#include <SensorBMA4XX.hpp>

Inheritance diagram for SensorBMA4XX:

Classes
struct	MotionAxesConfig
	Motion axes configuration. More...

Public Types
enum	BMA4XXModel { BMA422 = 0x12 , BMA423 = 0x13 , BMA456 = 0x16 , BMA456_AN_SEC = 0x1A }
	Enumeration of BMA4XX models. More...

using	bma4_dev_t = bma4_dev
	typedef for BMA4 device structure

Public Member Functions
bool	readData (AccelerometerData &data) override
	Get the accelerometer data.

bool	isDataReady () override
	Check if new accelerometer data is available.

bool	reset () override
	Reset the sensor.

bool	selfTest () override
	Perform a self-test on the sensor.

bool	setFullScaleRange (AccelFullScaleRange range) override
	Set the full-scale range of the accelerometer.

bool	setOutputDataRate (float data_rate_hz) override
	Set the output data rate of the accelerometer.

bool	setBandwidth (AccelBandwidth bandwidth)
	Set the bandwidth of the accelerometer.

bool	setPerformanceMode (AccelPerfMode mode)
	Set the performance mode of the accelerometer.

bool	setOperationMode (OperationMode mode) override
	Set the operation mode of the accelerometer.

bool	configAccelerometer (OperationMode mode, AccelFullScaleRange range, float data_rate_hz, AccelBandwidth bandwidth, AccelPerfMode perf_mode)
	Configure the accelerometer.

float	getTemperature () const
	Get the temperature reading from the sensor.

uint16_t	getInterruptStatus ()
	Get the current interrupt status flags.

bool	isInterruptActive (uint16_t interrupt_mask)
	Check if a specific interrupt is active.

bool	setInterruptPinConfig (InterruptPinMap pin_map, bool edge_trigger=false, bool active_low=true, bool output_en=true, bool input_en=false)
	Configure the electrical properties of an interrupt pin.

bool	enableInterrupt (InterruptPinMap pin_map, uint16_t interrupt_sources, bool enable)
	Enable or disable specific interrupt sources on a pin.

virtual bool	setRemapAxes (SensorRemap remap)
	Set the remapping of axes for the BMA4XX sensor.

const char *	getModelName () const
	Get the model name of the BMA4XX sensor.

bma4_dev_t *	getDev ()
	Get the device structure for the BMA4XX sensor.

uint32_t	getTimeSampleMs () const
	Get the current sensor time in milliseconds.

virtual BMA4XXCapability::Capability	getCapabilities () const =0
	Get supported capabilities.

virtual bool	enableDataReady (bool enable=true, InterruptPinMap pin_map=InterruptPinMap::PIN1)
	Enable data ready interrupt (default: not supported)

virtual bool	enableAnyMotionDetection (const MotionAxesConfig &cfg, bool enable, bool interrupt_enable=false, InterruptPinMap pin_map=InterruptPinMap::PIN1)
	Enable or disable any-motion detection (default: not supported)

virtual bool	enableNoMotionDetection (const MotionAxesConfig &cfg, bool enable, bool interrupt_enable=false, InterruptPinMap pin_map=InterruptPinMap::PIN1)
	Enable or disable no-motion detection (default: not supported)

virtual bool	configAnyMotion (uint16_t threshold, uint16_t duration)
	Configure any-motion threshold and duration (default: not supported)

virtual bool	configNoMotion (uint16_t threshold, uint16_t duration)
	Configure no-motion threshold and duration (default: not supported)

virtual bool	configMotion (bool any_motion, uint16_t threshold, uint16_t duration)
	Configure motion detection (default: not supported)

virtual bool	configAnyMotionInPhysicalUnits (float threshold_mg, float duration_ms)
	Configure any-motion using physical units (default: not supported)

virtual bool	configNoMotionInPhysicalUnits (float threshold_mg, float duration_ms)
	Configure no-motion using physical units (default: not supported)

virtual bool	enableTapDetector (bool enable, bool interrupt_enable=false, InterruptPinMap pin_map=InterruptPinMap::PIN1)
	Enable or disable tap detection (default: not supported)

virtual bool	enableStepCounter (bool enable, uint16_t step_counter_wm=1, bool reset_counter=false)
	Enable or disable step counter (default: not supported)

virtual bool	enableStepDetector (bool enable, bool interrupt_enable=false, InterruptPinMap pin_map=InterruptPinMap::PIN1)
	Enable or disable step detector (default: not supported)

virtual bool	enableActivityRecognition (bool enable, bool interrupt_enable=false, InterruptPinMap pin_map=InterruptPinMap::PIN1)
	Enable or disable activity recognition (default: not supported)

virtual bool	enableTiltDetector (bool enable, bool interrupt_enable=false, InterruptPinMap pin_map=InterruptPinMap::PIN1)
	Enable or disable tilt detection (default: not supported)

virtual void	update ()=0
	Update the sensor data, this method is implemented by a subclass.

Public Member Functions inherited from AccelerometerBase
virtual float	getFullScaleRange () const
	Get current full-scale range setting.

virtual float	getOutputDataRate () const
	Get current output data rate setting.

virtual OperationMode	getOperationMode () const
	Get current operation mode setting.

Public Member Functions inherited from SensorBase< AccelerometerData >
	SensorBase (const SensorBase &)=delete

SensorBase &	operator= (const SensorBase &)=delete

void	setOffset (int16_t x, int16_t y, int16_t z)
	Set sensor calibration offsets.

float	getSensitivity () const
	Get sensor sensitivity.

SensorInfo	getSensorInfo () const
	Get sensor information.

virtual SensorConfig	getConfig () const
	Get current sensor configuration.

Public Member Functions inherited from ComplexStaticDeviceWithHal
bool	begin (CommInterface interface, SensorCommCustom::CustomCallback callback, SensorCommCustomHal::CustomHalCallback hal_callback, uint8_t addr=0)
	Initialize the sensor using custom callback interface.

Public Member Functions inherited from DeviceBeginCommon
virtual	~DeviceBeginCommon ()

uint8_t	getAddress () const

uint8_t	getInterface () const

Public Member Functions inherited from SensorCommWrapper
	SensorCommWrapper ()=default

int	readReg (uint8_t reg) const

int	readRegBuff (uint8_t reg, uint8_t *buf, size_t len) const

int	readBuff (uint8_t *buf, size_t len) const

int	writeReg (uint8_t reg, uint8_t val)

int	writeRegBuff (uint8_t reg, uint8_t *buf, size_t len)

int	writeBuff (uint8_t *buf, size_t len)

int	writeThenRead (const uint8_t write_buffer, size_t write_len, uint8_t read_buffer, size_t read_len)

bool	setRegBit (uint8_t reg, uint8_t bit)

bool	clrRegBit (uint8_t reg, uint8_t bit)

bool	getRegBit (uint8_t reg, uint8_t bit)

int	updateBits (uint8_t reg, uint8_t mask, uint8_t value_shifted)

void	setAddress (uint8_t address)

void	setAck (bool enable)

Public Member Functions inherited from SensorCommInterface
virtual	~SensorCommInterface ()=default

Protected Member Functions
	SensorBMA4XX ()
	Constructor for the SensorBMA4XX class.

	~SensorBMA4XX ()=default
	Destructor for the SensorBMA4XX class.

Protected Member Functions inherited from AccelerometerBase
	AccelerometerBase ()
	Construct a new AccelerometerBase object.

virtual	~AccelerometerBase ()=default
	Destroy the AccelerometerBase object.

	AccelerometerBase (const AccelerometerBase &)=delete

AccelerometerBase &	operator= (const AccelerometerBase &)=delete

Protected Member Functions inherited from SensorBase< AccelerometerData >
	SensorBase (SensorType sensor_type=SensorType::UNKNOWN)
	Construct a new SensorBase object.

virtual	~SensorBase ()=default
	Virtual destructor for proper polymorphic cleanup.

Protected Member Functions inherited from ComplexStaticDeviceWithHal
bool	ensureValid () const override
	Ensure the communication interface is valid.

Protected Member Functions inherited from DeviceBeginCommon
	DeviceBeginCommon ()=default

virtual SensorCommBase *	getComm () const override

virtual void	beforeBegin ()

virtual void	afterCommReady ()

virtual void	afterInitSuccess (uint8_t param)

virtual void	onBeginFail ()

bool	fail ()

void	clearCommState ()

template<typename CreateComm >
bool	beginLifecycle (uint8_t addr, uint8_t iface, uint8_t initParam, CreateComm createComm)

Protected Attributes
std::unique_ptr< struct bma4_dev >	dev

struct bma4_accel_config	_accel_conf

uint8_t	_remap_reg_offset

float	_half_scale

Protected Attributes inherited from SensorBase< AccelerometerData >
SensorConfig	_config
	Current configuration.

SensorInfo	_info
	Sensor information.

int16_t	_x_offset

int16_t	_y_offset

int16_t	_z_offset

float	_sensitivity

Protected Attributes inherited from DeviceBeginCommon
std::unique_ptr< SensorCommBase >	comm

std::unique_ptr< SensorHal >	hal

std::unique_ptr< SensorCommStatic >	staticComm

uint8_t	_addr = 0

uint8_t	_iface = COMM_CUSTOM

Detailed Description

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 161 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

Member Typedef Documentation

◆ bma4_dev_t

using SensorBMA4XX::bma4_dev_t = bma4_dev

typedef for BMA4 device structure

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 168 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

Member Enumeration Documentation

◆ BMA4XXModel

enum SensorBMA4XX::BMA4XXModel

Enumeration of BMA4XX models.

Enumerator
BMA422
BMA423
BMA456
BMA456_AN_SEC

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 194 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

Constructor & Destructor Documentation

◆ SensorBMA4XX()

SensorBMA4XX::SensorBMA4XX ( )

inlineprotected

Constructor for the SensorBMA4XX class.

Note: Initializes the communication interfaces and hardware abstraction layer.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 206 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

◆ ~SensorBMA4XX()

SensorBMA4XX::~SensorBMA4XX ( )

protecteddefault

Destructor for the SensorBMA4XX class.

Note: Cleans up the resources used by the class.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Member Function Documentation

◆ configAccelerometer()

bool SensorBMA4XX::configAccelerometer	(	OperationMode	mode,
		AccelFullScaleRange	range,
		float	data_rate_hz,
		AccelBandwidth	bandwidth,
		AccelPerfMode	perf_mode
	)

inline

Configure the accelerometer.

Note: This function sets various parameters of the accelerometer in a single call.

Parameters

mode	The desired operation mode. Allowed values are SUSPEND, NORMAL.
range	The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G.
data_rate_hz	The desired output data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600.
bandwidth	The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc.
perf_mode	The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE.

Return values

True	if the configuration is successful, false otherwise.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 506 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References setBandwidth(), setFullScaleRange(), setOperationMode(), setOutputDataRate(), and setPerformanceMode().

Referenced by setup().

◆ configAnyMotion()

virtual bool SensorBMA4XX::configAnyMotion	(	uint16_t	threshold,
		uint16_t	duration
	)

inlinevirtual

Configure any-motion threshold and duration (default: not supported)

Reimplemented in SensorBMA422, SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 827 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

◆ configAnyMotionInPhysicalUnits()

virtual bool SensorBMA4XX::configAnyMotionInPhysicalUnits	(	float	threshold_mg,
		float	duration_ms
	)

inlinevirtual

Configure any-motion using physical units (default: not supported)

Reimplemented in SensorBMA422, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 859 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

◆ configMotion()

virtual bool SensorBMA4XX::configMotion	(	bool	any_motion,
		uint16_t	threshold,
		uint16_t	duration
	)

inlinevirtual

Configure motion detection (default: not supported)

Parameters

any_motion true for any-motion, false for no-motion

Reimplemented in SensorBMA422, SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 848 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

◆ configNoMotion()

virtual bool SensorBMA4XX::configNoMotion	(	uint16_t	threshold,
		uint16_t	duration
	)

inlinevirtual

Configure no-motion threshold and duration (default: not supported)

Reimplemented in SensorBMA422, SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 837 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

◆ configNoMotionInPhysicalUnits()

virtual bool SensorBMA4XX::configNoMotionInPhysicalUnits	(	float	threshold_mg,
		float	duration_ms
	)

inlinevirtual

Configure no-motion using physical units (default: not supported)

Reimplemented in SensorBMA422, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 869 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

◆ enableActivityRecognition()

virtual bool SensorBMA4XX::enableActivityRecognition	(	bool	enable,
		bool	interrupt_enable = `false`,
		InterruptPinMap	pin_map = `InterruptPinMap::PIN1`
	)

inlinevirtual

Enable or disable activity recognition (default: not supported)

Reimplemented in SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 915 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

Referenced by setupFeatures().

◆ enableAnyMotionDetection()

virtual bool SensorBMA4XX::enableAnyMotionDetection	(	const MotionAxesConfig &	cfg,
		bool	enable,
		bool	interrupt_enable = `false`,
		InterruptPinMap	pin_map = `InterruptPinMap::PIN1`
	)

inlinevirtual

Enable or disable any-motion detection (default: not supported)

Reimplemented in SensorBMA422, SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 799 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

Referenced by setupFeatures().

◆ enableDataReady()

virtual bool SensorBMA4XX::enableDataReady	(	bool	enable = `true`,
		InterruptPinMap	pin_map = `InterruptPinMap::PIN1`
	)

inlinevirtual

Enable data ready interrupt (default: not supported)

Reimplemented in SensorBMA422, SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 789 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

Referenced by setupFeatures().

◆ enableInterrupt()

bool SensorBMA4XX::enableInterrupt	(	InterruptPinMap	pin_map,
		uint16_t	interrupt_sources,
		bool	enable
	)

inline

Enable or disable specific interrupt sources on a pin.

Maps interrupt sources (e.g., data ready, FIFO full) to a physical interrupt pin. Multiple interrupt sources can be combined using bitwise OR.

Example: enableInterrupt(PIN1, BMA4_DATA_RDY_INT | BMA4_FIFO_FULL_INT, true)

Parameters

pin_map	Which interrupt pin to map to (PIN1 or PIN2).
interrupt_sources	Bitmask of interrupt sources to enable/disable.
enable	True to enable, false to disable.

Returns: True if operation succeeded, false otherwise.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 634 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References dev, PIN1, PIN2, and SENSORLIB_LOG_E.

Referenced by SensorBMA423::enableActivityRecognition(), SensorBMA456H::enableActivityRecognition(), SensorBMA422::enableAnyMotionDetection(), SensorBMA423::enableAnyMotionDetection(), SensorBMA456H::enableAnyMotionDetection(), SensorBMA422::enableDataReady(), SensorBMA423::enableDataReady(), SensorBMA456H::enableDataReady(), SensorBMA422::enableNoMotionDetection(), SensorBMA423::enableNoMotionDetection(), SensorBMA456H::enableNoMotionDetection(), SensorBMA423::enableStepDetector(), SensorBMA456H::enableStepDetector(), SensorBMA423::enableTapDetector(), SensorBMA456H::enableTapDetector(), and SensorBMA423::enableTiltDetector().

◆ enableNoMotionDetection()

virtual bool SensorBMA4XX::enableNoMotionDetection	(	const MotionAxesConfig &	cfg,
		bool	enable,
		bool	interrupt_enable = `false`,
		InterruptPinMap	pin_map = `InterruptPinMap::PIN1`
	)

inlinevirtual

Enable or disable no-motion detection (default: not supported)

Reimplemented in SensorBMA422, SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 813 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

◆ enableStepCounter()

virtual bool SensorBMA4XX::enableStepCounter	(	bool	enable,
		uint16_t	step_counter_wm = `1`,
		bool	reset_counter = `false`
	)

inlinevirtual

Enable or disable step counter (default: not supported)

Reimplemented in SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 891 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

Referenced by setupFeatures().

◆ enableStepDetector()

virtual bool SensorBMA4XX::enableStepDetector	(	bool	enable,
		bool	interrupt_enable = `false`,
		InterruptPinMap	pin_map = `InterruptPinMap::PIN1`
	)

inlinevirtual

Enable or disable step detector (default: not supported)

Reimplemented in SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 903 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

Referenced by setupFeatures().

◆ enableTapDetector()

virtual bool SensorBMA4XX::enableTapDetector	(	bool	enable,
		bool	interrupt_enable = `false`,
		InterruptPinMap	pin_map = `InterruptPinMap::PIN1`
	)

inlinevirtual

Enable or disable tap detection (default: not supported)

Reimplemented in SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 879 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

Referenced by setupFeatures().

◆ enableTiltDetector()

virtual bool SensorBMA4XX::enableTiltDetector	(	bool	enable,
		bool	interrupt_enable = `false`,
		InterruptPinMap	pin_map = `InterruptPinMap::PIN1`
	)

inlinevirtual

Enable or disable tilt detection (default: not supported)

Reimplemented in SensorBMA423.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 927 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

Referenced by setupFeatures().

◆ getCapabilities()

virtual BMA4XXCapability::Capability SensorBMA4XX::getCapabilities ( ) const

pure virtual

Get supported capabilities.

Returns: Bitmask of supported capabilities

See also: BMA4XXCapability::Capability

Implemented in SensorBMA422, SensorBMA423, and SensorBMA456H.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Referenced by setupFeatures().

◆ getDev()

bma4_dev_t * SensorBMA4XX::getDev ( )

inline

Get the device structure for the BMA4XX sensor.

Note: This function returns a pointer to the internal device structure.

Return values

Pointer to the bma4_dev_t structure.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 756 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References dev.

◆ getInterruptStatus()

uint16_t SensorBMA4XX::getInterruptStatus ( )

inline

Get the current interrupt status flags.

Reads the interrupt status register which indicates which interrupts have occurred. Each bit in the returned 16-bit value represents a different interrupt source.

Note: Use with interrupt masks (e.g., BMA4_ACCEL_DATA_RDY_INT, BMA4_FIFO_FULL_INT) to check specific interrupts.

Returns: uint16_t Bitmask of active interrupt flags, or 0 on error.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 566 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References dev.

Referenced by isInterruptActive().

◆ getModelName()

const char * SensorBMA4XX::getModelName ( ) const

inline

Get the model name of the BMA4XX sensor.

Note: This function returns a string representing the model name based on the chip ID.

Return values

The	model name as a string.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 731 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References BMA422, BMA423, BMA456, BMA456_AN_SEC, dev, and SENSORLIB_LOG_E.

Referenced by setup(), setupFeatures(), and update().

◆ getTemperature()

float SensorBMA4XX::getTemperature ( ) const

inline

Get the temperature reading from the sensor.

Note: This function retrieves the current temperature reading from the sensor.

Return values

The	temperature in degrees Celsius, or NaN if the reading fails.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 544 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References dev, and temperature().

Referenced by loop(), and readData().

◆ getTimeSampleMs()

uint32_t SensorBMA4XX::getTimeSampleMs ( ) const

inline

Get the current sensor time in milliseconds.

Reads the 24-bit free-running sensor time counter and converts it to milliseconds. The counter increments at 39.0625 μs per tick (0.0390625 ms per tick) and overflows after approximately 10.9 minutes.

Returns: uint32_t Sensor time in milliseconds, or 0 on error.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 770 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References dev.

Referenced by loop().

◆ isDataReady()

bool SensorBMA4XX::isDataReady ( )

inlineoverridevirtual

Check if new accelerometer data is available.

Note: This function checks the interrupt status to determine if new data is ready to be read.

Return values

True	if new data is available, false otherwise.

Implements AccelerometerBase.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 257 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References dev.

Referenced by loop().

◆ isInterruptActive()

bool SensorBMA4XX::isInterruptActive ( uint16_t interrupt_mask )

inline

Check if a specific interrupt is active.

Convenience function to check if a particular interrupt flag is set.

Parameters

interrupt_mask Bitmask of the interrupt(s) to check.

Returns: True if any of the specified interrupts are active, false otherwise.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 583 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References getInterruptStatus().

◆ readData()

bool SensorBMA4XX::readData ( AccelerometerData & data )

inlineoverridevirtual

Get the accelerometer data.

Note: This function retrieves the current accelerometer data from the sensor.

Parameters

&data Reference to the data structure to be filled.

Return values

True	if data retrieval is successful, false otherwise.

Implements AccelerometerBase.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 224 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References SensorBase< AccelerometerData >::_sensitivity, SensorBase< AccelerometerData >::_x_offset, SensorBase< AccelerometerData >::_y_offset, SensorBase< AccelerometerData >::_z_offset, dev, getTemperature(), AccelerometerUtils::gToMps2(), AccelerometerData::mps2, AccelerometerData::raw, SENSORLIB_LOG_E, AccelerometerData::temperature, SensorVector::x, RawVector::x, SensorVector::y, RawVector::y, SensorVector::z, and RawVector::z.

Referenced by loop(), SensorBMA422::update(), SensorBMA423::update(), and SensorBMA456H::update().

◆ reset()

bool SensorBMA4XX::reset ( )

inlineoverridevirtual

Reset the sensor.

Note: This function performs a software reset on the sensor.

Return values

True	if reset is successful, false otherwise.

Implements AccelerometerBase.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 269 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References dev, and SENSORLIB_LOG_E.

◆ selfTest()

bool SensorBMA4XX::selfTest ( )

inlineoverridevirtual

Perform a self-test on the sensor.

Note: This function checks the functionality of the sensor by performing a self-test.

Return values

True	if self-test is successful, false otherwise.

Implements AccelerometerBase.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 283 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References dev, SENSORLIB_LOG_E, and SENSORLIB_LOG_I.

◆ setBandwidth()

bool SensorBMA4XX::setBandwidth ( AccelBandwidth bandwidth )

inline

Set the bandwidth of the accelerometer.

Note: This function configures the accelerometer to operate with a specific bandwidth.

Parameters

bandwidth The desired bandwidth setting. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc.

Return values

True	if the configuration is successful, false otherwise.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 401 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References _accel_conf, CIC_AVG8, dev, NORMAL_AVG4, OSR2_AVG2, OSR4_AVG1, RES_AVG128, RES_AVG16, RES_AVG32, RES_AVG64, and SENSORLIB_LOG_E.

Referenced by configAccelerometer().

◆ setFullScaleRange()

bool SensorBMA4XX::setFullScaleRange ( AccelFullScaleRange range )

inlineoverridevirtual

Set the full-scale range of the accelerometer.

Note: This function configures the accelerometer to operate within a specific range.

Parameters

range FS_2G, FS_4G, FS_8G, FS_16G

Return values

True	if the configuration is successful, false otherwise.

Implements AccelerometerBase.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 304 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References _accel_conf, SensorBase< AccelerometerData >::_config, _half_scale, SensorBase< AccelerometerData >::_sensitivity, dev, FS_16G, FS_2G, FS_4G, FS_8G, SensorConfig::range, AccelerometerUtils::rangeToG(), and SENSORLIB_LOG_E.

Referenced by configAccelerometer(), and update().

◆ setInterruptPinConfig()

bool SensorBMA4XX::setInterruptPinConfig	(	InterruptPinMap	pin_map,
		bool	edge_trigger = `false`,
		bool	active_low = `true`,
		bool	output_en = `true`,
		bool	input_en = `false`
	)

inline

Configure the electrical properties of an interrupt pin.

Sets up the physical characteristics of the interrupt pin, including:

Trigger type (edge or level)
Active level (active low or active high)
Output type (open-drain or push-pull)
Input/output enables

Parameters

pin_map	Which interrupt pin to configure (PIN1 or PIN2).
edge_trigger	True for edge-triggered, false for level-triggered.
active_low	True for active-low, false for active-high.
output_en	True to enable output driver.
input_en	True to enable input buffer

Returns: True if configuration succeeded, false otherwise.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 605 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References dev, and PIN1.

Referenced by setup().

◆ setOperationMode()

bool SensorBMA4XX::setOperationMode ( OperationMode mode )

inlineoverridevirtual

Set the operation mode of the accelerometer.

Note: This function configures the accelerometer to operate in a specific mode.

Parameters

mode	The desired operation mode. Allowed values are SUSPEND, NORMAL.

Return values

True	if the configuration is successful, false otherwise.

Implements AccelerometerBase.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 475 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References SensorBase< AccelerometerData >::_config, dev, SensorConfig::mode, NORMAL, SENSORLIB_LOG_E, and SUSPEND.

Referenced by configAccelerometer().

◆ setOutputDataRate()

bool SensorBMA4XX::setOutputDataRate ( float data_rate_hz )

inlineoverridevirtual

Set the output data rate of the accelerometer.

Note: This function configures the accelerometer to output data at a specific rate.

Parameters

data_rate_hz The desired output data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600.

Return values

True	if the configuration is successful, false otherwise.

Implements AccelerometerBase.

Examples: /home/runner/work/SensorLib/SensorLib/src/sensor/accelerometer/bma/SensorBMA4XX.hpp.

Definition at line 341 of file sensor/accelerometer/bma/SensorBMA4XX.hpp.

References _accel_conf, SensorBase< AccelerometerData >::_config, dev, SensorConfig::sample_rate, SENSORLIB_LOG_D, and SENSORLIB_LOG_E.

Referenced by configAccelerometer(), and update().

◆ setPerformanceMode()

bool SensorBMA4XX::setPerformanceMode ( AccelPerfMode mode )

inline

Set the performance mode of the accelerometer.

Note: This function configures the accelerometer to operate in a specific performance mode.

Parameters

mode	The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE. CIC_AVG_MODE: Averaging samples (Default) CONTINUOUS_MODE: No averaging

Return values