#include "metawear/sensor/accelerometer_bosch.h" #include "accelerometer_bosch_private.h" #include "accelerometer_bosch_register.h" #include "utils.h" #include "metawear/core/module.h" #include "metawear/core/status.h" #include "metawear/core/types.h" #include "metawear/core/cpp/datasignal_private.h" #include "metawear/core/cpp/metawearboard_def.h" #include "metawear/core/cpp/metawearboard_macro.h" #include "metawear/core/cpp/register.h" #include "metawear/core/cpp/responseheader.h" #include #include #include #include using std::forward_as_tuple; using std::free; using std::malloc; using std::memcpy; using std::min; using std::piecewise_construct; using std::stringstream; using std::unordered_map; using std::vector; #define CREATE_ACC_SIGNAL_SINGLE(offset) CREATE_ACC_SIGNAL(DataInterpreter::BOSCH_ACCELERATION_SINGLE_AXIS, 1, offset) #define CREATE_ACC_SIGNAL(interpreter, channels, offset) new MblMwDataSignal(BOSCH_ACCEL_RESPONSE_HEADER, board, interpreter, \ FirmwareConverter::BOSCH_ACCELERATION, channels, 2, 1, offset) #define GET_CONFIG(x) ((x*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER)) const uint8_t MBL_MW_MODULE_ACC_TYPE_BMI160 = 1; ///< Constant identifying the BMI160 accelerometer module type const uint8_t MBL_MW_MODULE_ACC_TYPE_BMA255 = 3; ///< Constant identifying the BMA255 accelerometer module type const uint8_t MBL_MW_MODULE_ACC_TYPE_BMI270 = 4; ///< Constant identifying the BMI270 accelerometer module type const uint8_t BMI270_DEFAULT_CONFIG[]= { 0xa8, 0x02, // acc range 0x00, // feature enable 0x00, // feature int enable 0x88, 0x00, 0x00, // remap 0x05, 0xE0, 0xAA, 0x38, 0x01, // any motion 0x05, 0xE0, 0x90, 0x30, 0x02, // no motion 0xFA, 0x00, 0x03, // sig motion 0x2D, 0x01, 0xD4, 0x7B, 0x3B, 0x01, 0xDB, 0x7A, 0x04, 0x00, 0x3F, 0x7B, 0xCD, 0x6C, 0xC3, 0x4C, 0x04, // step counter 1 0x85, 0x09, 0xC3, 0x04, 0xEC, 0xE6, 0x0C, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, 0x05, // step counter 2 0xA0, 0x00, 0x01, 0x00, 0x0C, 0x00, 0xF0, 0x3C, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00, 0x06, // step counter 3 0x00, 0x0E, 0x00, 0x00, 0x07, // step counter 4 0x05, 0x00, 0xEE, 0x06, 0x04, 0x00, 0xC8, 0x00, 0x08, // wrist wakeup 0xA8, 0x05, 0xEE, 0x06, 0x00, 0x04, 0xBC, 0x02, 0xB3, 0x00, 0x85, 0x07, 0x09, // wristwakeup 0x00, 0x00, 0x00, 0x00, // offset 0x00 // fifo downs }; const uint8_t BMI160_DEFAULT_CONFIG[]= { 0x28, 0x03, 0x07, 0x30, 0x81, 0x0b, 0xc0, 0x00, 0x14, 0x14, 0x14, 0x04, 0x0a, 0x18, 0x48, 0x08, 0x11, 0x00, 0x00 }; const uint8_t BMA255_DEFAULT_CONFIG[]= { 0x0a, 0x03, 0x09, 0x30, 0x81, 0x0f, 0xc0, 0x00, 0x14, 0x14, 0x04, 0x0a, 0x18, 0x48, 0x08, 0x11 }; const float ORIENT_HYS_G_PER_STEP = 0.0625f; const uint8_t FSR_BITMASKS[4]= {0x3, 0x5, 0x8, 0xc}, PACKED_ACC_REVISION= 1; const uint8_t BMI270_FSR_BITMASKS[4]= {0x0, 0x1, 0x2, 0x3}; const unordered_map BMA255_FSR_SCALE= {{0x3, 16384.f}, {0x5, 8192.f}, {0x8, 4096.f}, {0xc, 2048.f}}, BMI160_FSR_SCALE= {{0x3, 16384.f}, {0x5, 8192.f}, {0x8, 4096.f}, {0xc, 2048.f}}, BMI270_FSR_SCALE= {{0x0, 16384.f}, {0x1, 8192.f}, {0x2, 4096.f}, {0x3, 2048.f}}, BOSCH_MOTION_THS_STEPS = {{0x3, 0.00391f}, {0x5, 0.00781f}, {0x8, 0.01563f}, {0xc, 0.03125f}}, BOSCH_TAP_THS_STEPS = {{0x3, 0.0625f}, {0x5, 0.125f}, {0x8, 0.250f}, {0xc, 0.5f}}; const ResponseHeader BOSCH_ACCEL_RESPONSE_HEADER(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::DATA_INTERRUPT)), BOSCH_MOTION_DETECTOR(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::MOTION_INTERRUPT)), BOSCH_ORIENTATION_DETECTOR(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::ORIENT_INTERRUPT)), BOSCH_TAP_DETECTOR(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::TAP_INTERRUPT)), // Step detect detects a single step BMI160_STEP_DETECTOR(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::STEP_DETECTOR_INTERRUPT)), // Step counter accumulates the steps counted by the step detector BMI160_STEP_COUNTER(MBL_MW_MODULE_ACCELEROMETER, READ_REGISTER(ORDINAL(AccelerometerBmi160Register::STEP_COUNTER_DATA))), BMI160_PACKED_ACCEL_RESPONSE_HEADER(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::PACKED_ACC_DATA)), BMI270_MOTION_DETECTOR(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::MOTION_INTERRUPT)), // Step detect detects a single step BMI270_STEP_DETECTOR(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::STEP_COUNT_INTERRUPT)), // Step counter accumulates the steps counted by the step detector BMI270_STEP_COUNTER(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::STEP_COUNT_INTERRUPT)), BMI270_WRIST_DETECTOR(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::WRIST_INTERRUPT)), BMI270_ACTIVITY_DETECTOR(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::ACTIVITY_INTERRUPT)), BMI270_PACKED_ACCEL_RESPONSE_HEADER(MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::PACKED_ACC_DATA)); struct AccBmi270Config { struct { uint8_t odr:4; //bit 0-4 uint8_t bwp:3; uint8_t us:1; // acc_conf.acc_filter_perf uint8_t range:3; //bit 0-3 uint8_t:5; } acc; //ACC_RANGE, ACC_CONFIG 0x02, 0xa8 struct { uint8_t sig_motion:1; //bit 0 uint8_t step_counter:1; uint8_t activity_out:1; uint8_t wrist_wakeup:1; uint8_t wrist_gesture:1; uint8_t no_motion:1; uint8_t any_motion:1; uint8_t step_detector:1; } feature_enable; //FEATURE_ENABLE 0x00 struct { uint8_t sig_motion:1; //bit 0 uint8_t step_counter:1; uint8_t activity_out:1; uint8_t wrist_wakeup:1; uint8_t wrist_gesture:1; uint8_t no_motion:1; uint8_t any_motion:1; uint8_t step_detector:1; } feature_int_enable; //FEATURE_INTERRUPT_ENABLE 0x00 struct { struct { struct { uint8_t map_x_axis:2; //bit 0 uint8_t map_x_axis_sign:1; uint8_t map_y_axis:2; uint8_t map_y_axis_sign:1; uint8_t map_z_axis:2; uint8_t map_z_axis_sign:1; uint8_t:7; } bitmap; uint8_t index = 0; } axis_remap; //REMAP 0x88 0x00 struct { struct { uint8_t duration_0; //bit 0 uint8_t duration_1:5; uint8_t select_x:1; uint8_t select_y:1; uint8_t select_z:1; uint8_t threshold_0; //bit 0 uint8_t threshold_1:3; uint8_t :5; } bitmap; uint8_t index = 1; } any_motion; //ANYMOTION 0x05 0xE0 struct { struct { uint8_t duration_0; //bit 0 uint8_t duration_1:5; uint8_t select_x:1; uint8_t select_y:1; uint8_t select_z:1; uint8_t threshold_0; uint8_t threshold_1:3; uint8_t :5; } bitmap; uint8_t index = 2; } no_motion; //NOMOTION 0x05 0xE0 struct { struct { uint8_t block_size0; //bit 0 uint8_t block_size1; } bitmap; uint8_t index = 3; } sig_motion; //SIGMOTION struct { struct { uint8_t param_10; uint8_t param_11; uint8_t param_20; uint8_t param_21; uint8_t param_30; uint8_t param_31; uint8_t param_40; uint8_t param_41; uint8_t param_50; uint8_t param_51; uint8_t param_60; uint8_t param_61; uint8_t param_70; uint8_t param_71; uint8_t param_80; uint8_t param_81; } bitmap; uint8_t index = 4; } step_counter_0; //STEPCOUNTER1 struct { struct { uint8_t param_90; uint8_t param_91; uint8_t param_100; uint8_t param_101; uint8_t param_110; uint8_t param_111; uint8_t param_120; uint8_t param_121; uint8_t param_130; uint8_t param_131; uint8_t param_140; uint8_t param_141; uint8_t param_150; uint8_t param_151; uint8_t param_160; uint8_t param_161; } bitmap; uint8_t index = 5; } step_counter_1; //STEPCOUNTER2 0x85 0x09 struct { struct { uint8_t param_170; uint8_t param_171; uint8_t param_180; uint8_t param_181; uint8_t param_190; uint8_t param_191; uint8_t param_200; uint8_t param_201; uint8_t param_210; uint8_t param_211; uint8_t param_220; uint8_t param_221; uint8_t param_230; uint8_t param_231; uint8_t param_240; uint8_t param_241; } bitmap; uint8_t index = 6; } step_counter_2; //STEPCOUNTER3 0xA0 0x00 struct { struct { uint8_t param_250; //bit 0-7 uint8_t param_251; //bit 8-15 uint8_t watermark_level_0; //bit 0-7 uint8_t watermark_level_1:2;//bit 0-1 uint8_t reset_counter:1; //bit 2 uint8_t:5; //bit 3-7 } bitmap; uint8_t index = 7; } step_counter_3; //STEPCOUNTER4 0x0E 0x00 struct { struct { uint8_t:4; //out_conf //bit 0 uint8_t wearable_arm:1; //bit 4 uint8_t:3; //enable uint8_t:8; uint8_t min_flick_peak0; uint8_t min_flick_peak1; uint8_t min_flick_samples0; uint8_t min_flick_samples1; uint8_t max_duration0; uint8_t max_duration1; } bitmap; uint8_t index = 8; } wrist_gesture; //WRISTGESTURE 0x05 0x00 struct { struct { uint8_t min_angle_focus0; uint8_t min_angle_focus1; uint8_t min_angle_non_focus0; uint8_t min_angle_non_focus1; uint8_t max_tilt_lr0; uint8_t max_tilt_lr1; uint8_t max_tilt_ll0; uint8_t max_tilt_ll1; uint8_t max_tilt_pd0; uint8_t max_tilt_pd1; uint8_t max_tilt_pu0; uint8_t max_tilt_pu1; } bitmap; uint8_t index = 9; } wrist_wakeup; //WRISTWAKEUP 0xA8 0x05 0xEE 0x06 0x00 0x04 0xBC 0x02 0xB3 0x00 0x85 0x07 } feature_config; //FEATURE_CONFIG struct { uint8_t spi_en:1; //bit 0 uint8_t i2c_wdt_sel:1; uint8_t i2c_wdt_en:1; uint8_t acc_off_en:1; uint8_t:4; uint8_t off_acc_x:8; uint8_t off_acc_y:8; uint8_t off_acc_z:8; } nv_offset; //OFFSET 0x00, 0x00, 0x00, 0x00 struct { uint8_t gyr_fifo_downs:3; //bit 0 uint8_t gyr_fifo_filt_data:1; uint8_t acc_fifo_downs:3; uint8_t acc_fifo_filt_data:1; } fifo_downs; //FIFO_DOWNS inline void set_output_data_rate(MblMwAccBmi270Odr odr) { acc.odr= odr + 1; } inline void set_range(MblMwAccBoschRange range) { acc.range= BMI270_FSR_BITMASKS[range]; } }; struct AccBmi160Config { struct { uint8_t odr:4; //bit 0-3 ACC_CONF uint8_t bwp:3; //bit 4-6 uint8_t us:1; //bit 7 uint8_t range:4; //bit 0-3 ACC_RANGE uint8_t:4; //bit 4-7 } acc; //DATA_CONFIG struct { uint8_t low_dur; uint8_t low_th; uint8_t low_hys:2; uint8_t low_mode:1; uint8_t :3; uint8_t high_hys:2; uint8_t high_dur; uint8_t high_th; } lowhigh; struct { uint8_t anym_dur:2; uint8_t slo_no_mot_dur:6; uint8_t anym_th; uint8_t slo_no_mot_th; uint8_t int_no_mot_sel:2; uint8_t sig_mot_skip:2; uint8_t sig_mot_proof:2; uint8_t :2; } motion; struct { uint8_t dur:3; uint8_t :3; uint8_t shock:1; uint8_t quiet:1; uint8_t th:5; uint8_t :3; } tap; struct { uint8_t mode:2; uint8_t blocking:2; uint8_t hyst:4; uint8_t theta:6; uint8_t ud_en:1; uint8_t axes_ex:1; } orientation; struct { uint8_t theta:6; uint8_t :2; uint8_t hy:3; uint8_t :1; uint8_t hold_time:2; uint8_t :2; } flat; struct { uint8_t steptime_min:3; uint8_t min_threshold:2; uint8_t alpha:3; uint8_t min_step_buf:3; uint8_t step_cnt_en:1; uint8_t :4; } step_counter; inline void set_output_data_rate(MblMwAccBmi160Odr odr) { acc.odr= odr + 1; } inline void set_range(MblMwAccBoschRange range) { acc.range= FSR_BITMASKS[range]; } }; struct AccBma255Config { struct { uint8_t bw:5; uint8_t :3; uint8_t range:4; uint8_t :4; } acc; struct { uint8_t low_dur; uint8_t low_th; uint8_t low_hy:2; uint8_t low_mode:1; uint8_t :3; uint8_t high_hy:2; uint8_t high_dur; uint8_t high_th; } lowhigh; struct { uint8_t slope_dur:2; uint8_t slo_no_mot_dur:6; uint8_t slope_th; uint8_t slow_no_mot_th; } motion; struct { uint8_t dur:3; uint8_t :3; uint8_t shock:1; uint8_t quiet:1; uint8_t th:5; uint8_t :1; uint8_t samp:2; } tap; struct { uint8_t mode:2; uint8_t blocking:2; uint8_t hyst:3; uint8_t :1; uint8_t theta:6; uint8_t ud_en:1; uint8_t :1; } orientation; struct { uint8_t theta:6; uint8_t :2; uint8_t hy:3; uint8_t :1; uint8_t hold_time:2; uint8_t :2; } flat; inline void set_output_data_rate(MblMwAccBma255Odr odr) { acc.bw= odr + 8; } inline void set_range(MblMwAccBoschRange range) { acc.range= FSR_BITMASKS[range]; } }; struct AccBoschState { MblMwFnBoardPtrInt read_config_completed; void *read_config_context; uint8_t motion_mask; MblMwFnBoardPtrInt read_step_counter_handler; void *read_step_counter_context; }; static unordered_map states; static int32_t received_config_response(MblMwMetaWearBoard *board, const uint8_t *response, uint8_t len) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { auto config= &((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->acc; memcpy(config, response + 2, sizeof(*config)); break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { auto config= &((AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->acc; memcpy(config, response + 2, sizeof(*config)); break; } case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto config= &((AccBmi270Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->acc; memcpy(config, response + 2, sizeof(*config)); break; } default: return MBL_MW_STATUS_OK; } auto callback = states[board].read_config_completed; auto context = states[board].read_config_context; states[board].read_config_completed = nullptr; states[board].read_config_context = nullptr; callback(context, board, MBL_MW_STATUS_OK); return MBL_MW_STATUS_OK; } #include // Helper function - compute steps static int32_t received_step_counter_response(MblMwMetaWearBoard *board, const uint8_t *response, uint8_t len) { uint32_t step_count = 0; if (len == 0x04) { uint16_t first = response[len-2]; uint16_t second = response[len-1] << 8; uint16_t tempy = second | first; step_count = tempy; } auto step_callback = states[board].read_step_counter_handler; auto step_context = states[board].read_step_counter_context; states[board].read_step_counter_handler = nullptr; states[board].read_step_counter_context = nullptr; step_callback(step_context, board, step_count); return MBL_MW_STATUS_OK; } // Helper function - init module static void init_accelerometer_bosch(MblMwMetaWearBoard *board, void *config) { if (!board->module_config.count(MBL_MW_MODULE_ACCELEROMETER)) { board->module_config[MBL_MW_MODULE_ACCELEROMETER] = config; } else { free(config); } MblMwDataSignal* acc; if (board->module_events.count(BOSCH_ACCEL_RESPONSE_HEADER)) { acc = dynamic_cast(board->module_events[BOSCH_ACCEL_RESPONSE_HEADER]); } else { acc = CREATE_ACC_SIGNAL(DataInterpreter::BOSCH_ACCELERATION, 3, 0); board->module_events[BOSCH_ACCEL_RESPONSE_HEADER] = acc; } if (!acc->components.size()) { acc->components.push_back(CREATE_ACC_SIGNAL_SINGLE(0)); acc->components.push_back(CREATE_ACC_SIGNAL_SINGLE(2)); acc->components.push_back(CREATE_ACC_SIGNAL_SINGLE(4)); } board->responses[BOSCH_ACCEL_RESPONSE_HEADER]= response_handler_data_no_id; if (!board->module_events.count(BOSCH_MOTION_DETECTOR)) { board->module_events[BOSCH_MOTION_DETECTOR]= new MblMwDataSignal(BOSCH_MOTION_DETECTOR, board, DataInterpreter::BOSCH_ANY_MOTION, FirmwareConverter::DEFAULT, 1, 1, 0, 0); } if (!board->module_events.count(BOSCH_ORIENTATION_DETECTOR)) { board->module_events[BOSCH_ORIENTATION_DETECTOR]= new MblMwDataSignal(BOSCH_ORIENTATION_DETECTOR, board, DataInterpreter::SENSOR_ORIENTATION, FirmwareConverter::DEFAULT, 1, 1, 0, 0); } if (!board->module_events.count(BOSCH_TAP_DETECTOR)) { board->module_events[BOSCH_TAP_DETECTOR]= new MblMwDataSignal(BOSCH_TAP_DETECTOR, board, DataInterpreter::BOSCH_TAP, FirmwareConverter::DEFAULT, 1, 1, 0, 0); } if (board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).revision >= PACKED_ACC_REVISION) { if (!board->module_events.count(BMI160_PACKED_ACCEL_RESPONSE_HEADER)) { board->module_events[BMI160_PACKED_ACCEL_RESPONSE_HEADER]= new MblMwDataSignal(BMI160_PACKED_ACCEL_RESPONSE_HEADER, board, DataInterpreter::BOSCH_ACCELERATION, FirmwareConverter::BOSCH_ACCELERATION, 3, 2, 1, 0); } board->responses[BMI160_PACKED_ACCEL_RESPONSE_HEADER]= response_handler_packed_data; } board->responses.emplace(piecewise_construct, forward_as_tuple(MBL_MW_MODULE_ACCELEROMETER, READ_REGISTER(ORDINAL(AccelerometerBmi160Register::DATA_CONFIG))), forward_as_tuple(received_config_response)); board->responses.emplace(BOSCH_MOTION_DETECTOR, response_handler_data_no_id); board->responses.emplace(BOSCH_TAP_DETECTOR, response_handler_data_no_id); board->responses.emplace(BOSCH_ORIENTATION_DETECTOR, response_handler_data_no_id); AccBoschState newState = {nullptr, nullptr, 0x0, nullptr, nullptr}; states.insert({board, newState}); } // Helper function - init bmi270 void init_accelerometer_bmi270(MblMwMetaWearBoard *board) { AccBmi270Config* config = (AccBmi270Config*) malloc(sizeof(AccBmi270Config)); memcpy(config, BMI270_DEFAULT_CONFIG, sizeof(BMI270_DEFAULT_CONFIG)); if (!board->module_config.count(MBL_MW_MODULE_ACCELEROMETER)) { board->module_config[MBL_MW_MODULE_ACCELEROMETER] = config; } else { free(config); } MblMwDataSignal* acc; if (board->module_events.count(BOSCH_ACCEL_RESPONSE_HEADER)) { acc = dynamic_cast(board->module_events[BOSCH_ACCEL_RESPONSE_HEADER]); } else { acc = CREATE_ACC_SIGNAL(DataInterpreter::BOSCH_ACCELERATION, 3, 0); board->module_events[BOSCH_ACCEL_RESPONSE_HEADER] = acc; } if (!acc->components.size()) { acc->components.push_back(CREATE_ACC_SIGNAL_SINGLE(0)); acc->components.push_back(CREATE_ACC_SIGNAL_SINGLE(2)); acc->components.push_back(CREATE_ACC_SIGNAL_SINGLE(4)); } board->responses[BOSCH_ACCEL_RESPONSE_HEADER]= response_handler_data_no_id; if (!board->module_events.count(BMI270_MOTION_DETECTOR)) { board->module_events[BMI270_MOTION_DETECTOR]= new MblMwDataSignal(BMI270_MOTION_DETECTOR, board, DataInterpreter::UINT32, FirmwareConverter::DEFAULT, 1, 1, 0, 0); } board->responses.emplace(BMI270_MOTION_DETECTOR, response_handler_data_no_id); if (!board->module_events.count(BMI270_STEP_DETECTOR)) { board->module_events[BMI270_STEP_DETECTOR] = new MblMwDataSignal(BMI270_STEP_DETECTOR, board, DataInterpreter::UINT32, FirmwareConverter::DEFAULT, 1, 1, 0, 0); } board->responses[BMI270_STEP_DETECTOR]= response_handler_data_no_id; if (!board->module_events.count(BMI270_STEP_COUNTER)) { board->module_events[BMI270_STEP_COUNTER] = new MblMwDataSignal(BMI270_STEP_COUNTER, board, DataInterpreter::UINT32, FirmwareConverter::DEFAULT, 1, 2, 0, 0); } board->responses[BMI270_STEP_COUNTER]= response_handler_data_no_id; if (!board->module_events.count(BMI270_WRIST_DETECTOR)) { board->module_events[BMI270_WRIST_DETECTOR] = new MblMwDataSignal(BMI270_WRIST_DETECTOR, board, DataInterpreter::BMI270_GESTURE, FirmwareConverter::DEFAULT, 1, 1, 0, 0); } board->responses[BMI270_WRIST_DETECTOR]= response_handler_data_no_id; if (!board->module_events.count(BMI270_ACTIVITY_DETECTOR)) { board->module_events[BMI270_ACTIVITY_DETECTOR] = new MblMwDataSignal(BMI270_ACTIVITY_DETECTOR, board, DataInterpreter::BMI270_ACTIVITY, FirmwareConverter::DEFAULT, 1, 1, 0, 0); } board->responses[BMI270_ACTIVITY_DETECTOR]= response_handler_data_no_id; if (!board->module_events.count(BMI270_PACKED_ACCEL_RESPONSE_HEADER)) { board->module_events[BMI270_PACKED_ACCEL_RESPONSE_HEADER]= new MblMwDataSignal(BMI270_PACKED_ACCEL_RESPONSE_HEADER, board, DataInterpreter::BOSCH_ACCELERATION, FirmwareConverter::BOSCH_ACCELERATION, 3, 2, 1, 0); } board->responses[BMI270_PACKED_ACCEL_RESPONSE_HEADER]= response_handler_packed_data; board->responses.emplace(piecewise_construct, forward_as_tuple(MBL_MW_MODULE_ACCELEROMETER, READ_REGISTER(ORDINAL(AccelerometerBmi270Register::DATA_CONFIG))), forward_as_tuple(received_config_response)); board->responses.emplace(piecewise_construct, forward_as_tuple(MBL_MW_MODULE_ACCELEROMETER, READ_REGISTER(ORDINAL(AccelerometerBmi270Register::STEP_COUNT_INTERRUPT))), forward_as_tuple(received_step_counter_response)); AccBoschState newState = {nullptr, nullptr, 0x0, nullptr, nullptr}; states.insert({board, newState}); } // Helper function - init bmi160 void init_accelerometer_bmi160(MblMwMetaWearBoard *board) { AccBmi160Config* new_config = (AccBmi160Config*) malloc(sizeof(AccBmi160Config)); memcpy(new_config, BMI160_DEFAULT_CONFIG, sizeof(BMI160_DEFAULT_CONFIG)); if (!board->module_events.count(BMI160_STEP_DETECTOR)) { board->module_events[BMI160_STEP_DETECTOR] = new MblMwDataSignal(BMI160_STEP_DETECTOR, board, DataInterpreter::UINT32, FirmwareConverter::DEFAULT, 1, 1, 0, 0); } board->responses[BMI160_STEP_DETECTOR]= response_handler_data_no_id; if (!board->module_events.count(BMI160_STEP_COUNTER)) { board->module_events[BMI160_STEP_COUNTER] = new MblMwDataSignal(BMI160_STEP_COUNTER, board, DataInterpreter::UINT32, FirmwareConverter::DEFAULT, 1, 2, 0, 0); } board->responses[BMI160_STEP_COUNTER]= response_handler_data_no_id; init_accelerometer_bosch(board, new_config); } // Helper function - init module void init_accelerometer_bma255(MblMwMetaWearBoard *board) { AccBma255Config* new_config = (AccBma255Config*) malloc(sizeof(AccBma255Config)); memcpy(new_config, BMA255_DEFAULT_CONFIG, sizeof(BMA255_DEFAULT_CONFIG)); init_accelerometer_bosch(board, new_config); } // Helper function - free module void free_accelerometer_bosch(MblMwMetaWearBoard *board) { states.erase(board); } // Helper function - serialize bmi270 config void serialize_accelerometer_bmi270_config(const MblMwMetaWearBoard* board, vector& state) { SERIALIZE_MODULE_CONFIG(AccBmi270Config, MBL_MW_MODULE_ACCELEROMETER); } // Helper function - serialize bmi160 config void serialize_accelerometer_bmi160_config(const MblMwMetaWearBoard* board, vector& state) { SERIALIZE_MODULE_CONFIG(AccBmi160Config, MBL_MW_MODULE_ACCELEROMETER); } // Helper function - serialize bma255 config void serialize_accelerometer_bma255_config(const MblMwMetaWearBoard* board, vector& state) { SERIALIZE_MODULE_CONFIG(AccBma255Config, MBL_MW_MODULE_ACCELEROMETER); } // Helper function - deserialize bmi270 config void deserialize_accelerometer_bmi270_config(MblMwMetaWearBoard* board, uint8_t** state_stream) { DESERIALIZE_MODULE_CONFIG(AccBmi270Config, MBL_MW_MODULE_ACCELEROMETER); } // Helper function - deserialize bmi160 config void deserialize_accelerometer_bmi160_config(MblMwMetaWearBoard* board, uint8_t** state_stream) { DESERIALIZE_MODULE_CONFIG(AccBmi160Config, MBL_MW_MODULE_ACCELEROMETER); } // Helper function - deserialize bma255 config void deserialize_accelerometer_bma255_config(MblMwMetaWearBoard* board, uint8_t** state_stream) { DESERIALIZE_MODULE_CONFIG(AccBma255Config, MBL_MW_MODULE_ACCELEROMETER); } // Helper function - read config void read_accelerometer_bosch_acceleration_config(const MblMwMetaWearBoard* board, void *context, MblMwFnBoardPtrInt completed) { states[board].read_config_context = context; states[board].read_config_completed = completed; uint8_t command[2]= {MBL_MW_MODULE_ACCELEROMETER, READ_REGISTER(ORDINAL(AccelerometerBmi160Register::DATA_CONFIG))}; SEND_COMMAND; } // Helper function - set scale float bosch_get_data_scale(const MblMwMetaWearBoard *board) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: return BMI160_FSR_SCALE.at(((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->acc.range); case MBL_MW_MODULE_ACC_TYPE_BMA255: return BMA255_FSR_SCALE.at(((AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->acc.range); case MBL_MW_MODULE_ACC_TYPE_BMI270: return BMI270_FSR_SCALE.at(((AccBmi270Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->acc.range); default: return 1.f; } } // Get acc signal MblMwDataSignal* mbl_mw_acc_bosch_get_acceleration_data_signal(const MblMwMetaWearBoard *board) { auto implementation= board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation; if (implementation != MBL_MW_MODULE_ACC_TYPE_BMI160 && implementation != MBL_MW_MODULE_ACC_TYPE_BMA255 && implementation != MBL_MW_MODULE_ACC_TYPE_BMI270) { return nullptr; } GET_DATA_SIGNAL(BOSCH_ACCEL_RESPONSE_HEADER); } // Get acc signal MblMwDataSignal* mbl_mw_acc_bosch_get_high_freq_acceleration_data_signal(const MblMwMetaWearBoard* board) { return mbl_mw_acc_bosch_get_packed_acceleration_data_signal(board); } // Get packed acc signal MblMwDataSignal* mbl_mw_acc_bosch_get_packed_acceleration_data_signal(const MblMwMetaWearBoard* board) { auto implementation= board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation; if (implementation == MBL_MW_MODULE_ACC_TYPE_BMI160) { GET_DATA_SIGNAL(BMI160_PACKED_ACCEL_RESPONSE_HEADER); } else if (implementation == MBL_MW_MODULE_ACC_TYPE_BMA255) { GET_DATA_SIGNAL(BMI160_PACKED_ACCEL_RESPONSE_HEADER); } else if (implementation == MBL_MW_MODULE_ACC_TYPE_BMI270) { GET_DATA_SIGNAL(BMI270_PACKED_ACCEL_RESPONSE_HEADER); } else { return nullptr; } } // BMI160 Get step counter signal MblMwDataSignal* mbl_mw_acc_bmi160_get_step_counter_data_signal(const MblMwMetaWearBoard* board) { GET_DATA_SIGNAL(BMI160_STEP_COUNTER); } // BMI160 Get step detector signal MblMwDataSignal* mbl_mw_acc_bmi160_get_step_detector_data_signal(const MblMwMetaWearBoard* board) { GET_DATA_SIGNAL(BMI160_STEP_DETECTOR); } // BMI270 Get step counter signal MblMwDataSignal* mbl_mw_acc_bmi270_get_step_counter_data_signal(const MblMwMetaWearBoard* board) { GET_DATA_SIGNAL(BMI270_STEP_COUNTER); } // BMI270 Get step detector signal MblMwDataSignal* mbl_mw_acc_bmi270_get_step_detector_data_signal(const MblMwMetaWearBoard* board) { GET_DATA_SIGNAL(BMI270_STEP_DETECTOR); } // BMI270 Get wrist detect signal MblMwDataSignal* mbl_mw_acc_bmi270_get_wrist_detector_data_signal(const MblMwMetaWearBoard* board) { GET_DATA_SIGNAL(BMI270_WRIST_DETECTOR); } // BMI270 Get activity signal MblMwDataSignal* mbl_mw_acc_bmi270_get_activity_detector_data_signal(const MblMwMetaWearBoard* board) { GET_DATA_SIGNAL(BMI270_ACTIVITY_DETECTOR); } // Get orientation signal MblMwDataSignal* mbl_mw_acc_bosch_get_orientation_detection_data_signal(const MblMwMetaWearBoard* board) { GET_DATA_SIGNAL(BOSCH_ORIENTATION_DETECTOR); } // Get motion signal MblMwDataSignal* mbl_mw_acc_bosch_get_motion_data_signal(const MblMwMetaWearBoard* board) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: GET_DATA_SIGNAL(BMI270_MOTION_DETECTOR); break; default: GET_DATA_SIGNAL(BOSCH_MOTION_DETECTOR); } } // Get tap signal MblMwDataSignal* mbl_mw_acc_bosch_get_tap_data_signal(const MblMwMetaWearBoard* board) { GET_DATA_SIGNAL(BOSCH_TAP_DETECTOR); } // BMI270 set oder void mbl_mw_acc_bmi270_set_odr(MblMwMetaWearBoard *board, MblMwAccBmi270Odr odr) { auto config= (AccBmi270Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER); config->set_output_data_rate(odr); config->acc.us= 1; config->acc.bwp= 2; if (odr < MBL_MW_ACC_BMI270_ODR_12_5Hz) { config->acc.us= 0; } } // BMI160 set oder void mbl_mw_acc_bmi160_set_odr(MblMwMetaWearBoard *board, MblMwAccBmi160Odr odr) { auto config= (AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER); config->set_output_data_rate(odr); if (odr < MBL_MW_ACC_BMI160_ODR_12_5Hz) { config->acc.us= 1; config->acc.bwp= 0; } else { config->acc.us= 0; config->acc.bwp= 2; } } // BMA255 set odr void mbl_mw_acc_bma255_set_odr(MblMwMetaWearBoard *board, MblMwAccBma255Odr odr) { ((AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->set_output_data_rate(odr); } // Set range void mbl_mw_acc_bosch_set_range(MblMwMetaWearBoard *board, MblMwAccBoschRange range) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: ((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->set_range(range); break; case MBL_MW_MODULE_ACC_TYPE_BMA255: ((AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->set_range(range); break; case MBL_MW_MODULE_ACC_TYPE_BMI270: ((AccBmi270Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->set_range(range); break; } } // Write config void mbl_mw_acc_bosch_write_acceleration_config(const MblMwMetaWearBoard *board) { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::DATA_CONFIG)}; switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { auto config= ((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->acc; memcpy(command + 2, &config, sizeof(config)); SEND_COMMAND; break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { auto config= ((AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->acc; memcpy(command + 2, &config, sizeof(config)); SEND_COMMAND; break; } case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto config= ((AccBmi270Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->acc; memcpy(command + 2, &config, sizeof(config)); SEND_COMMAND; break; } default: return; } } // BMI160 step counter mode void mbl_mw_acc_bmi160_set_step_counter_mode(MblMwMetaWearBoard* board, MblMwAccBmi160StepCounterMode mode) { auto config= (uint16_t*) &((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->step_counter; switch (mode) { case MBL_MW_ACC_BMI160_STEP_COUNTER_MODE_NORMAL: *config= 0x0315; break; case MBL_MW_ACC_BMI160_STEP_COUNTER_MODE_SENSITIVE: *config= 0x002d; break; case MBL_MW_ACC_BMI160_STEP_COUNTER_MODE_ROBUST: *config= 0x071d; break; } } // BMI160 enable step counter void mbl_mw_acc_bmi160_enable_step_counter(MblMwMetaWearBoard* board) { ((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->step_counter.step_cnt_en= 1; } // BMI160 disable step counter void mbl_mw_acc_bmi160_disable_step_counter(MblMwMetaWearBoard* board) { ((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->step_counter.step_cnt_en= 0; } // BMI160 write step counter config void mbl_mw_acc_bmi160_write_step_counter_config(const MblMwMetaWearBoard* board) { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::STEP_DETECTOR_CONFIG)}; auto config= ((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->step_counter; memcpy(command + 2, &config, sizeof(config)); SEND_COMMAND; } // BMI160 reset step counter void mbl_mw_acc_bmi160_reset_step_counter(const MblMwMetaWearBoard* board) { uint8_t command[2]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::STEP_COUNTER_RESET)}; SEND_COMMAND; } // BMI160 enable step detect void mbl_mw_acc_bmi160_enable_step_detector(const MblMwMetaWearBoard *board) { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::STEP_DETECTOR_INTERRUPT_EN), 1, 0}; SEND_COMMAND; } // BMI160 disable step detect void mbl_mw_acc_bmi160_disable_step_detector(const MblMwMetaWearBoard *board) { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::STEP_DETECTOR_INTERRUPT_EN), 0, 1}; SEND_COMMAND; } // BMI270 set step coutner trigger void mbl_mw_acc_bmi270_set_step_counter_trigger(MblMwMetaWearBoard* board, uint16_t trigger) { if (trigger >= 1 && trigger <= 1023) { auto lower_8 = trigger & 0x00ff; auto higher_2 = (trigger & 0x0300) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.step_counter_3.bitmap.watermark_level_0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.step_counter_3.bitmap.watermark_level_1 = higher_2; } else { ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.step_counter_3.bitmap.watermark_level_0 = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.step_counter_3.bitmap.watermark_level_1 = 0; } } // BMI270 enable step counter void mbl_mw_acc_bmi270_enable_step_counter(const MblMwMetaWearBoard *board) { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x02, 0x00}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x02, 0x00}; send_command(board, command2, sizeof(command2)); } // BMI270 disable step counter void mbl_mw_acc_bmi270_disable_step_counter(const MblMwMetaWearBoard *board) { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x00, 0x02}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x00, 0x02}; send_command(board, command2, sizeof(command2)); } // BMI270 write step counter config void mbl_mw_acc_bmi270_write_step_counter_config(const MblMwMetaWearBoard* board) { uint8_t command[7]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_CONFIG), ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.step_counter_3.index}; auto config= ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.step_counter_3.bitmap; memcpy(command + 3, &config, sizeof(config)); SEND_COMMAND; } // BMI270 reset steps void mbl_mw_acc_bmi270_reset_step_counter(const MblMwMetaWearBoard* board) { uint8_t command[7]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_CONFIG), ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.step_counter_3.index}; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.step_counter_3.bitmap.reset_counter=1; auto config= ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.step_counter_3.bitmap; memcpy(command + 3, &config, sizeof(config)); SEND_COMMAND; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.step_counter_3.bitmap.reset_counter=0; } // BMI270 read steps void mbl_mw_acc_bmi270_read_step_counter(MblMwMetaWearBoard* board, void* context, MblMwFnBoardPtrInt handler) { states[board].read_step_counter_handler = handler; states[board].read_step_counter_context = context; uint8_t command[2]= {MBL_MW_MODULE_ACCELEROMETER, READ_REGISTER(ORDINAL(AccelerometerBmi270Register::STEP_COUNT_INTERRUPT))}; SEND_COMMAND; } // BMI270 enable step detect void mbl_mw_acc_bmi270_enable_step_detector(const MblMwMetaWearBoard *board) { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x80, 0x00}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x80, 0x00}; send_command(board, command2, sizeof(command2)); } // BMI270 disable step detect void mbl_mw_acc_bmi270_disable_step_detector(const MblMwMetaWearBoard *board) { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x00, 0x80}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x00, 0x80}; send_command(board, command2, sizeof(command2)); } // Set orientation hysteresis void mbl_mw_acc_bosch_set_orientation_hysteresis(MblMwMetaWearBoard *board, float hysteresis) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { ((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->orientation.hyst = min((uint8_t) 0xf, (uint8_t) (hysteresis / ORIENT_HYS_G_PER_STEP)); break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { ((AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->orientation.hyst = min((uint8_t) 0x7, (uint8_t) (hysteresis / ORIENT_HYS_G_PER_STEP)); break; } default: return; } } // Set orientation mode void mbl_mw_acc_bosch_set_orientation_mode(MblMwMetaWearBoard *board, MblMwAccBoschOrientationMode mode) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { ((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->orientation.mode = (uint8_t) mode; break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { ((AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->orientation.mode = (uint8_t) mode; break; } default: return; } } // Write orientation config void mbl_mw_acc_bosch_write_orientation_config(const MblMwMetaWearBoard *board) { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::ORIENT_CONFIG)}; switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { auto config= ((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->orientation; memcpy(command + 2, &config, sizeof(config)); SEND_COMMAND; break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { auto config= ((AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->orientation; memcpy(command + 2, &config, sizeof(config)); SEND_COMMAND; break; } default: return; } } // Set quiet time void mbl_mw_acc_bosch_set_quiet_time(MblMwMetaWearBoard *board, MblMwAccBoschTapQuietTime time) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { GET_CONFIG(AccBmi160Config)->tap.quiet = time; break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { GET_CONFIG(AccBma255Config)->tap.quiet = time; break; } default: return; } } // Set shock void mbl_mw_acc_bosch_set_shock_time(MblMwMetaWearBoard *board, MblMwAccBoschTapShockTime time) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { GET_CONFIG(AccBmi160Config)->tap.shock = time; break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { GET_CONFIG(AccBma255Config)->tap.shock = time; break; } default: return; } } // Set double tap void mbl_mw_acc_bosch_set_double_tap_window(MblMwMetaWearBoard *board, MblMwAccBoschDoubleTapWindow window) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { GET_CONFIG(AccBmi160Config)->tap.dur = window; break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { GET_CONFIG(AccBma255Config)->tap.dur = window; break; } default: return; } } // Set thresh void mbl_mw_acc_bosch_set_threshold(MblMwMetaWearBoard *board, float threshold) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { auto config = GET_CONFIG(AccBmi160Config); config->tap.th = threshold / BOSCH_TAP_THS_STEPS.at(config->acc.range); break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { auto config = GET_CONFIG(AccBma255Config); config->tap.th = threshold / BOSCH_TAP_THS_STEPS.at(config->acc.range); break; } default: return; } } // Tap config void mbl_mw_acc_bosch_write_tap_config(const MblMwMetaWearBoard *board) { vector command = {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::TAP_CONFIG)}; switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { auto config= GET_CONFIG(AccBmi160Config)->tap; command.insert(command.end(), (uint8_t*) &config, (uint8_t*) (&config + 1)); send_command(board, command.data(), (uint8_t) command.size()); break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { auto config= GET_CONFIG(AccBma255Config)->tap; command.insert(command.end(), (uint8_t*) &config, (uint8_t*) (&config + 1)); send_command(board, command.data(), (uint8_t) command.size()); break; } default: return; } } // Enable tap detect void mbl_mw_acc_bosch_enable_tap_detection(const MblMwMetaWearBoard *board, uint8_t enable_single, uint8_t enable_double) { uint8_t mask = 0; if (enable_single) { mask|= 0x2; } if (enable_double) { mask|= 0x1; } uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::TAP_INTERRUPT_ENABLE), mask, 0}; SEND_COMMAND; } // Disable tap detect void mbl_mw_acc_bosch_disable_tap_detection(const MblMwMetaWearBoard *board) { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::TAP_INTERRUPT_ENABLE), 0x00, 0x03}; SEND_COMMAND; } // Set any motion count void mbl_mw_acc_bosch_set_any_motion_count(MblMwMetaWearBoard *board, uint8_t count) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { ((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->motion.anym_dur = (count - 1); break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { ((AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->motion.slope_dur = (count - 1); break; } case MBL_MW_MODULE_ACC_TYPE_BMI270: { ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.any_motion.bitmap.duration_0 = count; // HARDCODED TO 0 ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.any_motion.bitmap.duration_1 = 0; break; } default: return; } } // Set any motion thresh void mbl_mw_acc_bosch_set_any_motion_threshold(MblMwMetaWearBoard *board, float threshold) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { auto config = (AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER); config->motion.anym_th = threshold / BOSCH_MOTION_THS_STEPS.at(config->acc.range); break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { auto config = (AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER); config->motion.slope_th = threshold / BOSCH_MOTION_THS_STEPS.at(config->acc.range); break; } case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = (uint16_t)threshold & 0x00ff; auto higher_3 = ((uint16_t)threshold & 0x0700) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.any_motion.bitmap.threshold_0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.any_motion.bitmap.threshold_1 = higher_3; break; } default: return; } } // Set sig motion blocksize void mbl_mw_acc_bosch_set_sig_motion_blocksize(MblMwMetaWearBoard *board, uint16_t blocksize) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = blocksize & 0x00ff; auto higher_8 = (blocksize & 0xff00) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.sig_motion.bitmap.block_size0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.sig_motion.bitmap.block_size1 = higher_8; break; } default: return; } } // Set no motion count void mbl_mw_acc_bosch_set_no_motion_count(MblMwMetaWearBoard *board, uint8_t count) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.no_motion.bitmap.duration_0 = count; // HARDCODED TO 0 ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.no_motion.bitmap.duration_1 = 0; break; } default: return; } } // Set no motion thresh void mbl_mw_acc_bosch_set_no_motion_threshold(MblMwMetaWearBoard *board, float threshold) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = (uint16_t)threshold & 0x00ff; auto higher_3 = ((uint16_t)threshold & 0x0700) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.no_motion.bitmap.threshold_0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.no_motion.bitmap.threshold_1 = higher_3; break; } default: return; } } // Write motion config void mbl_mw_acc_bosch_write_motion_config(const MblMwMetaWearBoard *board, MblMwAccBoschMotion type) { vector command = {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::MOTION_CONFIG)}; states.at(board).motion_mask = 0x7; switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: { auto config= ((AccBmi160Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->motion; command.insert(command.end(), (uint8_t*) &config, (uint8_t*) (&config + 1)); send_command(board, command.data(), (uint8_t) command.size()); break; } case MBL_MW_MODULE_ACC_TYPE_BMA255: { auto config= ((AccBma255Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->motion; command.insert(command.end(), (uint8_t*) &config, (uint8_t*) (&config + 1)); send_command(board, command.data(), (uint8_t) command.size()); break; } case MBL_MW_MODULE_ACC_TYPE_BMI270: { switch(type) { case MBL_MW_ACC_BOSCH_MOTION_SIGMOTION: { uint8_t command[5]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_CONFIG), ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.sig_motion.index}; auto config= ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.sig_motion.bitmap; memcpy(command + 3, &config, sizeof(config)); SEND_COMMAND; break; } case MBL_MW_ACC_BOSCH_MOTION_NOMOTION: { uint8_t command[7]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_CONFIG), ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.no_motion.index}; auto config= ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.no_motion.bitmap; memcpy(command + 3, &config, sizeof(config)); SEND_COMMAND; break; } case MBL_MW_ACC_BOSCH_MOTION_ANYMOTION: { uint8_t command[7]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_CONFIG), ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.any_motion.index}; auto config= ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.any_motion.bitmap; memcpy(command + 3, &config, sizeof(config)); SEND_COMMAND; break; } } break; } default: return; } } // Enable motion detect void mbl_mw_acc_bosch_enable_motion_detection(const MblMwMetaWearBoard *board, MblMwAccBoschMotion type) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: case MBL_MW_MODULE_ACC_TYPE_BMA255: { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::MOTION_INTERRUPT_ENABLE), states.at(board).motion_mask, 0}; SEND_COMMAND; break; } case MBL_MW_MODULE_ACC_TYPE_BMI270: { switch(type) { case MBL_MW_ACC_BOSCH_MOTION_SIGMOTION: { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x01, 0x00}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x01, 0x00}; send_command(board, command2, sizeof(command2)); break; } case MBL_MW_ACC_BOSCH_MOTION_NOMOTION: { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x20, 0x00}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x20, 0x00}; send_command(board, command2, sizeof(command2)); break; } case MBL_MW_ACC_BOSCH_MOTION_ANYMOTION: { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x40, 0x00}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x40, 0x00}; send_command(board, command2, sizeof(command2)); break; } } break; } } } // Disable motion detect void mbl_mw_acc_bosch_disable_motion_detection(const MblMwMetaWearBoard *board, MblMwAccBoschMotion type) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI160: case MBL_MW_MODULE_ACC_TYPE_BMA255: { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::MOTION_INTERRUPT_ENABLE), 0, 0x7f}; SEND_COMMAND; break; } case MBL_MW_MODULE_ACC_TYPE_BMI270: { switch(type) { case MBL_MW_ACC_BOSCH_MOTION_SIGMOTION: { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x00, 0x01}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x00, 0x01}; send_command(board, command2, sizeof(command2)); break; } case MBL_MW_ACC_BOSCH_MOTION_NOMOTION: { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x00, 0x20}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x00, 0x20}; send_command(board, command2, sizeof(command2)); break; } case MBL_MW_ACC_BOSCH_MOTION_ANYMOTION: { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x00, 0x40}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x00, 0x40}; send_command(board, command2, sizeof(command2)); break; } } break; } } } // BMI270 wrist gesture armside void mbl_mw_acc_bmi270_wrist_gesture_armside(const MblMwMetaWearBoard *board, uint8_t side) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { if (side == 1) { ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_gesture.bitmap.wearable_arm = 1; } else if (side == 0) { ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_gesture.bitmap.wearable_arm = 0; } break; } } } // BMI270 wrist gesture peak void mbl_mw_acc_bmi270_wrist_gesture_peak(const MblMwMetaWearBoard *board, uint16_t peak) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = peak & 0x00ff; auto higher_8 = (peak & 0xff00) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_gesture.bitmap.min_flick_peak0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_gesture.bitmap.min_flick_peak1 = higher_8; break; } } } // BMI270 wrist gesture sample void mbl_mw_acc_bmi270_wrist_gesture_samples(const MblMwMetaWearBoard *board, uint16_t samples) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = samples & 0x00ff; auto higher_8 = (samples & 0xff00) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_gesture.bitmap.min_flick_samples0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_gesture.bitmap.min_flick_samples1 = higher_8; break; } } } // BMI270 wrist gesture duration void mbl_mw_acc_bmi270_wrist_gesture_duration(const MblMwMetaWearBoard *board, uint16_t side) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = side & 0x00ff; auto higher_8 = (side & 0xff00) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_gesture.bitmap.max_duration0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_gesture.bitmap.max_duration1 = higher_8; break; } } } // BMI270 write gesture config void mbl_mw_acc_bmi270_write_wrist_gesture_config(const MblMwMetaWearBoard* board) { uint8_t command[11]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_CONFIG), ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_gesture.index}; auto config= ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_gesture.bitmap; memcpy(command + 3, &config, sizeof(config)); SEND_COMMAND; } // BMI270 enable wrist gesture void mbl_mw_acc_bmi270_enable_wrist_gesture(const MblMwMetaWearBoard *board) { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x10, 0x00}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x10, 0x00}; send_command(board, command2, sizeof(command2)); } // BMI270 disable wrist gesture void mbl_mw_acc_bmi270_disable_wrist_gesture(const MblMwMetaWearBoard *board) { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x00, 0x10}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x00, 0x10}; send_command(board, command2, sizeof(command2)); } // BMI270 wrist wakeup tilt angle focus void mbl_mw_acc_bmi270_wrist_wakeup_angle_focus(const MblMwMetaWearBoard *board, uint16_t angle) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = angle & 0x00ff; auto higher_8 = (angle & 0xff00) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.min_angle_focus0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.min_angle_focus1 = higher_8; break; } } } // BMI270 wrist wakeup tilt angle void mbl_mw_acc_bmi270_wrist_wakeup_angle_nonfocus(const MblMwMetaWearBoard *board, uint16_t angle) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = angle & 0x00ff; auto higher_8 = (angle & 0xff00) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.min_angle_non_focus0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.min_angle_non_focus1 = higher_8; break; } } } // BMI270 wrist wakeup tilt lr void mbl_mw_acc_bmi270_wrist_wakeup_tilt_lr(const MblMwMetaWearBoard *board, uint16_t angle) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = angle & 0x00ff; auto higher_8 = (angle & 0xff00) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.max_tilt_lr0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.max_tilt_lr1 = higher_8; break; } } } // BMI270 wrist wakeup tilt ll void mbl_mw_acc_bmi270_wrist_wakeup_tilt_ll(const MblMwMetaWearBoard *board, uint16_t angle) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = angle & 0x00ff; auto higher_8 = (angle & 0xff00) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.max_tilt_ll0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.max_tilt_ll1 = higher_8; break; } } } // BMI270 wrist wakeup tilt pd void mbl_mw_acc_bmi270_wrist_wakeup_tilt_pd(const MblMwMetaWearBoard *board, uint16_t angle) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = angle & 0x00ff; auto higher_8 = (angle & 0xff00) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.max_tilt_pd0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.max_tilt_pd1 = higher_8; break; } } } // BMI270 wrist wakeup tilt pi void mbl_mw_acc_bmi270_wrist_wakeup_tilt_pu(const MblMwMetaWearBoard *board, uint16_t angle) { switch(board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation) { case MBL_MW_MODULE_ACC_TYPE_BMI270: { auto lower_8 = angle & 0x00ff; auto higher_8 = (angle & 0xff00) >> 8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.max_tilt_pu0 = lower_8; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap.max_tilt_pu1 = higher_8; break; } } } // BMI270 wrist wakeup config void mbl_mw_acc_bmi270_write_wrist_wakeup_config(const MblMwMetaWearBoard* board) { uint8_t command[15]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_CONFIG), ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.index}; auto config= ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.wrist_wakeup.bitmap; memcpy(command + 3, &config, sizeof(config)); SEND_COMMAND; } // BMI270 enable wrist wakeup void mbl_mw_acc_bmi270_enable_wrist_wakeup(const MblMwMetaWearBoard *board) { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x08, 0x00}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x08, 0x00}; send_command(board, command2, sizeof(command2)); } // BMI270 disable wrist wakeup void mbl_mw_acc_bmi270_disable_wrist_wakeup(const MblMwMetaWearBoard *board) { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x00, 0x08}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x00, 0x08}; send_command(board, command2, sizeof(command2)); } // BMI270 enable activity detect void mbl_mw_acc_bmi270_enable_activity_detection(const MblMwMetaWearBoard *board) { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x04, 0x00}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x04, 0x00}; send_command(board, command2, sizeof(command2)); } // BMI270 disable activity detect void mbl_mw_acc_bmi270_disable_activity_detection(const MblMwMetaWearBoard *board) { uint8_t command1[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_INTERRUPT_ENABLE), 0x00, 0x04}; send_command(board, command1, sizeof(command1)); uint8_t command2[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_ENABLE), 0x00, 0x04}; send_command(board, command2, sizeof(command2)); } // BMI270 axis remap void mbl_mw_acc_bmi270_axis_remap(const MblMwMetaWearBoard* board, MblMwAccBoschAxisXyzRemap map, MblMwAccBoschAxisXyzSign sign) { switch(map) { case MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_XYZ://[0,1,2] ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis = 2; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_YZX: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis = 2; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis = 0; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_ZXY: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis = 2; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis = 1; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_XZY: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis = 2; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis = 1; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_YXZ: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis = 2; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_REMAP_ZYX: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis = 2; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis = 0; break; } switch(sign) { case MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_000: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis_sign = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis_sign = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis_sign = 0; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_100: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis_sign = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis_sign = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis_sign = 0; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_110: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis_sign = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis_sign = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis_sign = 0; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_101: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis_sign = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis_sign = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis_sign = 1; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_010: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis_sign = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis_sign = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis_sign = 0; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_011: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis_sign = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis_sign = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis_sign = 1; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_001: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis_sign = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis_sign = 0; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis_sign = 1; break; case MBL_MW_ACC_BOSCH_AXIS_XYZ_SIGN_111: ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_x_axis_sign = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_y_axis_sign = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap.map_z_axis_sign = 1; break; } uint8_t command[5]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::FEATURE_CONFIG), ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.index}; auto config= ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->feature_config.axis_remap.bitmap; memcpy(command + 3, &config, sizeof(config)); SEND_COMMAND; } // BMI270 acc offsets void mbl_mw_acc_bmi270_acc_offsets(const MblMwMetaWearBoard* board, uint16_t x_offset, uint16_t y_offset, uint16_t z_offset) { ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->nv_offset.acc_off_en = 1; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->nv_offset.off_acc_x = x_offset; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->nv_offset.off_acc_y = y_offset; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->nv_offset.off_acc_z = z_offset; uint8_t command[6]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::OFFSET)}; auto config= ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->nv_offset; memcpy(command + 2, &config, sizeof(config)); SEND_COMMAND; } // BMI270 fifos 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) { ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->fifo_downs.gyr_fifo_downs = gyro_downs; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->fifo_downs.gyr_fifo_filt_data = gyro_data; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->fifo_downs.acc_fifo_downs = acc_downs; ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->fifo_downs.acc_fifo_filt_data = acc_data; uint8_t command[3]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi270Register::DOWNSAMPLING)}; auto config= ((AccBmi270Config*)board->module_config.at(MBL_MW_MODULE_ACCELEROMETER))->fifo_downs; memcpy(command + 2, &config, sizeof(config)); SEND_COMMAND; } // Enable orientation sampling void mbl_mw_acc_bosch_enable_orientation_detection(const MblMwMetaWearBoard *board) { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::ORIENT_INTERRUPT_ENABLE), 1, 0}; SEND_COMMAND; } // Disable orientation sampling void mbl_mw_acc_bosch_disable_orientation_detection(const MblMwMetaWearBoard *board) { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::ORIENT_INTERRUPT_ENABLE), 0, 1}; SEND_COMMAND; } // Start acc void mbl_mw_acc_bosch_start(const MblMwMetaWearBoard *board) { uint8_t command[3]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::POWER_MODE), 1}; if (board->module_info.at(MBL_MW_MODULE_ACCELEROMETER).implementation == MBL_MW_MODULE_ACC_TYPE_BMI270) { auto config= (AccBmi270Config*) board->module_config.at(MBL_MW_MODULE_ACCELEROMETER); if (config->acc.us == 0) { command[2] = 2; } } SEND_COMMAND; } // Stop acc void mbl_mw_acc_bosch_stop(const MblMwMetaWearBoard *board) { uint8_t command[3]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::POWER_MODE), 0}; SEND_COMMAND; } // Enable sampling void mbl_mw_acc_bosch_enable_acceleration_sampling(const MblMwMetaWearBoard *board) { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::DATA_INTERRUPT_ENABLE), 1, 0}; SEND_COMMAND; } // Disable sampling void mbl_mw_acc_bosch_disable_acceleration_sampling(const MblMwMetaWearBoard *board) { uint8_t command[4]= {MBL_MW_MODULE_ACCELEROMETER, ORDINAL(AccelerometerBmi160Register::DATA_INTERRUPT_ENABLE), 0, 1}; SEND_COMMAND; } // Name for the loggers void create_acc_bosch_uri(const MblMwDataSignal* signal, stringstream& uri) { switch(CLEAR_READ(signal->header.register_id)) { case ORDINAL(AccelerometerBmi160Register::DATA_INTERRUPT): uri << "acceleration"; if (signal->length() <= 2) { uri << "[" << (int) (signal->offset >> 1) << "]"; } break; case ORDINAL(AccelerometerBmi160Register::ORIENT_INTERRUPT): uri << "orientation"; break; case ORDINAL(AccelerometerBmi160Register::MOTION_INTERRUPT): uri << "bosch-motion"; break; case ORDINAL(AccelerometerBmi160Register::STEP_DETECTOR_INTERRUPT): uri << "steps"; break; } } // Name for the loggers void create_acc_bmi270_uri(const MblMwDataSignal* signal, stringstream& uri) { switch(CLEAR_READ(signal->header.register_id)) { case ORDINAL(AccelerometerBmi270Register::DATA_INTERRUPT): uri << "acceleration"; if (signal->length() <= 2) { uri << "[" << (int) (signal->offset >> 1) << "]"; } break; case ORDINAL(AccelerometerBmi270Register::MOTION_INTERRUPT): uri << "bosch-motion"; break; case ORDINAL(AccelerometerBmi270Register::STEP_COUNT_INTERRUPT): uri << "steps"; break; } }