", "favor", "connect", "post", "spend", "chord", "fat", "glad", "original", "share", "station", "dad", "bread", "charge", "proper", "bar", "offer", "segment", "slave", "duck", "instant", "market", "degree", "populate", "chick", "dear", "enemy", "reply", "drink", "occur", "support", "speech", "nature", "range", "steam", "motion", "path", "liquid", "log", "meant", "quotient", "teeth", "shell", "neck"};
// Media pins
#define PWM A0
#define buttonPin 13
TTS text2speech(PWM); // default is digital pin 10
int buttonState = 0;
float lastMag = 0;
float lastTemp = 0;
void setup() {
pinMode(buttonPin, INPUT);
Serial.begin(115200);
//while (!Serial);
delay(3000);
// Try to initialise and warn if we couldn't detect the chip
if (!icm.begin_I2C()) {
// if (!icm.begin_SPI(ICM_CS)) {
// if (!icm.begin_SPI(ICM_CS, ICM_SCK, ICM_MISO, ICM_MOSI)) {
Serial.println("Oops ... unable to initialize the ICM20948. Check your wiring!");
while (1); {
}
}
Serial.println("ICM20948 Found!");
icm_temp = icm.getTemperatureSensor();
icm_temp->printSensorDetails();
icm_accel = icm.getAccelerometerSensor();
icm_accel->printSensorDetails();
icm_gyro = icm.getGyroSensor();
icm_gyro->printSensorDetails();
icm_mag = icm.getMagnetometerSensor();
icm_mag->printSensorDetails();
Serial.print("Accelerometer range set to: ");
switch (icm.getAccelRange()) {
case ICM20948_ACCEL_RANGE_2_G:
Serial.println("+-2G");
break;
case ICM20948_ACCEL_RANGE_4_G:
Serial.println("+-4G");
break;
case ICM20948_ACCEL_RANGE_8_G:
Serial.println("+-8G");
break;
case ICM20948_ACCEL_RANGE_16_G:
Serial.println("+-16G");
break;
}
Serial.println("OK");
// icm.setGyroRange(ICM20948_GYRO_RANGE_2000_DPS);
Serial.print("Gyro range set to: ");
switch (icm.getGyroRange()) {
case ICM20948_GYRO_RANGE_250_DPS:
Serial.println("250 degrees/s");
break;
case ICM20948_GYRO_RANGE_500_DPS:
Serial.println("500 degrees/s");
break;
case ICM20948_GYRO_RANGE_1000_DPS:
Serial.println("1000 degrees/s");
break;
case ICM20948_GYRO_RANGE_2000_DPS:
Serial.println("2000 degrees/s");
break;
}
// icm.setAccelRateDivisor(4095);
uint16_t accel_divisor = icm.getAccelRateDivisor();
float accel_rate = 1125 / (1.0 + accel_divisor);
Serial.print("Accelerometer data rate divisor set to: ");
Serial.println(accel_divisor);
Serial.print("Accelerometer data rate (Hz) is approximately: ");
Serial.println(accel_rate);
// icm.setGyroRateDivisor(255);
uint8_t gyro_divisor = icm.getGyroRateDivisor();
float gyro_rate = 1100 / (1.0 + gyro_divisor);
Serial.print("Gyro data rate divisor set to: ");
Serial.println(gyro_divisor);
Serial.print("Gyro data rate (Hz) is approximately: ");
Serial.println(gyro_rate);
// icm.setMagDataRate(AK09916_MAG_DATARATE_10_HZ);
Serial.print("Magnetometer data rate set to: ");
switch (icm.getMagDataRate()) {
case AK09916_MAG_DATARATE_SHUTDOWN:
Serial.println("Shutdown");
break;
case AK09916_MAG_DATARATE_SINGLE:
Serial.println("Single/One shot");
break;
case AK09916_MAG_DATARATE_10_HZ:
Serial.println("10 Hz");
break;
case AK09916_MAG_DATARATE_20_HZ:
Serial.println("20 Hz");
break;
case AK09916_MAG_DATARATE_50_HZ:
Serial.println("50 Hz");
break;
case AK09916_MAG_DATARATE_100_HZ:
Serial.println("100 Hz");
break;
}
Serial.println();
Serial.println("Welcome to Ovilus ITC Technologies");
Serial.println();
text2speech.setPitch(4);
text2speech.sayText("Welcome to Ovilus I Tea Sea Technologies!");
}
void loop() {
sensors_event_t accel;
sensors_event_t gyro;
sensors_event_t temp;
sensors_event_t mag;
icm_temp->getEvent(&temp);
icm_accel->getEvent(&accel);
icm_gyro->getEvent(&gyro);
icm_mag->getEvent(&mag);
Serial.print("\t\tTemperature ");
Serial.print(temp.temperature);
Serial.println(" deg C");
/* Display the results (acceleration is measured in m/s^2) */
Serial.print("\t\tAccel X: ");
Serial.print(accel.acceleration.x);
Serial.print(" \tY: ");
Serial.print(accel.acceleration.y);
Serial.print(" \tZ: ");
Serial.print(accel.acceleration.z);
Serial.println(" m/s^2 ");
Serial.print("\t\tMag X: ");
Serial.print(mag.magnetic.x);
Serial.print(" \tY: ");
Serial.print(mag.magnetic.y);
Serial.print(" \tZ: ");
Serial.print(mag.magnetic.z);
Serial.println(" uT");
/* Display the results (acceleration is measured in m/s^2) */
Serial.print("\t\tGyro X: ");
Serial.print(gyro.gyro.x);
Serial.print(" \tY: ");
Serial.print(gyro.gyro.y);
Serial.print(" \tZ: ");
Serial.print(gyro.gyro.z);
Serial.println(" radians/s ");
Serial.println();
//buttonState = digitalRead(buttonPin);
// Check if the switch has been thrown. If so, start measuring and speaking.
//if (buttonState == HIGH) {
/* Get a new sensor event */
//sensors_event_t accel, mag, gyro, temp;
//icm.getEvent(&accel, &gyro, &mag, &temp);
// Get the latest magnetometer and temperature reading
//float newMag = ((mag.magnetic.x) + (mag.magnetic.y) + (mag.magnetic.z))/3;
float newMag = lastMag; //Use previous reading as fallback
if (isnan(mag.magnetic.x) || isnan(mag.magnetic.y) || isnan(mag.magnetic.z)) {
Serial.println("Sensor malreading"); }
else newMag = sqrt(sq(mag.magnetic.x) + sq(mag.magnetic.y) + sq(mag.magnetic.z));
float newTemp = temp.temperature;
// If this isn't our first reading...
if ((newMag - lastMag) > 0.75) {
// Calculate the change in magnetic field/temperature
float deltaMag = abs(newMag - lastMag);
float deltaTemp = abs(newTemp - lastTemp);
// Get the biggest change of the two
float index = max(deltaMag, deltaTemp);
// Convert to an index of our dictionary array
float wordindfloat = index * 1100.0;
int wordindint = round(wordindfloat);
// Speak the change on the speaker
text2speech.setPitch(6);
text2speech.sayText(words[wordindint]);
Serial.println(words[wordindint]);
// Store the readings for the next loop
lastMag = newMag;
lastTemp = newTemp;
}
// Store our readings as a baseline
else {
lastMag = newMag;
lastTemp = newTemp;
};
delay(1000);
}
//}
Try to put in the following if..else at the specified position:
int wordindint = round(wordindfloat);
if (wordindint < 0) wordindint = 0;
else if (wordindint >= 1000) wordindint = 999;
This will ensure that the array is not read out of bounds - if it actually contains 1000 items.
Well it's been running with no issues for the last 30 minutes since I turned it on. I added the parameters to ensure the wordindint is within bounds of the words array and it's working. I think you may have just solved my issue there bud! 
Link to the device demo: Ovilus ITC custom device demo - YouTube
So it was in fact my suggestion in #11 that solved the issue. Please remember to mark the topic as solved, btw.
EDIT: Just saw some of your video.. It says "neck" a lot because it is the last word in the array. "wordindint" is calculated as the highest value of either magnetic vector or temperature. Lets assume that a temperature of 20 deg is the highest value, this is then multiplied by 1100.0 which gives 22000. Now the value is clamped into the range 0..999, which will then be 999 - the index of "neck". If you want more variance, you must reconsider your math in this regard.
What I'm thinking is to float deltaTemp = (newTemp - lastTemp) to use the difference value instead of it constantly returning the last integer in the array. I've changed the wordindint to be index * 1000.0 instead of 1100. I'll let you know how this works out
What math would you recommend? I would like it to assign the readings to a word, 1-1001 without having to go thru 1001 words and assign them integers. I'm not quite sure what to call that or what function to use.
The simplest way is to map the sensor reading to the number of words. If current temperature is to be used, you could let the minimum reading be -20 and the maximum reading be 40 and map it with word_index = constrain(map(temperature, -20, 40, 0, 999), 0, 999). The issue with map is that it uses integer math which will not be as smooth as floating points, so you might want to look for a floating point version of map().
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