Rust - Accelerometer Bricklet 2.0

This is the description of the Rust 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 Rust API bindings is part of their general description. Additional documentation can be found on docs.rs.

Examples

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

Simple

Download (example_simple.rs)

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use std::{error::Error, io};

use tinkerforge::{accelerometer_v2_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Accelerometer Bricklet 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let a = AccelerometerV2Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    // Get current acceleration.
    let acceleration = a.get_acceleration().recv()?;

    println!("Acceleration [X]: {} g", acceleration.x as f32 / 10000.0);
    println!("Acceleration [Y]: {} g", acceleration.y as f32 / 10000.0);
    println!("Acceleration [Z]: {} g", acceleration.z as f32 / 10000.0);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Callback

Download (example_callback.rs)

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use std::{error::Error, io, thread};
use tinkerforge::{accelerometer_v2_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Accelerometer Bricklet 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let a = AccelerometerV2Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    let acceleration_receiver = a.get_acceleration_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `a` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for acceleration in acceleration_receiver {
            println!("Acceleration [X]: {} g", acceleration.x as f32 / 10000.0);
            println!("Acceleration [Y]: {} g", acceleration.y as f32 / 10000.0);
            println!("Acceleration [Z]: {} g", acceleration.z as f32 / 10000.0);
            println!();
        }
    });

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

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

API

To allow non-blocking usage, nearly every function of the Rust bindings returns a wrapper around a mpsc::Receiver. To block until the function has finished and get your result, call one of the receiver's recv variants. Those return either the result sent by the device, or any error occured.

Functions returning a result directly will block until the device has finished processing the request.

All functions listed below are thread-safe, those which return a receiver are lock-free.

Basic Functions

pub fn AccelerometerV2Bricklet::new(uid: &str, ip_connection: &IpConnection) → AccelerometerV2Bricklet

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

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

pub fn AccelerometerV2Bricklet::get_acceleration(&self) → ConvertingReceiver<Acceleration>

Returns the acceleration in x, y and z direction. The values are given in g/10000 (1g = 9.80665m/s²), not to be confused with grams.

If you want to get the acceleration periodically, it is recommended to use the AccelerometerV2Bricklet::get_acceleration_callback_receiver callback and set the period with AccelerometerV2Bricklet::set_acceleration_callback_configuration.

pub fn AccelerometerV2Bricklet::set_configuration(&self, data_rate: u8, full_scale: u8) → ConvertingReceiver<()>

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

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

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

The default values are 100Hz data rate and -2g to +2g range.

The following constants are available for this function:

  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_0_781HZ = 0
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_1_563HZ = 1
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_3_125HZ = 2
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_6_2512HZ = 3
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_12_5HZ = 4
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_25HZ = 5
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_50HZ = 6
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_100HZ = 7
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_200HZ = 8
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_400HZ = 9
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_800HZ = 10
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_1600HZ = 11
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_3200HZ = 12
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_6400HZ = 13
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_12800HZ = 14
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_25600HZ = 15
  • ACCELEROMETER_V2_BRICKLET_FULL_SCALE_2G = 0
  • ACCELEROMETER_V2_BRICKLET_FULL_SCALE_4G = 1
  • ACCELEROMETER_V2_BRICKLET_FULL_SCALE_8G = 2
pub fn AccelerometerV2Bricklet::get_configuration(&self) → ConvertingReceiver<Configuration>

Returns the configuration as set by AccelerometerV2Bricklet::set_configuration.

The following constants are available for this function:

  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_0_781HZ = 0
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_1_563HZ = 1
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_3_125HZ = 2
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_6_2512HZ = 3
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_12_5HZ = 4
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_25HZ = 5
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_50HZ = 6
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_100HZ = 7
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_200HZ = 8
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_400HZ = 9
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_800HZ = 10
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_1600HZ = 11
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_3200HZ = 12
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_6400HZ = 13
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_12800HZ = 14
  • ACCELEROMETER_V2_BRICKLET_DATA_RATE_25600HZ = 15
  • ACCELEROMETER_V2_BRICKLET_FULL_SCALE_2G = 0
  • ACCELEROMETER_V2_BRICKLET_FULL_SCALE_4G = 1
  • ACCELEROMETER_V2_BRICKLET_FULL_SCALE_8G = 2
pub fn AccelerometerV2Bricklet::set_info_led_config(&self, config: u8) → ConvertingReceiver<()>

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:

  • ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_OFF = 0
  • ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_ON = 1
  • ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_SHOW_HEARTBEAT = 2
pub fn AccelerometerV2Bricklet::get_info_led_config(&self) → ConvertingReceiver<u8>

Returns the LED configuration as set by AccelerometerV2Bricklet::set_info_led_config

The following constants are available for this function:

  • ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_OFF = 0
  • ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_ON = 1
  • ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_SHOW_HEARTBEAT = 2
pub fn AccelerometerV2Bricklet::set_continuous_acceleration_configuration(&self, enable_x: bool, enable_y: bool, enable_z: bool, resolution: u8) → ConvertingReceiver<()>

For high throughput of acceleration data (> 1000Hz) you have to use the AccelerometerV2Bricklet::get_continuous_acceleration_16_bit_callback_receiver or AccelerometerV2Bricklet::get_continuous_acceleration_8_bit_callback_receiver 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 AccelerometerV2Bricklet::get_continuous_acceleration_8_bit_callback_receiver callback is activated. If at least one of the axis is enabled and the resolution is set to 16 bit, the AccelerometerV2Bricklet::get_continuous_acceleration_16_bit_callback_receiver 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 AccelerometerV2Bricklet::set_configuration) to calculate the data in g/10000 (same unit that is returned by AccelerometerV2Bricklet::get_acceleration):

  • 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 AccelerometerV2Bricklet::get_acceleration_callback_receiver 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:

  • ACCELEROMETER_V2_BRICKLET_RESOLUTION_8BIT = 0
  • ACCELEROMETER_V2_BRICKLET_RESOLUTION_16BIT = 1
pub fn AccelerometerV2Bricklet::get_continuous_acceleration_configuration(&self) → ConvertingReceiver<ContinuousAccelerationConfiguration>

Returns the continuous acceleration configuration as set by AccelerometerV2Bricklet::set_continuous_acceleration_configuration.

The following constants are available for this function:

  • ACCELEROMETER_V2_BRICKLET_RESOLUTION_8BIT = 0
  • ACCELEROMETER_V2_BRICKLET_RESOLUTION_16BIT = 1

Advanced Functions

pub fn AccelerometerV2Bricklet::get_api_version(&self) → [u8; 3]

Returns the version of the API definition (major, minor, revision) 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.

pub fn AccelerometerV2Bricklet::get_response_expected(&mut self, function_id: u8) → bool

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 AccelerometerV2Bricklet::set_response_expected. 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.

See AccelerometerV2Bricklet::set_response_expected for the list of function ID constants available for this function.

pub fn AccelerometerV2Bricklet::set_response_expected(&mut self, function_id: u8, response_expected: bool) → ()

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 function ID constants are available for this function:

  • ACCELEROMETER_V2_BRICKLET_FUNCTION_SET_CONFIGURATION = 2
  • ACCELEROMETER_V2_BRICKLET_FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION = 4
  • ACCELEROMETER_V2_BRICKLET_FUNCTION_SET_INFO_LED_CONFIG = 6
  • ACCELEROMETER_V2_BRICKLET_FUNCTION_SET_CONTINUOUS_ACCELERATION_CONFIGURATION = 9
  • ACCELEROMETER_V2_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • ACCELEROMETER_V2_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
  • ACCELEROMETER_V2_BRICKLET_FUNCTION_RESET = 243
  • ACCELEROMETER_V2_BRICKLET_FUNCTION_WRITE_UID = 248
pub fn AccelerometerV2Bricklet::set_response_expected_all(&mut self, response_expected: bool) → ()

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

pub fn AccelerometerV2Bricklet::get_spitfp_error_count(&self) → ConvertingReceiver<SpitfpErrorCount>

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.

pub fn AccelerometerV2Bricklet::set_bootloader_mode(&self, mode: u8) → ConvertingReceiver<u8>

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:

  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_OK = 0
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE = 1
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE = 2
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH = 5
pub fn AccelerometerV2Bricklet::get_bootloader_mode(&self) → ConvertingReceiver<u8>

Returns the current bootloader mode, see AccelerometerV2Bricklet::set_bootloader_mode.

The following constants are available for this function:

  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
pub fn AccelerometerV2Bricklet::set_write_firmware_pointer(&self, pointer: u32) → ConvertingReceiver<()>

Sets the firmware pointer for AccelerometerV2Bricklet::write_firmware. 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.

pub fn AccelerometerV2Bricklet::write_firmware(&self, data: [u8; 64]) → ConvertingReceiver<u8>

Writes 64 Bytes of firmware at the position as written by AccelerometerV2Bricklet::set_write_firmware_pointer 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.

pub fn AccelerometerV2Bricklet::set_status_led_config(&self, config: u8) → ConvertingReceiver<()>

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:

  • ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_OFF = 0
  • ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_ON = 1
  • ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3
pub fn AccelerometerV2Bricklet::get_status_led_config(&self) → ConvertingReceiver<u8>

Returns the configuration as set by AccelerometerV2Bricklet::set_status_led_config

The following constants are available for this function:

  • ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_OFF = 0
  • ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_ON = 1
  • ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3
pub fn AccelerometerV2Bricklet::get_chip_temperature(&self) → ConvertingReceiver<i16>

Returns the temperature in °C 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.

pub fn AccelerometerV2Bricklet::reset(&self) → ConvertingReceiver<()>

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!

pub fn AccelerometerV2Bricklet::write_uid(&self, uid: u32) → ConvertingReceiver<()>

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.

pub fn AccelerometerV2Bricklet::read_uid(&self) → ConvertingReceiver<u32>

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

pub fn AccelerometerV2Bricklet::get_identity(&self) → ConvertingReceiver<Identity>

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' or 'd'.

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

Callback Configuration Functions

pub fn AccelerometerV2Bricklet::set_acceleration_callback_configuration(&self, period: u32, value_has_to_change: bool) → ConvertingReceiver<()>

The period in ms is the period with which the AccelerometerV2Bricklet::get_acceleration_callback_receiver 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 AccelerometerV2Bricklet::get_continuous_acceleration_16_bit_callback_receiver callback and AccelerometerV2Bricklet::get_continuous_acceleration_8_bit_callback_receiver callback will automatically be disabled.

The default value is (0, false).

pub fn AccelerometerV2Bricklet::get_acceleration_callback_configuration(&self) → ConvertingReceiver<AccelerationCallbackConfiguration>

Returns the callback configuration as set by AccelerometerV2Bricklet::set_acceleration_callback_configuration.

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding get_*_callback_receiver function, which returns a receiver for callback events.

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.

pub fn AccelerometerV2Bricklet::get_acceleration_callback_receiver(&self) → ConvertingCallbackReceiver<AccelerationEvent>

Receivers created with this function receive Acceleration events.

This callback is triggered periodically according to the configuration set by AccelerometerV2Bricklet::set_acceleration_callback_configuration.

The members of the received struct are the same as AccelerometerV2Bricklet::get_acceleration.

pub fn AccelerometerV2Bricklet::get_continuous_acceleration_16_bit_callback_receiver(&self) → ConvertingCallbackReceiver<[i16; 30]>

Receivers created with this function receive Continuous Acceleration 16 Bit events.

Returns 30 acceleration values with 16 bit resolution. The data rate can be configured with AccelerometerV2Bricklet::set_configuration and this callback can be enabled with AccelerometerV2Bricklet::set_continuous_acceleration_configuration.

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 AccelerometerV2Bricklet::set_configuration) to calculate the data in g/10000 (same unit that is returned by AccelerometerV2Bricklet::get_acceleration):

  • 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 ..., x, y, z"
  • x, z enabled: "x, z, ... 15x ..., x, z"
  • y enabled: "y, ... 30x ..., y"
pub fn AccelerometerV2Bricklet::get_continuous_acceleration_8_bit_callback_receiver(&self) → ConvertingCallbackReceiver<[i8; 60]>

Receivers created with this function receive Continuous Acceleration 8 Bit events.

Returns 30 acceleration values with 8 bit resolution. The data rate can be configured with AccelerometerV2Bricklet::set_configuration and this callback can be enabled with AccelerometerV2Bricklet::set_continuous_acceleration_configuration.

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 AccelerometerV2Bricklet::set_configuration) to calculate the data in g/10000 (same unit that is returned by AccelerometerV2Bricklet::get_acceleration):

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

Constants

AccelerometerV2Bricklet::DEVICE_IDENTIFIER

This constant is used to identify a Accelerometer Bricklet 2.0.

The AccelerometerV2Bricklet::get_identity function and the IpConnection::get_enumerate_callback_receiver callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

AccelerometerV2Bricklet::DEVICE_DISPLAY_NAME

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