Rust - Accelerometer Bricklet

This is the description of the Rust API bindings for the Accelerometer Bricklet. General information and technical specifications for the Accelerometer Bricklet 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_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.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let a = AccelerometerBricklet::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 / 1000.0);
    println!("Acceleration [Y]: {} g", acceleration.y as f32 / 1000.0);
    println!("Acceleration [Z]: {} g", acceleration.z as f32 / 1000.0);

    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_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.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let a = AccelerometerBricklet::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 / 1000.0);
            println!("Acceleration [Y]: {} g", acceleration.y as f32 / 1000.0);
            println!("Acceleration [Z]: {} g", acceleration.z as f32 / 1000.0);
            println!();
        }
    });

    // Set period for acceleration receiver to 1s (1000ms).
    // Note: The acceleration callback is only called every second
    //       if the acceleration has changed since the last call!
    a.set_acceleration_callback_period(1000);

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

Threshold

Download (example_threshold.rs)

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use std::{error::Error, io, thread};
use tinkerforge::{accelerometer_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.

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

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

    // Get threshold receivers with a debounce time of 10 seconds (10000ms).
    a.set_debounce_period(10000);

    let acceleration_reached_receiver = a.get_acceleration_reached_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_reached in acceleration_reached_receiver {
            println!("Acceleration [X]: {} g", acceleration_reached.x as f32 / 1000.0);
            println!("Acceleration [Y]: {} g", acceleration_reached.y as f32 / 1000.0);
            println!("Acceleration [Z]: {} g", acceleration_reached.z as f32 / 1000.0);
            println!();
        }
    });

    // Configure threshold for acceleration "greater than 2 g, 2 g, 2 g".
    a.set_acceleration_callback_threshold('>', 2 * 1000, 0, 2 * 1000, 0, 2 * 1000, 0);

    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 AccelerometerBricklet::new(uid: &str, ip_connection: &IpConnection) → AccelerometerBricklet

Creates a new AccelerometerBricklet 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 AccelerometerBricklet::get_acceleration(&self) → ConvertingReceiver<Acceleration>

Returns the acceleration in x, y and z direction. The values are given in g/1000 (1g = 9.80665m/s²), not to be confused with grams.

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

pub fn AccelerometerBricklet::get_temperature(&self) → ConvertingReceiver<i16>

Returns the temperature of the accelerometer in °C.

pub fn AccelerometerBricklet::led_on(&self) → ConvertingReceiver<()>

Enables the LED on the Bricklet.

pub fn AccelerometerBricklet::led_off(&self) → ConvertingReceiver<()>

Disables the LED on the Bricklet.

pub fn AccelerometerBricklet::is_led_on(&self) → ConvertingReceiver<bool>

Returns true if the LED is enabled, false otherwise.

Advanced Functions

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

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

  • Data rate of 0Hz to 1600Hz.
  • Full scale range of -2G to +2G up to -16G to +16G.
  • Filter bandwidth between 50Hz and 800Hz.

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

The default values are 100Hz data rate, -4G to +4G range and 200Hz filter bandwidth.

The following constants are available for this function:

  • ACCELEROMETER_BRICKLET_DATA_RATE_OFF = 0
  • ACCELEROMETER_BRICKLET_DATA_RATE_3HZ = 1
  • ACCELEROMETER_BRICKLET_DATA_RATE_6HZ = 2
  • ACCELEROMETER_BRICKLET_DATA_RATE_12HZ = 3
  • ACCELEROMETER_BRICKLET_DATA_RATE_25HZ = 4
  • ACCELEROMETER_BRICKLET_DATA_RATE_50HZ = 5
  • ACCELEROMETER_BRICKLET_DATA_RATE_100HZ = 6
  • ACCELEROMETER_BRICKLET_DATA_RATE_400HZ = 7
  • ACCELEROMETER_BRICKLET_DATA_RATE_800HZ = 8
  • ACCELEROMETER_BRICKLET_DATA_RATE_1600HZ = 9
  • ACCELEROMETER_BRICKLET_FULL_SCALE_2G = 0
  • ACCELEROMETER_BRICKLET_FULL_SCALE_4G = 1
  • ACCELEROMETER_BRICKLET_FULL_SCALE_6G = 2
  • ACCELEROMETER_BRICKLET_FULL_SCALE_8G = 3
  • ACCELEROMETER_BRICKLET_FULL_SCALE_16G = 4
  • ACCELEROMETER_BRICKLET_FILTER_BANDWIDTH_800HZ = 0
  • ACCELEROMETER_BRICKLET_FILTER_BANDWIDTH_400HZ = 1
  • ACCELEROMETER_BRICKLET_FILTER_BANDWIDTH_200HZ = 2
  • ACCELEROMETER_BRICKLET_FILTER_BANDWIDTH_50HZ = 3
pub fn AccelerometerBricklet::get_configuration(&self) → ConvertingReceiver<Configuration>

Returns the configuration as set by AccelerometerBricklet::set_configuration.

The following constants are available for this function:

  • ACCELEROMETER_BRICKLET_DATA_RATE_OFF = 0
  • ACCELEROMETER_BRICKLET_DATA_RATE_3HZ = 1
  • ACCELEROMETER_BRICKLET_DATA_RATE_6HZ = 2
  • ACCELEROMETER_BRICKLET_DATA_RATE_12HZ = 3
  • ACCELEROMETER_BRICKLET_DATA_RATE_25HZ = 4
  • ACCELEROMETER_BRICKLET_DATA_RATE_50HZ = 5
  • ACCELEROMETER_BRICKLET_DATA_RATE_100HZ = 6
  • ACCELEROMETER_BRICKLET_DATA_RATE_400HZ = 7
  • ACCELEROMETER_BRICKLET_DATA_RATE_800HZ = 8
  • ACCELEROMETER_BRICKLET_DATA_RATE_1600HZ = 9
  • ACCELEROMETER_BRICKLET_FULL_SCALE_2G = 0
  • ACCELEROMETER_BRICKLET_FULL_SCALE_4G = 1
  • ACCELEROMETER_BRICKLET_FULL_SCALE_6G = 2
  • ACCELEROMETER_BRICKLET_FULL_SCALE_8G = 3
  • ACCELEROMETER_BRICKLET_FULL_SCALE_16G = 4
  • ACCELEROMETER_BRICKLET_FILTER_BANDWIDTH_800HZ = 0
  • ACCELEROMETER_BRICKLET_FILTER_BANDWIDTH_400HZ = 1
  • ACCELEROMETER_BRICKLET_FILTER_BANDWIDTH_200HZ = 2
  • ACCELEROMETER_BRICKLET_FILTER_BANDWIDTH_50HZ = 3
pub fn AccelerometerBricklet::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 AccelerometerBricklet::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 AccelerometerBricklet::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 AccelerometerBricklet::set_response_expected for the list of function ID constants available for this function.

pub fn AccelerometerBricklet::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_BRICKLET_FUNCTION_SET_ACCELERATION_CALLBACK_PERIOD = 2
  • ACCELEROMETER_BRICKLET_FUNCTION_SET_ACCELERATION_CALLBACK_THRESHOLD = 4
  • ACCELEROMETER_BRICKLET_FUNCTION_SET_DEBOUNCE_PERIOD = 6
  • ACCELEROMETER_BRICKLET_FUNCTION_SET_CONFIGURATION = 9
  • ACCELEROMETER_BRICKLET_FUNCTION_LED_ON = 11
  • ACCELEROMETER_BRICKLET_FUNCTION_LED_OFF = 12
pub fn AccelerometerBricklet::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 AccelerometerBricklet::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 AccelerometerBricklet::set_acceleration_callback_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the AccelerometerBricklet::get_acceleration_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The AccelerometerBricklet::get_acceleration_callback_receiver callback is only triggered if the acceleration has changed since the last triggering.

The default value is 0.

pub fn AccelerometerBricklet::get_acceleration_callback_period(&self) → ConvertingReceiver<u32>

Returns the period as set by AccelerometerBricklet::set_acceleration_callback_period.

pub fn AccelerometerBricklet::set_acceleration_callback_threshold(&self, option: char, min_x: i16, max_x: i16, min_y: i16, max_y: i16, min_z: i16, max_z: i16) → ConvertingReceiver<()>

Sets the thresholds for the AccelerometerBricklet::get_acceleration_reached_callback_receiver callback.

The following options are possible:

Option Description
'x' Callback is turned off
'o' Callback is triggered when the acceleration is outside the min and max values
'i' Callback is triggered when the acceleration is inside the min and max values
'<' Callback is triggered when the acceleration is smaller than the min value (max is ignored)
'>' Callback is triggered when the acceleration is greater than the min value (max is ignored)

The default value is ('x', 0, 0, 0, 0, 0, 0).

The following constants are available for this function:

  • ACCELEROMETER_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
  • ACCELEROMETER_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
  • ACCELEROMETER_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
  • ACCELEROMETER_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
  • ACCELEROMETER_BRICKLET_THRESHOLD_OPTION_GREATER = '>'
pub fn AccelerometerBricklet::get_acceleration_callback_threshold(&self) → ConvertingReceiver<AccelerationCallbackThreshold>

Returns the threshold as set by AccelerometerBricklet::set_acceleration_callback_threshold.

The following constants are available for this function:

  • ACCELEROMETER_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
  • ACCELEROMETER_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
  • ACCELEROMETER_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
  • ACCELEROMETER_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
  • ACCELEROMETER_BRICKLET_THRESHOLD_OPTION_GREATER = '>'
pub fn AccelerometerBricklet::set_debounce_period(&self, debounce: u32) → ConvertingReceiver<()>

Sets the period in ms with which the threshold callback

is triggered, if the threshold

keeps being reached.

The default value is 100.

pub fn AccelerometerBricklet::get_debounce_period(&self) → ConvertingReceiver<u32>

Returns the debounce period as set by AccelerometerBricklet::set_debounce_period.

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 AccelerometerBricklet::get_acceleration_callback_receiver(&self) → ConvertingCallbackReceiver<AccelerationEvent>

Receivers created with this function receive Acceleration events.

This callback is triggered periodically with the period that is set by AccelerometerBricklet::set_acceleration_callback_period. The members of the received struct are the X, Y and Z acceleration.

The AccelerometerBricklet::get_acceleration_callback_receiver callback is only triggered if the acceleration has changed since the last triggering.

pub fn AccelerometerBricklet::get_acceleration_reached_callback_receiver(&self) → ConvertingCallbackReceiver<AccelerationReachedEvent>

Receivers created with this function receive Acceleration Reached events.

This callback is triggered when the threshold as set by AccelerometerBricklet::set_acceleration_callback_threshold is reached. The members of the received struct are the X, Y and Z acceleration.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by AccelerometerBricklet::set_debounce_period.

Constants

AccelerometerBricklet::DEVICE_IDENTIFIER

This constant is used to identify a Accelerometer Bricklet.

The AccelerometerBricklet::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.

AccelerometerBricklet::DEVICE_DISPLAY_NAME

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