Go - Accelerometer Bricklet 2.0

This is the description of the Go API bindings for the Accelerometer Bricklet 2.0. General information and technical specifications for the Accelerometer Bricklet 2.0 are summarized in its hardware description.

An installation guide for the Go API bindings is part of their general description. Additional documentation can be found on godoc.org.

Examples

The example code below is Public Domain (CC0 1.0).

Simple

Download (example_simple.go)

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package main

import (
    "fmt"
    "github.com/Tinkerforge/go-api-bindings/accelerometer_v2_bricklet"
    "github.com/Tinkerforge/go-api-bindings/ipconnection"
)

const ADDR string = "localhost:4223"
const UID string = "XYZ" // Change XYZ to the UID of your Accelerometer Bricklet 2.0.

func main() {
    ipcon := ipconnection.New()
    defer ipcon.Close()
    a, _ := accelerometer_v2_bricklet.New(UID, &ipcon) // Create device object.

    ipcon.Connect(ADDR) // Connect to brickd.
    defer ipcon.Disconnect()
    // Don't use device before ipcon is connected.

    // Get current acceleration.
    x, y, z, _ := a.GetAcceleration()

    fmt.Printf("Acceleration [X]: %f g\n", float64(x)/10000.0)
    fmt.Printf("Acceleration [Y]: %f g\n", float64(y)/10000.0)
    fmt.Printf("Acceleration [Z]: %f g\n", float64(z)/10000.0)

    fmt.Print("Press enter to exit.")
    fmt.Scanln()
}

Callback

Download (example_callback.go)

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package main

import (
    "fmt"
    "github.com/Tinkerforge/go-api-bindings/accelerometer_v2_bricklet"
    "github.com/Tinkerforge/go-api-bindings/ipconnection"
)

const ADDR string = "localhost:4223"
const UID string = "XYZ" // Change XYZ to the UID of your Accelerometer Bricklet 2.0.

func main() {
    ipcon := ipconnection.New()
    defer ipcon.Close()
    a, _ := accelerometer_v2_bricklet.New(UID, &ipcon) // Create device object.

    ipcon.Connect(ADDR) // Connect to brickd.
    defer ipcon.Disconnect()
    // Don't use device before ipcon is connected.

    a.RegisterAccelerationCallback(func(x int32, y int32, z int32) {
        fmt.Printf("Acceleration [X]: %f g\n", float64(x)/10000.0)
        fmt.Printf("Acceleration [Y]: %f g\n", float64(y)/10000.0)
        fmt.Printf("Acceleration [Z]: %f g\n", float64(z)/10000.0)
        fmt.Println()
    })

    // Set period for acceleration callback to 1s (1000ms).
    a.SetAccelerationCallbackConfiguration(1000, false)

    fmt.Print("Press enter to exit.")
    fmt.Scanln()
}

API

The Accelerometer Bricklet 2.0 API is defined in the package github.com/Tinkerforge/go-api-bindings/accelerometer_v2_bricklet

Nearly every function of the Go bindings can return an ipconnection.DeviceError, implementing the error interface. The error can have one of the following values:

  • ipconnection.DeviceErrorSuccess = 0
  • ipconnection.DeviceErrorInvalidParameter = 1
  • ipconnection.DeviceErrorFunctionNotSupported = 2
  • ipconnection.DeviceErrorUnknownError = 3

which correspond to the values returned from Bricks and Bricklets.

All functions listed below are thread-safe.

Basic Functions

func accelerometer_v2_bricklet.New(uid string, ipcon *IPConnection) (device AccelerometerV2Bricklet, err error)
Parameters:
  • uid – Type: string
  • ipcon – Type: *IPConnection
Returns:
  • device – Type: AccelerometerV2Bricklet
  • err – Type: error

Creates a new AccelerometerV2Bricklet object with the unique device ID uid and adds it to the IPConnection ipcon:

device, err := accelerometer_v2_bricklet.New("YOUR_DEVICE_UID", &ipcon)

This device object can be used after the IPConnection has been connected (see examples above).

func (*AccelerometerV2Bricklet) GetAcceleration() (x int32, y int32, z int32, err error)
Returns:
  • x – Type: int32, Unit: 1/10000 gₙ, Range: ?
  • y – Type: int32, Unit: 1/10000 gₙ, Range: ?
  • z – Type: int32, Unit: 1/10000 gₙ, Range: ?
  • err – Type: error

Returns the acceleration in x, y and z direction. The values are given in gₙ/10000 (1gₙ = 9.80665m/s²). The range is configured with SetConfiguration().

If you want to get the acceleration periodically, it is recommended to use the RegisterAccelerationCallback callback and set the period with SetAccelerationCallbackConfiguration().

func (*AccelerometerV2Bricklet) SetConfiguration(dataRate uint8, fullScale uint8) (err error)
Parameters:
  • dataRate – Type: uint8, Range: See constants, Default: 7
  • fullScale – Type: uint8, Range: See constants, Default: 0
Returns:
  • err – Type: error

Configures the data rate and full scale range. Possible values are:

  • Data rate of 0.781Hz to 25600Hz.
  • Full scale range of ±2g up to ±8g.

Decreasing data rate or full scale range will also decrease the noise on the data.

The following constants are available for this function:

For dataRate:

  • accelerometer_v2_bricklet.DataRate0_781Hz = 0
  • accelerometer_v2_bricklet.DataRate1_563Hz = 1
  • accelerometer_v2_bricklet.DataRate3_125Hz = 2
  • accelerometer_v2_bricklet.DataRate6_2512Hz = 3
  • accelerometer_v2_bricklet.DataRate12_5Hz = 4
  • accelerometer_v2_bricklet.DataRate25Hz = 5
  • accelerometer_v2_bricklet.DataRate50Hz = 6
  • accelerometer_v2_bricklet.DataRate100Hz = 7
  • accelerometer_v2_bricklet.DataRate200Hz = 8
  • accelerometer_v2_bricklet.DataRate400Hz = 9
  • accelerometer_v2_bricklet.DataRate800Hz = 10
  • accelerometer_v2_bricklet.DataRate1600Hz = 11
  • accelerometer_v2_bricklet.DataRate3200Hz = 12
  • accelerometer_v2_bricklet.DataRate6400Hz = 13
  • accelerometer_v2_bricklet.DataRate12800Hz = 14
  • accelerometer_v2_bricklet.DataRate25600Hz = 15

For fullScale:

  • accelerometer_v2_bricklet.FullScale2g = 0
  • accelerometer_v2_bricklet.FullScale4g = 1
  • accelerometer_v2_bricklet.FullScale8g = 2
func (*AccelerometerV2Bricklet) GetConfiguration() (dataRate uint8, fullScale uint8, err error)
Returns:
  • dataRate – Type: uint8, Range: See constants, Default: 7
  • fullScale – Type: uint8, Range: See constants, Default: 0
  • err – Type: error

Returns the configuration as set by SetConfiguration().

The following constants are available for this function:

For dataRate:

  • accelerometer_v2_bricklet.DataRate0_781Hz = 0
  • accelerometer_v2_bricklet.DataRate1_563Hz = 1
  • accelerometer_v2_bricklet.DataRate3_125Hz = 2
  • accelerometer_v2_bricklet.DataRate6_2512Hz = 3
  • accelerometer_v2_bricklet.DataRate12_5Hz = 4
  • accelerometer_v2_bricklet.DataRate25Hz = 5
  • accelerometer_v2_bricklet.DataRate50Hz = 6
  • accelerometer_v2_bricklet.DataRate100Hz = 7
  • accelerometer_v2_bricklet.DataRate200Hz = 8
  • accelerometer_v2_bricklet.DataRate400Hz = 9
  • accelerometer_v2_bricklet.DataRate800Hz = 10
  • accelerometer_v2_bricklet.DataRate1600Hz = 11
  • accelerometer_v2_bricklet.DataRate3200Hz = 12
  • accelerometer_v2_bricklet.DataRate6400Hz = 13
  • accelerometer_v2_bricklet.DataRate12800Hz = 14
  • accelerometer_v2_bricklet.DataRate25600Hz = 15

For fullScale:

  • accelerometer_v2_bricklet.FullScale2g = 0
  • accelerometer_v2_bricklet.FullScale4g = 1
  • accelerometer_v2_bricklet.FullScale8g = 2
func (*AccelerometerV2Bricklet) SetInfoLEDConfig(config uint8) (err error)
Parameters:
  • config – Type: uint8, Range: See constants, Default: 0
Returns:
  • err – Type: error

Configures the info LED (marked as "Force" on the Bricklet) to be either turned off, turned on, or blink in heartbeat mode.

The following constants are available for this function:

For config:

  • accelerometer_v2_bricklet.InfoLEDConfigOff = 0
  • accelerometer_v2_bricklet.InfoLEDConfigOn = 1
  • accelerometer_v2_bricklet.InfoLEDConfigShowHeartbeat = 2
func (*AccelerometerV2Bricklet) GetInfoLEDConfig() (config uint8, err error)
Returns:
  • config – Type: uint8, Range: See constants, Default: 0
  • err – Type: error

Returns the LED configuration as set by SetInfoLEDConfig()

The following constants are available for this function:

For config:

  • accelerometer_v2_bricklet.InfoLEDConfigOff = 0
  • accelerometer_v2_bricklet.InfoLEDConfigOn = 1
  • accelerometer_v2_bricklet.InfoLEDConfigShowHeartbeat = 2
func (*AccelerometerV2Bricklet) SetContinuousAccelerationConfiguration(enableX bool, enableY bool, enableZ bool, resolution uint8) (err error)
Parameters:
  • enableX – Type: bool, Default: false
  • enableY – Type: bool, Default: false
  • enableZ – Type: bool, Default: false
  • resolution – Type: uint8, Range: See constants, Default: 0
Returns:
  • err – Type: error

For high throughput of acceleration data (> 1000Hz) you have to use the RegisterContinuousAcceleration16BitCallback or RegisterContinuousAcceleration8BitCallback callbacks.

You can enable the callback for each axis (x, y, z) individually and choose a resolution of 8 bit or 16 bit.

If at least one of the axis is enabled and the resolution is set to 8 bit, the RegisterContinuousAcceleration8BitCallback callback is activated. If at least one of the axis is enabled and the resolution is set to 16 bit, the RegisterContinuousAcceleration16BitCallback callback is activated.

The returned values are raw ADC data. If you want to put this data into a FFT to determine the occurrences of specific frequencies we recommend that you use the data as is. It has all of the ADC noise in it. This noise looks like pure noise at first glance, but it might still have some frequnecy information in it that can be utilized by the FFT.

Otherwise you have to use the following formulas that depend on the configured resolution (8/16 bit) and the full scale range (see SetConfiguration()) to calculate the data in gₙ/10000 (same unit that is returned by GetAcceleration()):

  • 16 bit, full scale 2g: acceleration = value * 625 / 1024
  • 16 bit, full scale 4g: acceleration = value * 1250 / 1024
  • 16 bit, full scale 8g: acceleration = value * 2500 / 1024

If a resolution of 8 bit is used, only the 8 most significant bits will be transferred, so you can use the following formulas:

  • 8 bit, full scale 2g: acceleration = value * 256 * 625 / 1024
  • 8 bit, full scale 4g: acceleration = value * 256 * 1250 / 1024
  • 8 bit, full scale 8g: acceleration = value * 256 * 2500 / 1024

If no axis is enabled, both callbacks are disabled. If one of the continuous callbacks is enabled, the RegisterAccelerationCallback callback is disabled.

The maximum throughput depends on the exact configuration:

Number of axis enabled Throughput 8 bit Throughout 16 bit
1 25600Hz 25600Hz
2 25600Hz 15000Hz
3 20000Hz 10000Hz

The following constants are available for this function:

For resolution:

  • accelerometer_v2_bricklet.Resolution8bit = 0
  • accelerometer_v2_bricklet.Resolution16bit = 1
func (*AccelerometerV2Bricklet) GetContinuousAccelerationConfiguration() (enableX bool, enableY bool, enableZ bool, resolution uint8, err error)
Returns:
  • enableX – Type: bool, Default: false
  • enableY – Type: bool, Default: false
  • enableZ – Type: bool, Default: false
  • resolution – Type: uint8, Range: See constants, Default: 0
  • err – Type: error

Returns the continuous acceleration configuration as set by SetContinuousAccelerationConfiguration().

The following constants are available for this function:

For resolution:

  • accelerometer_v2_bricklet.Resolution8bit = 0
  • accelerometer_v2_bricklet.Resolution16bit = 1

Advanced Functions

func (*AccelerometerV2Bricklet) SetFilterConfiguration(iirBypass uint8, lowPassFilter uint8) (err error)
Parameters:
  • iirBypass – Type: uint8, Range: See constants, Default: 0
  • lowPassFilter – Type: uint8, Range: See constants, Default: 0
Returns:
  • err – Type: error

Configures IIR Bypass filter mode and low pass filter roll off corner frequency.

The filter can be applied or bypassed and the corner frequency can be half or a ninth of the output data rate.

Accelerometer filter

The following constants are available for this function:

For iirBypass:

  • accelerometer_v2_bricklet.IIRBypassApplied = 0
  • accelerometer_v2_bricklet.IIRBypassBypassed = 1

For lowPassFilter:

  • accelerometer_v2_bricklet.LowPassFilterNinth = 0
  • accelerometer_v2_bricklet.LowPassFilterHalf = 1

New in version 2.0.2 (Plugin).

func (*AccelerometerV2Bricklet) GetFilterConfiguration() (iirBypass uint8, lowPassFilter uint8, err error)
Returns:
  • iirBypass – Type: uint8, Range: See constants, Default: 0
  • lowPassFilter – Type: uint8, Range: See constants, Default: 0
  • err – Type: error

Returns the configuration as set by SetFilterConfiguration().

The following constants are available for this function:

For iirBypass:

  • accelerometer_v2_bricklet.IIRBypassApplied = 0
  • accelerometer_v2_bricklet.IIRBypassBypassed = 1

For lowPassFilter:

  • accelerometer_v2_bricklet.LowPassFilterNinth = 0
  • accelerometer_v2_bricklet.LowPassFilterHalf = 1

New in version 2.0.2 (Plugin).

func (*AccelerometerV2Bricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)
Returns:
  • errorCountAckChecksum – Type: uint32, Range: [0 to 232 - 1]
  • errorCountMessageChecksum – Type: uint32, Range: [0 to 232 - 1]
  • errorCountFrame – Type: uint32, Range: [0 to 232 - 1]
  • errorCountOverflow – Type: uint32, Range: [0 to 232 - 1]
  • err – Type: error

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

  • ACK checksum errors,
  • message checksum errors,
  • framing errors and
  • overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

func (*AccelerometerV2Bricklet) SetBootloaderMode(mode uint8) (status uint8, err error)
Parameters:
  • mode – Type: uint8, Range: See constants
Returns:
  • status – Type: uint8, Range: See constants
  • err – Type: error

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

For mode:

  • accelerometer_v2_bricklet.BootloaderModeBootloader = 0
  • accelerometer_v2_bricklet.BootloaderModeFirmware = 1
  • accelerometer_v2_bricklet.BootloaderModeBootloaderWaitForReboot = 2
  • accelerometer_v2_bricklet.BootloaderModeFirmwareWaitForReboot = 3
  • accelerometer_v2_bricklet.BootloaderModeFirmwareWaitForEraseAndReboot = 4

For status:

  • accelerometer_v2_bricklet.BootloaderStatusOK = 0
  • accelerometer_v2_bricklet.BootloaderStatusInvalidMode = 1
  • accelerometer_v2_bricklet.BootloaderStatusNoChange = 2
  • accelerometer_v2_bricklet.BootloaderStatusEntryFunctionNotPresent = 3
  • accelerometer_v2_bricklet.BootloaderStatusDeviceIdentifierIncorrect = 4
  • accelerometer_v2_bricklet.BootloaderStatusCRCMismatch = 5
func (*AccelerometerV2Bricklet) GetBootloaderMode() (mode uint8, err error)
Returns:
  • mode – Type: uint8, Range: See constants
  • err – Type: error

Returns the current bootloader mode, see SetBootloaderMode().

The following constants are available for this function:

For mode:

  • accelerometer_v2_bricklet.BootloaderModeBootloader = 0
  • accelerometer_v2_bricklet.BootloaderModeFirmware = 1
  • accelerometer_v2_bricklet.BootloaderModeBootloaderWaitForReboot = 2
  • accelerometer_v2_bricklet.BootloaderModeFirmwareWaitForReboot = 3
  • accelerometer_v2_bricklet.BootloaderModeFirmwareWaitForEraseAndReboot = 4
func (*AccelerometerV2Bricklet) SetWriteFirmwarePointer(pointer uint32) (err error)
Parameters:
  • pointer – Type: uint32, Unit: 1 B, Range: [0 to 232 - 1]
Returns:
  • err – Type: error

Sets the firmware pointer for WriteFirmware(). The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

func (*AccelerometerV2Bricklet) WriteFirmware(data [64]uint8) (status uint8, err error)
Parameters:
  • data – Type: [64]uint8, Range: [0 to 255]
Returns:
  • status – Type: uint8, Range: [0 to 255]
  • err – Type: error

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer() before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

func (*AccelerometerV2Bricklet) SetStatusLEDConfig(config uint8) (err error)
Parameters:
  • config – Type: uint8, Range: See constants, Default: 3
Returns:
  • err – Type: error

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

For config:

  • accelerometer_v2_bricklet.StatusLEDConfigOff = 0
  • accelerometer_v2_bricklet.StatusLEDConfigOn = 1
  • accelerometer_v2_bricklet.StatusLEDConfigShowHeartbeat = 2
  • accelerometer_v2_bricklet.StatusLEDConfigShowStatus = 3
func (*AccelerometerV2Bricklet) GetStatusLEDConfig() (config uint8, err error)
Returns:
  • config – Type: uint8, Range: See constants, Default: 3
  • err – Type: error

Returns the configuration as set by SetStatusLEDConfig()

The following constants are available for this function:

For config:

  • accelerometer_v2_bricklet.StatusLEDConfigOff = 0
  • accelerometer_v2_bricklet.StatusLEDConfigOn = 1
  • accelerometer_v2_bricklet.StatusLEDConfigShowHeartbeat = 2
  • accelerometer_v2_bricklet.StatusLEDConfigShowStatus = 3
func (*AccelerometerV2Bricklet) GetChipTemperature() (temperature int16, err error)
Returns:
  • temperature – Type: int16, Unit: 1 °C, Range: [-215 to 215 - 1]
  • err – Type: error

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

func (*AccelerometerV2Bricklet) Reset() (err error)
Returns:
  • err – Type: error

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

func (*AccelerometerV2Bricklet) WriteUID(uid uint32) (err error)
Parameters:
  • uid – Type: uint32, Range: [0 to 232 - 1]
Returns:
  • err – Type: error

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

func (*AccelerometerV2Bricklet) ReadUID() (uid uint32, err error)
Returns:
  • uid – Type: uint32, Range: [0 to 232 - 1]
  • err – Type: error

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

func (*AccelerometerV2Bricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)
Returns:
  • uid – Type: string, Length: up to 8
  • connectedUid – Type: string, Length: up to 8
  • position – Type: rune, Range: ['a' to 'h', 'i', 'z']
  • hardwareVersion – Type: [3]uint8
    • 0: major – Type: uint8, Range: [0 to 255]
    • 1: minor – Type: uint8, Range: [0 to 255]
    • 2: revision – Type: uint8, Range: [0 to 255]
  • firmwareVersion – Type: [3]uint8
    • 0: major – Type: uint8, Range: [0 to 255]
    • 1: minor – Type: uint8, Range: [0 to 255]
    • 2: revision – Type: uint8, Range: [0 to 255]
  • deviceIdentifier – Type: uint16, Range: [0 to 216 - 1]
  • err – Type: error

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). The Raspberry Pi HAT (Zero) Brick is always at position 'i' and the Bricklet connected to an Isolator Bricklet is always as position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions

func (*AccelerometerV2Bricklet) SetAccelerationCallbackConfiguration(period uint32, valueHasToChange bool) (err error)
Parameters:
  • period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
  • valueHasToChange – Type: bool, Default: false
Returns:
  • err – Type: error

The period is the period with which the RegisterAccelerationCallback callback is triggered periodically. A value of 0 turns the callback off.

If the value has to change-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

If this callback is enabled, the RegisterContinuousAcceleration16BitCallback callback and RegisterContinuousAcceleration8BitCallback callback will automatically be disabled.

func (*AccelerometerV2Bricklet) GetAccelerationCallbackConfiguration() (period uint32, valueHasToChange bool, err error)
Returns:
  • period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
  • valueHasToChange – Type: bool, Default: false
  • err – Type: error

Returns the callback configuration as set by SetAccelerationCallbackConfiguration().

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding Register*Callback function, which returns a unique callback ID. This ID can be used to deregister the callback later with the corresponding Deregister*Callback function.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

func (*AccelerometerV2Bricklet) RegisterAccelerationCallback(func(x int32, y int32, z int32)) (registrationId uint64)
Callback Parameters:
  • x – Type: int32, Unit: 1/10000 gₙ, Range: ?
  • y – Type: int32, Unit: 1/10000 gₙ, Range: ?
  • z – Type: int32, Unit: 1/10000 gₙ, Range: ?
Returns:
  • registrationId – Type: uint64

This callback is triggered periodically according to the configuration set by SetAccelerationCallbackConfiguration().

The callback parameters are the same as GetAcceleration().

func (*AccelerometerV2Bricklet) RegisterContinuousAcceleration16BitCallback(func(acceleration [30]int16)) (registrationId uint64)
Callback Parameters:
  • acceleration – Type: [30]int16, Unit: ? gₙ, Range: ?
Returns:
  • registrationId – Type: uint64

Returns 30 acceleration values with 16 bit resolution. The data rate can be configured with SetConfiguration() and this callback can be enabled with SetContinuousAccelerationConfiguration().

The returned values are raw ADC data. If you want to put this data into a FFT to determine the occurrences of specific frequencies we recommend that you use the data as is. It has all of the ADC noise in it. This noise looks like pure noise at first glance, but it might still have some frequnecy information in it that can be utilized by the FFT.

Otherwise you have to use the following formulas that depend on the full scale range (see SetConfiguration()) to calculate the data in gₙ/10000 (same unit that is returned by GetAcceleration()):

  • Full scale 2g: acceleration = value * 625 / 1024
  • Full scale 4g: acceleration = value * 1250 / 1024
  • Full scale 8g: acceleration = value * 2500 / 1024

The data is formated in the sequence "x, y, z, x, y, z, ..." depending on the enabled axis. Examples:

  • x, y, z enabled: "x, y, z, ..." 10x repeated
  • x, z enabled: "x, z, ..." 15x repeated
  • y enabled: "y, ..." 30x repeated
func (*AccelerometerV2Bricklet) RegisterContinuousAcceleration8BitCallback(func(acceleration [60]int8)) (registrationId uint64)
Callback Parameters:
  • acceleration – Type: [60]int8, Unit: ? gₙ, Range: ?
Returns:
  • registrationId – Type: uint64

Returns 60 acceleration values with 8 bit resolution. The data rate can be configured with SetConfiguration() and this callback can be enabled with SetContinuousAccelerationConfiguration().

The returned values are raw ADC data. If you want to put this data into a FFT to determine the occurrences of specific frequencies we recommend that you use the data as is. It has all of the ADC noise in it. This noise looks like pure noise at first glance, but it might still have some frequnecy information in it that can be utilized by the FFT.

Otherwise you have to use the following formulas that depend on the full scale range (see SetConfiguration()) to calculate the data in gₙ/10000 (same unit that is returned by GetAcceleration()):

  • Full scale 2g: acceleration = value * 256 * 625 / 1024
  • Full scale 4g: acceleration = value * 256 * 1250 / 1024
  • Full scale 8g: acceleration = value * 256 * 2500 / 1024

The data is formated in the sequence "x, y, z, x, y, z, ..." depending on the enabled axis. Examples:

  • x, y, z enabled: "x, y, z, ..." 20x repeated
  • x, z enabled: "x, z, ..." 30x repeated
  • y enabled: "y, ..." 60x repeated

Virtual Functions

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

func (*AccelerometerV2Bricklet) GetAPIVersion() (apiVersion [3]uint8, err error)
Returns:
  • apiVersion – Type: [3]uint8
    • 0: major – Type: uint8, Range: [0 to 255]
    • 1: minor – Type: uint8, Range: [0 to 255]
    • 2: revision – Type: uint8, Range: [0 to 255]
  • err – Type: error

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

func (*AccelerometerV2Bricklet) GetResponseExpected(functionId uint8) (responseExpected bool, err error)
Parameters:
  • functionId – Type: uint8, Range: See constants
Returns:
  • responseExpected – Type: bool
  • err – Type: error

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected(). For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

  • accelerometer_v2_bricklet.FunctionSetConfiguration = 2
  • accelerometer_v2_bricklet.FunctionSetAccelerationCallbackConfiguration = 4
  • accelerometer_v2_bricklet.FunctionSetInfoLEDConfig = 6
  • accelerometer_v2_bricklet.FunctionSetContinuousAccelerationConfiguration = 9
  • accelerometer_v2_bricklet.FunctionSetFilterConfiguration = 13
  • accelerometer_v2_bricklet.FunctionSetWriteFirmwarePointer = 237
  • accelerometer_v2_bricklet.FunctionSetStatusLEDConfig = 239
  • accelerometer_v2_bricklet.FunctionReset = 243
  • accelerometer_v2_bricklet.FunctionWriteUID = 248
func (*AccelerometerV2Bricklet) SetResponseExpected(functionId uint8, responseExpected bool) (err error)
Parameters:
  • functionId – Type: uint8, Range: See constants
  • responseExpected – Type: bool
Returns:
  • err – Type: error

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

  • accelerometer_v2_bricklet.FunctionSetConfiguration = 2
  • accelerometer_v2_bricklet.FunctionSetAccelerationCallbackConfiguration = 4
  • accelerometer_v2_bricklet.FunctionSetInfoLEDConfig = 6
  • accelerometer_v2_bricklet.FunctionSetContinuousAccelerationConfiguration = 9
  • accelerometer_v2_bricklet.FunctionSetFilterConfiguration = 13
  • accelerometer_v2_bricklet.FunctionSetWriteFirmwarePointer = 237
  • accelerometer_v2_bricklet.FunctionSetStatusLEDConfig = 239
  • accelerometer_v2_bricklet.FunctionReset = 243
  • accelerometer_v2_bricklet.FunctionWriteUID = 248
func (*AccelerometerV2Bricklet) SetResponseExpectedAll(responseExpected bool) (err error)
Parameters:
  • responseExpected – Type: bool
Returns:
  • err – Type: error

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Constants

accelerometer_v2_bricklet.DeviceIdentifier

This constant is used to identify a Accelerometer Bricklet 2.0.

The GetIdentity() function and the (*IPConnection) RegisterEnumerateCallback callback of the IPConnection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

accelerometer_v2_bricklet.DeviceDisplayName

This constant represents the human readable name of a Accelerometer Bricklet 2.0.