ZED-F9R-Integration manual
With the HPS 1.30 firmware, the wake on motion feature supports the host only option,
i.e. CFG-HW-SENS_WOM_MODE should be set to 2. Waking up the receiver is currently not
supported
3.2.9.3 Procedure to use the wake on motion feature
The following outlines the procedure when using the wake on motion feature:
•
Set the required mode for the wake on motion feature via CFG-HW-SENS_WOM_MODE.
•
Depending on the use case, set the required threshold for a single accelerometer axis via CFG-
HW-SENS_WOM_THLD.
• Set the desired configuration to all layers and send it to the receiver.
• Afterwards, power cycle the receiver. This will initialize the sensors for wake on motion feature.
This only needs to be done once the wake on motion configuration is changed.
• The next step is to set the receiver in software backup mode. The receiver can be set to
software backup mode via UBX-RXM-PMREQ message. Duration of the requested task should be
set to zero.
• Afterwards, based on the threshold and the mode the IMU interrupt would wake up the receiver
for normal operations.
In UBX-RXM-PMREQ message the wakeupSources.extint0 flag should not be disabled for
the wake on motion feature.
The test setup should be equivalent to the final mechanical design to account for damping
effects, as the detection threshold will vary depending on the place of installation /
dampening.
3.2.9.4 Example use cases
The following CFG-HW-SENS_WOM_THLD values correspond to the bare minimum acceleration that
would be produced in each scenario and should be used as a guideline, the specific thresholds will
depend significantly on the final installation:
• Opening the door and entering the car: 15 (0.06 g)
• Starting the vehicle and driving out slowly: 25 (0.1 g)
• A bump on a parked car: 50 (0.2 g)
• Hard stopping the vehicle: 200 (0.78 g)
3.3 Geofencing
3.3.1 Introduction
Figure 8: Geofence
UBX-20039643 - R06
3 Receiver functionality Page 42 of 119
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