/** * @copyright MbientLab License * @file accelerometer_bosch.h * @brief Interacts with the supported Bosch accelerometers, currently BMI270, BMI160 and BMA255 * @details The BMI160 and BMA255 sensors are identical except for the output data rates. Functions that are generic for * both accelerometers have "bosch" in the name whereas functions specific to either accelerometer are contain their model * i.e. "bmi160" or "bma255". */ #pragma once #include "sensor_common.h" #ifdef __cplusplus extern "C" { #endif /** * Available wrist gestures on the BMI270 */ typedef enum { MBL_MW_ACC_BOSCH_TYPEWRIST_NONE= 0, MBL_MW_ACC_BOSCH_TYPEWRIST_WEARK_WAKEUP, MBL_MW_ACC_BOSCH_TYPEWRIST_GESTURE, } MblMwAccBoschTypewrist; /** * Available activities on the BMI270 */ typedef enum { MBL_MW_ACC_BOSCH_ACTIVITY_STILL= 0, MBL_MW_ACC_BOSCH_ACTIVITY_WALKING, MBL_MW_ACC_BOSCH_ACTIVITY_RUNNING, MBL_MW_ACC_BOSCH_ACTIVITY_UNKNOWN } MblMwAccBoschActivity; /** * Available wrist gestures on the BMI270 */ typedef enum { MBL_MW_ACC_BOSCH_GESTURE_UNKNOWN= 0, ///< Unknown gesture MBL_MW_ACC_BOSCH_GESTURE_PUSH_ARM_DOWN, ///< Arm pushed down gesture MBL_MW_ACC_BOSCH_GESTURE_PIVOT_UP, ///< Pivot up gesture MBL_MW_ACC_BOSCH_GESTURE_SHAKE, ///< Shake/jiggle gesture MBL_MW_ACC_BOSCH_GESTURE_ARM_FLICK_IN, ///< Arm flick in gesture MBL_MW_ACC_BOSCH_GESTURE_ARM_FLICK_OUT ///< Arm flick out gesture } MblMwAccBoschGesture; /** * Available motion detectors on the Bosch accelerometers */ typedef enum { MBL_MW_ACC_BOSCH_MOTION_SIGMOTION= 0, ///< Significant motion detector MBL_MW_ACC_BOSCH_MOTION_NOMOTION, ///< No motion detector MBL_MW_ACC_BOSCH_MOTION_ANYMOTION, ///< Any motion detector } MblMwAccBoschMotion; /** * Available g-ranges on the Bosch accelerometers */ typedef enum { MBL_MW_ACC_BOSCH_RANGE_2G= 0, ///< +/- 2g MBL_MW_ACC_BOSCH_RANGE_4G, ///< +/- 4g MBL_MW_ACC_BOSCH_RANGE_8G, ///< +/- 8g MBL_MW_ACC_BOSCH_RANGE_16G ///< +/- 16g } MblMwAccBoschRange; /** * Available ouput data rates on the BMI160 accelerometer */ typedef enum { MBL_MW_ACC_BMI160_ODR_0_78125Hz= 0, MBL_MW_ACC_BMI160_ODR_1_5625Hz, MBL_MW_ACC_BMI160_ODR_3_125Hz, MBL_MW_ACC_BMI160_ODR_6_25Hz, MBL_MW_ACC_BMI160_ODR_12_5Hz, MBL_MW_ACC_BMI160_ODR_25Hz, MBL_MW_ACC_BMI160_ODR_50Hz, MBL_MW_ACC_BMI160_ODR_100Hz, MBL_MW_ACC_BMI160_ODR_200Hz, MBL_MW_ACC_BMI160_ODR_400Hz, MBL_MW_ACC_BMI160_ODR_800Hz, MBL_MW_ACC_BMI160_ODR_1600Hz } MblMwAccBmi160Odr; /** * Available ouput data rates on the BMA255 accelerometer */ typedef enum { MBL_MW_ACC_BMA255_ODR_15_62Hz= 0, MBL_MW_ACC_BMA255_ODR_31_26Hz, MBL_MW_ACC_BMA255_ODR_62_5Hz, MBL_MW_ACC_BMA255_ODR_125Hz, MBL_MW_ACC_BMA255_ODR_250Hz, MBL_MW_ACC_BMA255_ODR_500Hz, MBL_MW_ACC_BMA255_ODR_1000Hz, MBL_MW_ACC_BMA255_ODR_2000Hz } MblMwAccBma255Odr; /** * Available ouput data rates on the BMI270 accelerometer */ typedef enum { MBL_MW_ACC_BMI270_ODR_0_78125Hz= 0, MBL_MW_ACC_BMI270_ODR_1_5625Hz, MBL_MW_ACC_BMI270_ODR_3_125Hz, MBL_MW_ACC_BMI270_ODR_6_25Hz, MBL_MW_ACC_BMI270_ODR_12_5Hz, MBL_MW_ACC_BMI270_ODR_25Hz, MBL_MW_ACC_BMI270_ODR_50Hz, MBL_MW_ACC_BMI270_ODR_100Hz, MBL_MW_ACC_BMI270_ODR_200Hz, MBL_MW_ACC_BMI270_ODR_400Hz, MBL_MW_ACC_BMI270_ODR_800Hz, MBL_MW_ACC_BMI270_ODR_1600Hz } MblMwAccBmi270Odr; /** * Operation modes for the step counter algorithm */ typedef enum { /** Recommended for most applications, well balanced between false positives and false negatives */ MBL_MW_ACC_BMI160_STEP_COUNTER_MODE_NORMAL= 0, /** Recommended for light weighted persons, gives few false negatives but eventually more false positives */ MBL_MW_ACC_BMI160_STEP_COUNTER_MODE_SENSITIVE, /** Gives few false positives but eventually more false negatives */ MBL_MW_ACC_BMI160_STEP_COUNTER_MODE_ROBUST } MblMwAccBmi160StepCounterMode; /** * Calculation modes controlling the conditions that determine the sensor's orientation */ typedef enum { /** Default mode */ MBL_MW_ACC_BOSCH_ORIENTATION_MODE_SYMMETRICAL, MBL_MW_ACC_BOSCH_ORIENTATION_MODE_HIGH_ASYMMETRICAL, MBL_MW_ACC_BOSCH_ORIENTATION_MODE_LOW_ASYMMETRICAL } MblMwAccBoschOrientationMode; /** * Available quiet times for tap detection */ typedef enum { MBL_MW_ACC_BOSCH_TAP_QUIET_TIME_30ms= 0, MBL_MW_ACC_BOSCH_TAP_QUIET_TIME_20ms } MblMwAccBoschTapQuietTime; /** * Available shock times for tap detection */ typedef enum { MBL_MW_ACC_BOSCH_TAP_SHOCK_TIME_50ms= 0, MBL_MW_ACC_BOSCH_TAP_SHOCK_TIME_75ms } MblMwAccBoschTapShockTime; /** * Available windows for double tap detection */ typedef enum { MBL_MW_ACC_BOSCH_DOUBLE_TAP_WINDOW_50ms= 0, MBL_MW_ACC_BOSCH_DOUBLE_TAP_WINDOW_100ms, MBL_MW_ACC_BOSCH_DOUBLE_TAP_WINDOW_150ms, MBL_MW_ACC_BOSCH_DOUBLE_TAP_WINDOW_200ms, MBL_MW_ACC_BOSCH_DOUBLE_TAP_WINDOW_250ms, MBL_MW_ACC_BOSCH_DOUBLE_TAP_WINDOW_375ms, MBL_MW_ACC_BOSCH_DOUBLE_TAP_WINDOW_500ms, MBL_MW_ACC_BOSCH_DOUBLE_TAP_WINDOW_700ms } MblMwAccBoschDoubleTapWindow; /** * Available windows for double tap detection */ typedef enum { MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_XYZ= 0, MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_YZX, MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_ZXY, MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_XZY, MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_YXZ, MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_ZYX } MblMwAccBoschAxisXyzRemap; /** * Available windows for double tap detection */ typedef enum { MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_000= 0, MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_100, MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_110, MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_101, MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_010, MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_011, MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_001, MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_111 } MblMwAccBoschAxisXyzSign; /** * Wrapper class encapsulating responses from any motion detection */ typedef struct { uint8_t sign; ///< Slope sign of the triggering motion, 0 if negative, non-zero if positive uint8_t x_axis_active; ///< Non-zero if x-axis triggered the motion interrupt uint8_t y_axis_active; ///< Non-zero if y-axis triggered the motion interrupt uint8_t z_axis_active; ///< Non-zero if z-axis triggered the motion interrupt } MblMwBoschAnyMotion; /** * Wrapper class encapsulating responses from any motion detection */ typedef struct { uint8_t type; ///< Slope sign of the triggering motion, 0 if negative, non-zero if positive uint8_t gesture_code; ///< Non-zero if x-axis triggered the motion interrupt } MblMwBoschGestureType; /** * Retrieves the data signal representing acceleration data from a Bosch accelerometer * This signal is timestamp,x,y,z acc data * @param board Pointer to the board to retrieve the signal from * @return Pointer to the board's BMI160 acceleration data signal * MblMwCartesianFloat is return signal data type */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bosch_get_acceleration_data_signal(const MblMwMetaWearBoard* board); /** * @deprecated As of v0.8.0 and will be removed in v1.0.0. Use mbl_mw_acc_bosch_get_packed_acceleration_data_signal instead. */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bosch_get_high_freq_acceleration_data_signal(const MblMwMetaWearBoard* board); /** * Variant of acceleration data that packs multiple data samples into 1 BLE packet to increase the * data throughput. This data signal cannot be used with data processing or logging, only with streaming. * This signal is timestamp,x,y,z,x,y,z,x,y,z acc data (it packs three acc data points in one timestamp) * @return Pointer to the data signal * [MblMwCartesianFloat, MblMwCartesianFloat, MblMwCartesianFloat] is return signal data type */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bosch_get_packed_acceleration_data_signal(const MblMwMetaWearBoard* board); /** * Retrieves the data signal representing data from the BMI160 step counter * This signal represents the number of steps a user has taken (steps = 275) * This signal can be read once but should not be streamed or logged. * @param board Pointer to the board to retrieve the signal from * @return Pointer to the board's BMI160 step counter data signal * UINT32 is return signal data type */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bmi160_get_step_counter_data_signal(const MblMwMetaWearBoard* board); /** * Retrieves the data signal representing data from the BMI270 step counter * This signal represents the number of steps a user has taken (steps = 275) * This signal can be read once but should not be streamed or logged. * @param board Pointer to the board to retrieve the signal from * @return Pointer to the board's BMI270 step counter data signal * UINT32 is return signal data type */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bmi270_get_step_counter_data_signal(const MblMwMetaWearBoard* board); /** * Retrieves the data signal representing data from the BMI160 step detector * This signal simply detects a step, it does not count it (step recorded at time t) * This signal can be streamed or logged. This signal cannot be read or polled (read in loop). * @param board Pointer to the board to retrieve the signal from * @return Pointer to the board's BMI160 step detector data signal * No return data type */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bmi160_get_step_detector_data_signal(const MblMwMetaWearBoard* board); /** * Retrieves the data signal representing data from the BMI270 step detector * This signal simply detects a step, it does not count it (step recorded at time t) * This signal can be streamed or logged. This signal cannot be read or polled (read in loop). * @param board Pointer to the board to retrieve the signal from * @return Pointer to the board's BMI270 step detector data signal * No return data type */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bmi270_get_step_detector_data_signal(const MblMwMetaWearBoard* board); /** * Retrieves the data signal representing data from the wrist gesture algorithm * @param board Pointer to the board to retrieve the signal from * @return Pointer to the board's BMI270 step detector data signal * UINT32 is return signal data type represented by MblMwAccGestureCode */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bmi270_get_wrist_detector_data_signal(const MblMwMetaWearBoard* board); /** * Retrieves the data signal representing data from the activity detection algorithm * @param board Pointer to the board to retrieve the signal from * @return Pointer to the board's BMI270 step detector data signal * UINT32 is return signal data type represented by MblMwAccActivityCode */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bmi270_get_activity_detector_data_signal(const MblMwMetaWearBoard* board); /** * Retrieves the data signal representing data from the orientation detection algorithm * This signal is identical to smartphone orientation (portrait, landscape) * The BMI270 does not support this function. * @param board Calling object * @return Pointer to Bosch's orientation detection data signal * MblMwSensorOrientation is return signal data type */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bosch_get_orientation_detection_data_signal(const MblMwMetaWearBoard* board); /** * Retrieves the data signal representing data from the motion detection algorithm * This signal retrieves either "no motion", "any motion" or "significant motion" depending on user settings * @param board Calling object * @return Pointer to Bosch's motion detection data signal * UINT32 is return signal data type represented by MblMwAccMotionTypes */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bosch_get_motion_data_signal(const MblMwMetaWearBoard* board); /** * Retrieves the data signal representing data from the tap detection algorithm * This signal retrieves the number of taps the board has been subjected to based on user settings * The BMI270 does not support this function. * @param board Calling object * @return Pointer to Bosch's tap detection data signal * MblMwBoschTap is return signal data type */ METAWEAR_API MblMwDataSignal* mbl_mw_acc_bosch_get_tap_data_signal(const MblMwMetaWearBoard* board); /** * Sets the output data rate for the BMI160 accelerometer * The ODR sets the output data frequency in Hz. * See MblMwAccBmi160Odr for allowed values. * @param board Pointer to the board to modify * @param odr Output data rate value to assign */ METAWEAR_API void mbl_mw_acc_bmi160_set_odr(MblMwMetaWearBoard *board, MblMwAccBmi160Odr odr); /** * Sets the output data rate for the BMI160 accelerometer * The ODR sets the output data frequency in Hz. * See MblMwAccBmi160Odr for allowed values. * @param board Pointer to the board to modify * @param odr Output data rate value to assign */ METAWEAR_API void mbl_mw_acc_bmi270_set_odr(MblMwMetaWearBoard *board, MblMwAccBmi270Odr odr); /** * Sets the output data rate for the BMI160 accelerometer * The ODR sets the output data frequency in Hz. * See MblMwAccBmi160Odr for allowed values. * @param board Pointer to the board to modify * @param odr Output data rate value to assign */ METAWEAR_API void mbl_mw_acc_bma255_set_odr(MblMwMetaWearBoard *board, MblMwAccBma255Odr odr); /** * Sets the acceleration range * The range is in units of Gs between 2 and 16gs for Bosch sensors * See MblMwAccBoschRange for allowed values. * @param board Pointer to the board to modify * @param range Acceleration range to assign */ METAWEAR_API void mbl_mw_acc_bosch_set_range(MblMwMetaWearBoard *board, MblMwAccBoschRange range); /** * Writes the acceleration settings to the sensor * Applies the ODR and RANGE values set in set_range() and set_odr(). * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bosch_write_acceleration_config(const MblMwMetaWearBoard *board); /** * Sets the operational mode of the step counter * - Normal mode (default setting, recommended for most applications) * - Sensitive mode (can be used for light weighted, small persons) * - Robust mode (can be used, if many false positive detections are observed) * @param board Board to modify * @param mode New operation mode */ METAWEAR_API void mbl_mw_acc_bmi160_set_step_counter_mode(MblMwMetaWearBoard* board, MblMwAccBmi160StepCounterMode mode); /** * Enables the BMI160 step counter * @param board Board to modify */ METAWEAR_API void mbl_mw_acc_bmi160_enable_step_counter(MblMwMetaWearBoard* board); /** * Disables the BMI160 step counter * @param board Board to modify */ METAWEAR_API void mbl_mw_acc_bmi160_disable_step_counter(MblMwMetaWearBoard* board); /** * Writes the step counter configuration to the sensor * Applies the MODE set by set_step_counter_mode() * @param board Board to write to */ METAWEAR_API void mbl_mw_acc_bmi160_write_step_counter_config(const MblMwMetaWearBoard *board); /** * Resets the BMI160 step counter (step counter = 0) * Does not disable the step counter * @param board Board to reset */ METAWEAR_API void mbl_mw_acc_bmi160_reset_step_counter(const MblMwMetaWearBoard *board); /** * Enables the BMI160 step detector * A callback will notify the user when a step is detected but will NOT count steps * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bmi160_enable_step_detector(const MblMwMetaWearBoard *board); /** * Disables the BMI160 step detector * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bmi160_disable_step_detector(const MblMwMetaWearBoard *board); /** * Writes the step counter configuration to the sensor * Applies the MODE set by set_step_counter_mode() * @param board Board to write to */ METAWEAR_API void mbl_mw_acc_bmi160_write_step_counter_config(const MblMwMetaWearBoard *board); /** * Sets the watermark level of the step counter * The Step-counter will trigger output every time this number of steps are counted. * Holds implicitly a 20x factor, so the range is 0 to 20460, with resolution of 20 steps. * If 0, the output is disabled. If 1, it will count to 20 steps. * @param board Board to modify * @param trigger Number of steps */ METAWEAR_API void mbl_mw_acc_bmi270_set_step_counter_trigger(MblMwMetaWearBoard* board, uint16_t trigger); /** * Enables the BMI270 step counter * The trigger count will trigger the callback signal with the # of steps * @param board Board to modify */ METAWEAR_API void mbl_mw_acc_bmi270_enable_step_counter(const MblMwMetaWearBoard *board); /** * Disables the BMI270 step counter * @param board Board to modify */ METAWEAR_API void mbl_mw_acc_bmi270_disable_step_counter(const MblMwMetaWearBoard *board); /** * Writes the step counter configuration to the sensor * Applies the TRIGGER set by set_step_counter_trigger() * @param board Board to write to */ METAWEAR_API void mbl_mw_acc_bmi270_write_step_counter_config(const MblMwMetaWearBoard *board); /** * Resets the BMI270 step counter (step counter = 0) * Does not disable the step counter * @param board Board to reset */ METAWEAR_API void mbl_mw_acc_bmi270_reset_step_counter(const MblMwMetaWearBoard *board); /** * Reads the current step count. The callback function will be called with: * @param board Calling object * @param context Pointer to additional data for the callback function * @param handler Callback function that is executed when the task is finished */ METAWEAR_API void mbl_mw_acc_bmi270_read_step_counter(MblMwMetaWearBoard* board, void* context, MblMwFnBoardPtrInt handler); /** * Sets the arm side the MetaWear is worn on for gesture recognition * Device in left (0 - false) or right (1 - true) arm. * By default, the wearable device is assumed to be in left arm i.e. default value is 0 - false. * @param board Pointer to the board to send the command to * @param side 1 = Right arm, 0 = Left arm */ METAWEAR_API void mbl_mw_acc_bmi270_wrist_gesture_armside(const MblMwMetaWearBoard *board, uint8_t side); /** * Sets the tilt angle for gesture recognition * Sine of the minimum tilt angle in portrait down direction of the device when wrist is rolled away (roll-out) from user. * The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). * Range is 1448 to 1774. Default value is 1774. * @param board Pointer to the board to send the command to * @param peak Tilt Angle */ METAWEAR_API void mbl_mw_acc_bmi270_wrist_gesture_peak(const MblMwMetaWearBoard* board, uint16_t peak); /** * Value of minimum time difference between wrist roll-out and roll-in movement during flick gesture. * Range is 3 to 5 samples at 50Hz (i.e. 0.06 to 0.1 seconds). Default value is 4 (i.e. 0.08 seconds). * @param board Pointer to the board to send the command to * @param sample */ METAWEAR_API void mbl_mw_acc_bmi270_wrist_gesture_samples(const MblMwMetaWearBoard* board, uint16_t samples); /** * Sets the maximum time for the gesture recognition * Maximum time within which gesture movement has to be completed. * Range is 150 to 250 samples at 50Hz (i.e. 3 to 5 seconds). Defualt value is 200 (i.e. 4 seconds). * @param board Pointer to the board to send the command to * @param duration */ METAWEAR_API void mbl_mw_acc_bmi270_wrist_gesture_duration(const MblMwMetaWearBoard* board, uint16_t duration); /** * Writes the wrist gesture recognition configuration to the sensor * Applies the ARM SIDE, PEAK, SAMPLE and DURATION set by set_wrist_gesture_*() * @param board Board to write to */ METAWEAR_API void mbl_mw_acc_bmi270_write_wrist_gesture_config(const MblMwMetaWearBoard* board); /** * Enables the BMI270 wrist gesture recognition * @param board Board to modify */ METAWEAR_API void mbl_mw_acc_bmi270_enable_wrist_gesture(const MblMwMetaWearBoard* board); /** * Disables the BMI270 wrist gesture recognition * @param board Board to modify */ METAWEAR_API void mbl_mw_acc_bmi270_disable_wrist_gesture(const MblMwMetaWearBoard* board); /** * Sets the minimum angle change for wrist wakeup * Cosine of minimum expected attitude change of the device within 1 second time window when moving within focus position. * The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1024 to 1774. Default is 1448. * @param board Pointer to the board to send the command to * @param angle Minimum angle */ METAWEAR_API void mbl_mw_acc_bmi270_wrist_wakeup_angle_focus(const MblMwMetaWearBoard* board, uint16_t angle); /** * Sets the maximum angle change for wrist wakeup * Cosine of minimum expected attitude change of the device within 1 second time window when moving from non-focus to focus position. * The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1448 to 1856. Default value is 1774. * @param board Pointer to the board to send the command to * @param angle Maximum angle */ METAWEAR_API void mbl_mw_acc_bmi270_wrist_wakeup_angle_nonfocus(const MblMwMetaWearBoard* board, uint16_t angle); /** * Sets the * Sine of the maximum allowed downward tilt angle in landscape right direction of the device, when it is in focus position. * The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 700 to 1024. Default value is 1024. * @param board Pointer to the board to send the command to * @param angle Maximum tilt angle in Landscape Right mode */ METAWEAR_API void mbl_mw_acc_bmi270_wrist_wakeup_tilt_lr(const MblMwMetaWearBoard* board, uint16_t angle); /** * Sets the * Sine of the maximum allowed downward tilt angle in landscape left direction of the device, when it is in focus position. * The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 700 to 1024. Default value is 700. * @param board Pointer to the board to send the command to * @param angle Maximum tilt angle in Landscape Left mode */ METAWEAR_API void mbl_mw_acc_bmi270_wrist_wakeup_tilt_ll(const MblMwMetaWearBoard* board, uint16_t angle); /** * Sets the * Sine of the maximum allowed backward tilt angle in portrait down direction of the device, when it is in focus position. * The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 0 to179. Default value is 179. * @param board Pointer to the board to send the command to * @param angle Maximum tilt angle in Portrait Down mode */ METAWEAR_API void mbl_mw_acc_bmi270_wrist_wakeup_tilt_pd(const MblMwMetaWearBoard* board, uint16_t angle); /** * Sets the * Sine of the maximum allowed forward tilt angle in portrait up direction of the device, when it is in focus position. * The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 1774 to 1978. Default value is 1925. * @param board Pointer to the board to send the command to * @param angle Maximum tilt angle in Portrait Up mode */ METAWEAR_API void mbl_mw_acc_bmi270_wrist_wakeup_tilt_pu(const MblMwMetaWearBoard* board, uint16_t angle); /** * Writes the wrist gesture recognition configuration to the sensor * Applies the ARM SIDE, PEAK, SAMPLE and DURATION set by set_wrist_gesture_*() * @param board Board to write to */ METAWEAR_API void mbl_mw_acc_bmi270_write_wrist_wakeup_config(const MblMwMetaWearBoard* board); /** * Enables the BMI270 wrist wakeup recognition * @param board Board to modify */ METAWEAR_API void mbl_mw_acc_bmi270_enable_wrist_wakeup(const MblMwMetaWearBoard* board); /** * Disables the BMI270 wrist wakeup recognition * @param board Board to modify */ METAWEAR_API void mbl_mw_acc_bmi270_disable_wrist_wakeup(const MblMwMetaWearBoard* board); /** * Enables the BMI270 activity detector * A callback will notify the user when an activity is detected (walking, running, still) * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bmi270_enable_activity_detection(const MblMwMetaWearBoard *board); /** * Disables the BMI270 activity detector * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bmi270_disable_activity_detection(const MblMwMetaWearBoard *board); /** * Enables the BMI270 step detector * A callback will notify the user when a step is detected but will NOT count steps * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bmi270_enable_step_detector(const MblMwMetaWearBoard *board); /** * Disables the BMI270 step detector * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bmi270_disable_step_detector(const MblMwMetaWearBoard *board); /** * Downsampling for the BMI270 acc * See BMI270 datasheet for more details * @param board Pointer to the board to send the command to * @param gyro_downs Downsampling for Gyroscope (2**downs_gyro) * @param gyro_data Selects filtered or unfiltered Gyroscope data for fifo * @param acc_downs Downsampling for Accelerometer (2**downs_accel) * @param acc_data Selects filtered or unfiltered Accelerometer data for fifo */ METAWEAR_API void mbl_mw_acc_bmi270_fifo_downs(const MblMwMetaWearBoard* board, uint8_t gyro_downs, uint8_t gyro_data, uint8_t acc_downs, uint8_t acc_data); /** * Manual compensation for the BMI270 acc * The offset compensation registers have a width of 8 bit using two’s complement notation. * The offset resolution (LSB) is 3.9 mg and the offset range is +- 0.5 g * @param board Pointer to the board to send the command to * @param x_offset Offset compensation for Accelerometer X-axis * @param y_offset Offset compensation for Accelerometer Y-axis * @param z_offset Offset compensation for Accelerometer Z-axis */ METAWEAR_API void mbl_mw_acc_bmi270_acc_offsets(const MblMwMetaWearBoard* board, uint16_t x_offset, uint16_t y_offset, uint16_t z_offset); /** * Remaps the BMI270 axis * If the coordinate system of the MetaWear differs from the sensor coordinate system described in the BMI270 datasheet, * the sensor axis must be remapped to use the orientation dependent features properly. * Axis remapping register allows the host to freely map individual axis to the coordinate system of the used platform. * Individual axis can be mapped to any other defined axis. The sign value of the axis can be also configured. * @param board Pointer to the board to send the command to * @param map X,Y,Z axis remap * @param sign X,Y,Z axis flip/sign */ METAWEAR_API void mbl_mw_acc_bmi270_axis_remap(const MblMwMetaWearBoard *board, MblMwAccBoschAxisXyzRemap map, MblMwAccBoschAxisXyzSign sign); /** * Set the hysteresis offset (degrees) for portrait/landscape detection * Upside/downside recognition hysteresis is not configurable. * See the BMI160 datasheet for more information. * Not supported by the BMI270. * @param board Calling object * @param hysteresis New calculation mode */ METAWEAR_API void mbl_mw_acc_bosch_set_orientation_hysteresis(MblMwMetaWearBoard *board, float hysteresis); /** * Set the orientation calculation mode * Options include: Symmetrical, High asymmetrical, Low asymmetrical * See the BMI160 datasheet for more information. * Not supported by the BMI270. * @param board Calling object * @param mode New calculation mode */ METAWEAR_API void mbl_mw_acc_bosch_set_orientation_mode(MblMwMetaWearBoard *board, MblMwAccBoschOrientationMode mode); /** * Writes the orientation detection settings to the board * Applies MODE and HYSTERESIS from set_orientation_hysteresis() and set_orientation_mode() * Not supported by the BMI270. * @param board Calling object */ METAWEAR_API void mbl_mw_acc_bosch_write_orientation_config(const MblMwMetaWearBoard *board); /** * Enables orientation detection * Not supported by the BMI270. * @param board Calling object */ METAWEAR_API void mbl_mw_acc_bosch_enable_orientation_detection(const MblMwMetaWearBoard *board); /** * Disables orientation detection * Not supported by the BMI270. * @param board Calling object */ METAWEAR_API void mbl_mw_acc_bosch_disable_orientation_detection(const MblMwMetaWearBoard *board); /** * Sets the tap detector's quiet time parameter * Selects a tap quiet duration of ‘0’->30 ms, ‘1’->20 ms (i.e how long to wait for another tap) * The criteria for a double-tap are fulfilled if the second tap occurs after the time quiet time and within the tap window. * If during the quiet time period (30/20ms) a tap occurs, it will be considered as a new tap. * Not supported by the BMI270. * @param board Calling object * @param time New quiet time */ METAWEAR_API void mbl_mw_acc_bosch_set_quiet_time(MblMwMetaWearBoard *board, MblMwAccBoschTapQuietTime time); /** * Sets the tap detector's shock time parameter * Selects a tap shock duration of ‘0’->50ms, ‘1’->75ms (i.e how long a tap can be) * This is the time it take the tap to "settle". * Not supported by the BMI270. * @param board Calling object * @param time New shock time */ METAWEAR_API void mbl_mw_acc_bosch_set_shock_time(MblMwMetaWearBoard *board, MblMwAccBoschTapShockTime time); /** * Sets the tap detector's double tap window * The time window between two taps is between 12.5ms and 500ms. * The criteria for a double-tap are fulfilled if the second tap occurs after the quiet time and within the tap window. * Not supported by the BMI270. * @param board Calling object * @param window New double tap window time */ METAWEAR_API void mbl_mw_acc_bosch_set_double_tap_window(MblMwMetaWearBoard *board, MblMwAccBoschDoubleTapWindow window); /** * Sets the tap detector's threshold * Threshold of the single/double-tap interrupt corresponding to an acceleration difference. * The threshold is typically between 0.7g and 1.5g in 2g measurement range. * Not supported by the BMI270. * @param board Calling object * @param window New threshold level */ METAWEAR_API void mbl_mw_acc_bosch_set_threshold(MblMwMetaWearBoard *board, float threshold); /** * Sets the tap detector's double tap window * Applies the duration, quiet window, shock, and threshold from set_threshold(), set_double_tap_window(), set_shock_time(), set_quiet_time(). * Not supported by the BMI270. * @param board Calling object * @param window New double tap window time */ METAWEAR_API void mbl_mw_acc_bosch_write_tap_config(const MblMwMetaWearBoard *board); /** * Enables the tap detector * Not supported by the BMI270. * @param board Calling object * @param enable_single 0 to ignore single tap detection, non-zero to detect * @param enable_double 0 to ignore double tap detection, non-zero to detect */ METAWEAR_API void mbl_mw_acc_bosch_enable_tap_detection(const MblMwMetaWearBoard *board, uint8_t enable_single, uint8_t enable_double); /** * Disable the tap detector * Not supported by the BMI270. * @param board Calling object * @param window New double tap window time */ METAWEAR_API void mbl_mw_acc_bosch_disable_tap_detection(const MblMwMetaWearBoard *board); /** * Sets the any motion detector's count parameter * Any-motion generates an interrupt when the absolute value of the acceleration exceeds a "threshold" * for a certain "count" of consecutive data points. * For the BMI160, it is a simple counter. * For the BMI270, it is expressed in 50 Hz samples (20 ms). Range is 0 to 163sec. Default value is 5=100ms. * @param board Calling object * @param count Number of consecutive slope data points that must be above the threshold */ METAWEAR_API void mbl_mw_acc_bosch_set_any_motion_count(MblMwMetaWearBoard *board, uint8_t count); /** * Sets the any motion detector's threshold parameter * Any-motion generates an interrupt when the absolute value of the acceleration exceeds a "threshold" * for a certain "count" of consecutive data points. * For the BMI160, it is range-dependent (see datasheet). Default value is 0x14 = 5.11mg in 2g mode. * For the BMI270, range is 0 to 1g. Default value is 0xAA = 83mg. * @param board Calling object * @param threshold Value that the slope data points must be above */ METAWEAR_API void mbl_mw_acc_bosch_set_any_motion_threshold(MblMwMetaWearBoard *board, float threshold); /** * Sets the no motion detector's count parameter * @param board Calling object * @param count Number of consecutive slope data points that must be above the threshold */ METAWEAR_API void mbl_mw_acc_bosch_set_no_motion_count(MblMwMetaWearBoard *board, uint8_t count); /** * Sets the no motion detector's threshold parameter * @param board Calling object * @param threshold Value that the slope data points must be above */ METAWEAR_API void mbl_mw_acc_bosch_set_no_motion_threshold(MblMwMetaWearBoard *board, float threshold); /** * Sets the sig motion detector's blocksize parameter * @param board Calling object * @param threshold Value that the slope data points must be above */ METAWEAR_API void mbl_mw_acc_bosch_set_sig_motion_blocksize(MblMwMetaWearBoard *board, uint16_t blocksize); /** * Writes the motion configuration to the remote device * Applies the threshold and count parameter or blocksize depending on motion type and settings from set_*_*() * For the BMI270, types include no motion, significant motion, and any motion. * Ignored for other Bosch sensors. * @param board Calling object * @param type Type of motion requested */ METAWEAR_API void mbl_mw_acc_bosch_write_motion_config(const MblMwMetaWearBoard *board, MblMwAccBoschMotion type); /** * Enables motion detection * The signal will callback if any motion is sensed based on the motion config * For the BMI270, signals include no motion, significant motion, and any motion. * Ignored for other Bosch sensors. * @param board Calling object * @param type Type of motion requested */ METAWEAR_API void mbl_mw_acc_bosch_enable_motion_detection(const MblMwMetaWearBoard *board, MblMwAccBoschMotion type); /** * Disables motion detection * @param board Calling object * @param type Type of motion requested */ METAWEAR_API void mbl_mw_acc_bosch_disable_motion_detection(const MblMwMetaWearBoard *board, MblMwAccBoschMotion type); /** * Switches the accelerometer to active mode * When in active mode, the accelerometer cannot be configured. * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bosch_start(const MblMwMetaWearBoard *board); /** * Switches the accelerometer to standby mode (low power state) * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bosch_stop(const MblMwMetaWearBoard *board); /** * Enables acceleration sampling * The board will start gathering data from the accelerometer * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bosch_enable_acceleration_sampling(const MblMwMetaWearBoard *board); /** * Disables acceleration sampling * The board will stop gathering data from the accelerometer * @param board Pointer to the board to send the command to */ METAWEAR_API void mbl_mw_acc_bosch_disable_acceleration_sampling(const MblMwMetaWearBoard *board); #ifdef __cplusplus } #endif