class Tinkerforge::BrickletAccelerometerV2
Measures acceleration in three axis
Constants
- CALLBACK_ACCELERATION
This callback is triggered periodically according to the configuration set by
BrickletAccelerometerV2#set_acceleration_callback_configuration
.The parameters are the same as
BrickletAccelerometerV2#get_acceleration
.- CALLBACK_CONTINUOUS_ACCELERATION_16_BIT
Returns 30 acceleration values with 16 bit resolution. The data rate can be configured with
BrickletAccelerometerV2#set_configuration
and this callback can be enabled withBrickletAccelerometerV2#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
BrickletAccelerometerV2#set_configuration
) to calculate the data in gₙ/10000 (same unit that is returned byBrickletAccelerometerV2#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 repeated
-
x, z enabled: “x, z, …” 15x repeated
-
y enabled: “y, …” 30x repeated
-
- CALLBACK_CONTINUOUS_ACCELERATION_8_BIT
Returns 60 acceleration values with 8 bit resolution. The data rate can be configured with
BrickletAccelerometerV2#set_configuration
and this callback can be enabled withBrickletAccelerometerV2#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
BrickletAccelerometerV2#set_configuration
) to calculate the data in gₙ/10000 (same unit that is returned byBrickletAccelerometerV2#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 repeated
-
x, z enabled: “x, z, …” 30x repeated
-
y enabled: “y, …” 60x repeated
-
Public Class Methods
Creates an object with the unique device ID uid
and adds it to the IP Connection ipcon
.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 147 def initialize(uid, ipcon) super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME @api_version = [2, 0, 1] @response_expected[FUNCTION_GET_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_CONFIGURATION] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_ACCELERATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_INFO_LED_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_INFO_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_CONTINUOUS_ACCELERATION_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_CONTINUOUS_ACCELERATION_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_FILTER_CONFIGURATION] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_FILTER_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_WRITE_UID] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE @callback_formats[CALLBACK_ACCELERATION] = [20, 'l l l'] @callback_formats[CALLBACK_CONTINUOUS_ACCELERATION_16_BIT] = [68, 's30'] @callback_formats[CALLBACK_CONTINUOUS_ACCELERATION_8_BIT] = [68, 'c60'] @ipcon.add_device self end
Public Instance Methods
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 BrickletAccelerometerV2#set_configuration
.
If you want to get the acceleration periodically, it is recommended to use the CALLBACK_ACCELERATION
callback and set the period with BrickletAccelerometerV2#set_acceleration_callback_configuration
.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 190 def get_acceleration check_validity send_request FUNCTION_GET_ACCELERATION, [], '', 20, 'l l l' end
Returns the callback configuration as set by BrickletAccelerometerV2#set_acceleration_callback_configuration
.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 237 def get_acceleration_callback_configuration check_validity send_request FUNCTION_GET_ACCELERATION_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
Returns the current bootloader mode, see BrickletAccelerometerV2#set_bootloader_mode
.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 375 def get_bootloader_mode check_validity send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C' end
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.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 433 def get_chip_temperature check_validity send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's' end
Returns the configuration as set by BrickletAccelerometerV2#set_configuration
.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 211 def get_configuration check_validity send_request FUNCTION_GET_CONFIGURATION, [], '', 10, 'C C' end
Returns the continuous acceleration configuration as set by BrickletAccelerometerV2#set_continuous_acceleration_configuration
.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 309 def get_continuous_acceleration_configuration check_validity send_request FUNCTION_GET_CONTINUOUS_ACCELERATION_CONFIGURATION, [], '', 12, '? ? ? C' end
Returns the configuration as set by BrickletAccelerometerV2#set_filter_configuration
.
- .. versionadded
-
2.0.2$nbsp;(Plugin)
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 336 def get_filter_configuration check_validity send_request FUNCTION_GET_FILTER_CONFIGURATION, [], '', 10, 'C C' end
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). A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at position 'z'.
The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 480 def get_identity send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S' end
Returns the LED configuration as set by BrickletAccelerometerV2#set_info_led_config
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 252 def get_info_led_config check_validity send_request FUNCTION_GET_INFO_LED_CONFIG, [], '', 9, 'C' end
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.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 353 def get_spitfp_error_count check_validity send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L' end
Returns the configuration as set by BrickletAccelerometerV2#set_status_led_config
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 421 def get_status_led_config check_validity send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C' end
Returns the current UID as an integer. Encode as Base58
to get the usual string version.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 464 def read_uid check_validity send_request FUNCTION_READ_UID, [], '', 12, 'L' end
Registers a callback with ID id
to the block block
.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 485 def register_callback(id, &block) callback = block @registered_callbacks[id] = callback end
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!
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 445 def reset check_validity send_request FUNCTION_RESET, [], '', 8, '' end
The period is the period with which the CALLBACK_ACCELERATION
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 CALLBACK_CONTINUOUS_ACCELERATION_16_BIT
callback and CALLBACK_CONTINUOUS_ACCELERATION_8_BIT
callback will automatically be disabled.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 229 def set_acceleration_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
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.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 368 def set_bootloader_mode(mode) check_validity send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C' end
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.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 204 def set_configuration(data_rate, full_scale) check_validity send_request FUNCTION_SET_CONFIGURATION, [data_rate, full_scale], 'C C', 8, '' end
For high throughput of acceleration data (> 1000Hz) you have to use the CALLBACK_CONTINUOUS_ACCELERATION_16_BIT
or CALLBACK_CONTINUOUS_ACCELERATION_8_BIT
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 CALLBACK_CONTINUOUS_ACCELERATION_8_BIT
callback is activated. If at least one of the axis is enabled and the resolution is set to 16 bit, the CALLBACK_CONTINUOUS_ACCELERATION_16_BIT
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 BrickletAccelerometerV2#set_configuration
) to calculate the data in gₙ/10000 (same unit that is returned by BrickletAccelerometerV2#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 CALLBACK_ACCELERATION
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"
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 301 def set_continuous_acceleration_configuration(enable_x, enable_y, enable_z, resolution) check_validity send_request FUNCTION_SET_CONTINUOUS_ACCELERATION_CONFIGURATION, [enable_x, enable_y, enable_z, resolution], '? ? ? C', 8, '' end
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.
- .. image
-
/Images/Bricklets/bricklet_accelerometer_v2_filter.png
:scale: 100 % :alt: Accelerometer filter :align: center :target: ../../_images/Bricklets/bricklet_accelerometer_v2_filter.png
- .. versionadded
-
2.0.2$nbsp;(Plugin)
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 327 def set_filter_configuration(iir_bypass, low_pass_filter) check_validity send_request FUNCTION_SET_FILTER_CONFIGURATION, [iir_bypass, low_pass_filter], 'C C', 8, '' end
Configures the info LED (marked as “Force” on the Bricklet) to be either turned off, turned on, or blink in heartbeat mode.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 245 def set_info_led_config(config) check_validity send_request FUNCTION_SET_INFO_LED_CONFIG, [config], 'C', 8, '' end
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.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 414 def set_status_led_config(config) check_validity send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, '' end
Sets the firmware pointer for BrickletAccelerometerV2#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.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 387 def set_write_firmware_pointer(pointer) check_validity send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, '' end
Writes 64 Bytes of firmware at the position as written by BrickletAccelerometerV2#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.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 401 def write_firmware(data) check_validity send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C' end
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.
# File lib/tinkerforge/bricklet_accelerometer_v2.rb, line 456 def write_uid(uid) check_validity send_request FUNCTION_WRITE_UID, [uid], 'L', 8, '' end