.. highlight:: csharp

Bosch Accelerometer
===================
With the exception of our first ever board, the MetaWear R, all other MbientLab boards use a Bosch accelerometer, represeted by the 
`IAccelerometerBosch <http://mbientlab.com/docs/metawear/csharp/1/interfaceMbientLab_1_1MetaWear_1_1Sensor_1_1IAccelerometerBosch.html>`_ interface.  
This interface is an extension of the ``IAccelerometer`` interface providing methods and classes specific to Bosch accelerometers.  

Currently, we support both the :ref:`BMI160 <Bmi160 Accelerometer>` and :ref:`BMA255 <Bma255 Accelerometer>` sensors and they share much of their 
functionality with only a few differences enumerated in their respective interfaces.

::

    using MbientLab.MetaWear.Sensor;
    using MbientLab.MetaWear.Sensor.AccelerometerBosch;

    IAccelerometerBosch accBosch = metawear.GetModule<IAccelerometerBosch>();

Low/High Detection
------------------
Low/High-g detection is an algorithm on the sensor that detects when the measured acceleration falls below a lower bound (in freefall) or rises above 
an upper bound (high-g motion).  This algorithm is accessed via the 
`LowAndHighG <https://mbientlab.com/docs/metawear/csharp/1/interfaceMbientLab_1_1MetaWear_1_1Sensor_1_1IAccelerometerBosch.html#a745551796af41dba071d437617e385ef>`_ property.

Before enabling the algorithm, first configure the parameters by calling ``ILowAndHighGDataProducer``'s 
`Configure <http://mbientlab.com/docs/metawear/csharp/1/interfaceMbientLab_1_1MetaWear_1_1Sensor_1_1AccelerometerBosch_1_1ILowAndHighGDataProducer.html#a76a83872943f4a49fda59cc6dca5c417>`_ method.  This function configures both low and high-g detection.

For low-g detection, set ``EnableLowG`` to true, and configure the threshold, hysteresis, and acceleration criteria if desired.

::

    // enable low-g detection, use sum criteria,
    // detect when sum < 0.333g
    accBosch.LowAndHighG.Configure(enableLowG: true, lowThreshold: 0.333f, mode: LowGMode.Sum);

Unlike low-g detection, High-g detection can be disabled at a per axis level so developers need to explicitly set which axes to monitor.  Developers 
can also optionally configure the duration, threshold, and hyesteresis of the high-g detection algorithm.

::

    // enable high-g detection on z-axis,
    // detect when acc > 2g
    accBosch.LowAndHighG.Configure(enableHighGz: true, highThreshold: 2f);

After configuring the algorithm, add a route for the low/high-g responses.  Data is interpreted as a 
`LowHighG <https://mbientlab.com/docs/metawear/csharp/1/classMbientLab_1_1MetaWear_1_1Sensor_1_1AccelerometerBosch_1_1LowHighG.html>`_ type.

::

    await accBosch.LowAndHighG.AddRouteAsync(source => 
        source.Stream(data => Console.WriteLine(data.Value<LowHighG>()))
    );
    accBosch.LowAndHighG.Start();
    accBosch.Start();

Flat Detection
--------------
Flat detection checks when the sensor enters or leaves a horizontal position i.e. laying on a table.  Data is interpretted as a boolean where true 
signifies the sensor is laying horizontally.  ::

    await accBosch.Flat.AddRouteAsync(source => 
        source.Stream(data => Console.WriteLine("Flat? " + data.Value<bool>()))
    );
    accBosch.Flat.Start();
    accBosch.Start();

Orientation Detection
---------------------
The orientation detector alerts you when the sensor's orientation changes between portrait/landscape and front/back.  Data is represented as a 
``SensorOrientation`` enum.

::

    using MbientLab.MetaWear.Data;

    await accelerometer.Orientation.AddRouteAsync(source => 
        source.Stream(data => Console.WriteLine("Orientation = " + data.Value<SensorOrientation>()))
    );
    accBosch.Orientation.Start();
    accBosch.Start();

Tap Detection
-------------
The tap detection algorithm checks if the difference in acceleration exceeds a threshold.  To detect double tap, a second tap must be registered within 
the quiet delay but before the double tap window ends.  The shock duration is a period of time where the direction of the first tap is locked; the quiet 
delay starts after the shock duration ends.  Use ``ITapDataProducer``'s 
`Configure <https://mbientlab.com/docs/metawear/csharp/1/interfaceMbientLab_1_1MetaWear_1_1Sensor_1_1AccelerometerBosch_1_1ITapDataProducer.html#a4eaa8cb98b1da27b183db0e7104cdb79>`_ 
to set the aforementioned parameters and to select which tap types to detect.

Data from the tap detection algorithm is represented as a 
`Tap <https://mbientlab.com/docs/metawear/csharp/1/classMbientLab_1_1MetaWear_1_1Sensor_1_1AccelerometerBosch_1_1Tap.html>`_ type.

::

    using MbientLab.MetaWear.Data;

    // enable single tap detection
    accBosch.Tap.Configure(threshold: 2f, shock: TapShockTime._50ms);
    await accelerometer.Tap.AddRouteAsync(source => source.Stream(data => {
        var tap = data.Value<Tap>();
        if (tap.Type.HasValue) {
            switch (tap.Type.Value) {
                case TapType.Single:
                    Console.WriteLine("Single tap!");
                    break;
                case TapType.Double:
                    Console.WriteLine("Double tap!");
                    break;
            }
        }
    }));

    accBosch.Tap.Start();
    accBosch.Start();
    
Motion Detection
----------------
The motion detection algorithms on the Bosch chips use the difference in consecutive acceleration data samples to determine different types of motion.

=========== =====================================================================
Motion      Description
=========== =====================================================================
Any         Difference exceeds threshold for N consecutive samples
No          Difference doesn't exceed the threshold for a period of time
Slow        Same as any motion but axis and direction information is not retained
=========== =====================================================================

The different motion detection algorithms are accessed with the 
`Motion <https://mbientlab.com/docs/metawear/csharp/1/interfaceMbientLab_1_1MetaWear_1_1Sensor_1_1IAccelerometerBosch.html#ae3f7a9ef7cf08072c8ddfa4100a104b3>`_ 
property and only one algorithm can be active at any time.

::

    // configure no motion detection
    // difference < 0.1g for 10 seconds before interrupt is fired
    accBosch.Motion.ConfigureNo(duration: 10000, threshold: 0.1f);
    accBosch.Motion.AddRouteAsync(source => 
        source.Stream(data => Console.WriteLine("No motion detected"))
    );

    accBosch.Motion.Start();
    accBosch.Start()