C/C++ - Accelerometer Bricklet¶

Simple¶

Download (example_simple.c)

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#include <stdio.h>

#include "ip_connection.h"
#include "bricklet_accelerometer.h"

#define HOST "localhost"
#define PORT 4223
#define UID "XYZ" // Change XYZ to the UID of your Accelerometer Bricklet

int main(void) {
    // Create IP connection
    IPConnection ipcon;
    ipcon_create(&ipcon);

    // Create device object
    Accelerometer a;
    accelerometer_create(&a, UID, &ipcon);

    // Connect to brickd
    if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
        fprintf(stderr, "Could not connect\n");
        return 1;
    }
    // Don't use device before ipcon is connected

    // Get current acceleration
    int16_t x, y, z;
    if(accelerometer_get_acceleration(&a, &x, &y, &z) < 0) {
        fprintf(stderr, "Could not get acceleration, probably timeout\n");
        return 1;
    }

    printf("Acceleration [X]: %f g\n", x/1000.0);
    printf("Acceleration [Y]: %f g\n", y/1000.0);
    printf("Acceleration [Z]: %f g\n", z/1000.0);

    printf("Press key to exit\n");
    getchar();
    accelerometer_destroy(&a);
    ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
    return 0;
}

Callback¶

Download (example_callback.c)

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#include <stdio.h>

#include "ip_connection.h"
#include "bricklet_accelerometer.h"

#define HOST "localhost"
#define PORT 4223
#define UID "XYZ" // Change XYZ to the UID of your Accelerometer Bricklet

// Callback function for acceleration callback
void cb_acceleration(int16_t x, int16_t y, int16_t z, void *user_data) {
    (void)user_data; // avoid unused parameter warning

    printf("Acceleration [X]: %f g\n", x/1000.0);
    printf("Acceleration [Y]: %f g\n", y/1000.0);
    printf("Acceleration [Z]: %f g\n", z/1000.0);
    printf("\n");
}

int main(void) {
    // Create IP connection
    IPConnection ipcon;
    ipcon_create(&ipcon);

    // Create device object
    Accelerometer a;
    accelerometer_create(&a, UID, &ipcon);

    // Connect to brickd
    if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
        fprintf(stderr, "Could not connect\n");
        return 1;
    }
    // Don't use device before ipcon is connected

    // Register acceleration callback to function cb_acceleration
    accelerometer_register_callback(&a,
                                    ACCELEROMETER_CALLBACK_ACCELERATION,
                                    (void (*)(void))cb_acceleration,
                                    NULL);

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

    printf("Press key to exit\n");
    getchar();
    accelerometer_destroy(&a);
    ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
    return 0;
}

Threshold¶

Download (example_threshold.c)

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#include <stdio.h>

#include "ip_connection.h"
#include "bricklet_accelerometer.h"

#define HOST "localhost"
#define PORT 4223
#define UID "XYZ" // Change XYZ to the UID of your Accelerometer Bricklet

// Callback function for acceleration reached callback
void cb_acceleration_reached(int16_t x, int16_t y, int16_t z, void *user_data) {
    (void)user_data; // avoid unused parameter warning

    printf("Acceleration [X]: %f g\n", x/1000.0);
    printf("Acceleration [Y]: %f g\n", y/1000.0);
    printf("Acceleration [Z]: %f g\n", z/1000.0);
    printf("\n");
}

int main(void) {
    // Create IP connection
    IPConnection ipcon;
    ipcon_create(&ipcon);

    // Create device object
    Accelerometer a;
    accelerometer_create(&a, UID, &ipcon);

    // Connect to brickd
    if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
        fprintf(stderr, "Could not connect\n");
        return 1;
    }
    // Don't use device before ipcon is connected

    // Get threshold callbacks with a debounce time of 10 seconds (10000ms)
    accelerometer_set_debounce_period(&a, 10000);

    // Register acceleration reached callback to function cb_acceleration_reached
    accelerometer_register_callback(&a,
                                    ACCELEROMETER_CALLBACK_ACCELERATION_REACHED,
                                    (void (*)(void))cb_acceleration_reached,
                                    NULL);

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

    printf("Press key to exit\n");
    getchar();
    accelerometer_destroy(&a);
    ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
    return 0;
}

Basic Functions¶

void accelerometer_create(Accelerometer *accelerometer, const char *uid, IPConnection *ipcon)¶

Parameters:	accelerometer – Type: Accelerometer * uid – Type: const char * ipcon – Type: IPConnection *

Creates the device object accelerometer with the unique device ID uid and adds it to the IPConnection ipcon:

Accelerometer accelerometer;
accelerometer_create(&accelerometer, "YOUR_DEVICE_UID", &ipcon);

This device object can be used after the IP connection has been connected.

void accelerometer_destroy(Accelerometer *accelerometer)¶

Parameters:	accelerometer – Type: Accelerometer *

Removes the device object accelerometer from its IPConnection and destroys it. The device object cannot be used anymore afterwards.

int accelerometer_get_acceleration(Accelerometer *accelerometer, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)¶

Parameters:	accelerometer – Type: Accelerometer *
Output Parameters:	ret_x – Type: int16_t, Unit: 1/1000 gₙ, Range: ? ret_y – Type: int16_t, Unit: 1/1000 gₙ, Range: ? ret_z – Type: int16_t, Unit: 1/1000 gₙ, Range: ?
Returns:	e_code – Type: int

Returns the acceleration in x, y and z direction. The values are given in gₙ/1000 (1gₙ = 9.80665m/s²). The range is configured with accelerometer_set_configuration().

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

int accelerometer_get_temperature(Accelerometer *accelerometer, int16_t *ret_temperature)¶

Parameters:	accelerometer – Type: Accelerometer *
Output Parameters:	ret_temperature – Type: int16_t, Unit: 1 °C, Range: [-103 to 152]
Returns:	e_code – Type: int

Returns the temperature of the accelerometer.

int accelerometer_led_on(Accelerometer *accelerometer)¶

Parameters:	accelerometer – Type: Accelerometer *
Returns:	e_code – Type: int

Enables the LED on the Bricklet.

int accelerometer_led_off(Accelerometer *accelerometer)¶

Parameters:	accelerometer – Type: Accelerometer *
Returns:	e_code – Type: int

Disables the LED on the Bricklet.

int accelerometer_is_led_on(Accelerometer *accelerometer, bool *ret_on)¶

Parameters:	accelerometer – Type: Accelerometer *
Output Parameters:	ret_on – Type: bool, Default: false
Returns:	e_code – Type: int

Returns true if the LED is enabled, false otherwise.

Advanced Functions¶

int accelerometer_set_configuration(Accelerometer *accelerometer, uint8_t data_rate, uint8_t full_scale, uint8_t filter_bandwidth)¶

Parameters:	accelerometer – Type: Accelerometer * data_rate – Type: uint8_t, Range: See constants, Default: 6 full_scale – Type: uint8_t, Range: See constants, Default: 1 filter_bandwidth – Type: uint8_t, Range: See constants, Default: 2
Returns:	e_code – Type: int

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

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

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

The following constants are available for this function:

For data_rate:

• ACCELEROMETER_DATA_RATE_OFF = 0
• ACCELEROMETER_DATA_RATE_3HZ = 1
• ACCELEROMETER_DATA_RATE_6HZ = 2
• ACCELEROMETER_DATA_RATE_12HZ = 3
• ACCELEROMETER_DATA_RATE_25HZ = 4
• ACCELEROMETER_DATA_RATE_50HZ = 5
• ACCELEROMETER_DATA_RATE_100HZ = 6
• ACCELEROMETER_DATA_RATE_400HZ = 7
• ACCELEROMETER_DATA_RATE_800HZ = 8
• ACCELEROMETER_DATA_RATE_1600HZ = 9

For full_scale:

• ACCELEROMETER_FULL_SCALE_2G = 0
• ACCELEROMETER_FULL_SCALE_4G = 1
• ACCELEROMETER_FULL_SCALE_6G = 2
• ACCELEROMETER_FULL_SCALE_8G = 3
• ACCELEROMETER_FULL_SCALE_16G = 4

For filter_bandwidth:

• ACCELEROMETER_FILTER_BANDWIDTH_800HZ = 0
• ACCELEROMETER_FILTER_BANDWIDTH_400HZ = 1
• ACCELEROMETER_FILTER_BANDWIDTH_200HZ = 2
• ACCELEROMETER_FILTER_BANDWIDTH_50HZ = 3

int accelerometer_get_configuration(Accelerometer *accelerometer, uint8_t *ret_data_rate, uint8_t *ret_full_scale, uint8_t *ret_filter_bandwidth)¶

Parameters:	accelerometer – Type: Accelerometer *
Output Parameters:	ret_data_rate – Type: uint8_t, Range: See constants, Default: 6 ret_full_scale – Type: uint8_t, Range: See constants, Default: 1 ret_filter_bandwidth – Type: uint8_t, Range: See constants, Default: 2
Returns:	e_code – Type: int

Returns the configuration as set by accelerometer_set_configuration().

The following constants are available for this function:

For ret_data_rate:

• ACCELEROMETER_DATA_RATE_OFF = 0
• ACCELEROMETER_DATA_RATE_3HZ = 1
• ACCELEROMETER_DATA_RATE_6HZ = 2
• ACCELEROMETER_DATA_RATE_12HZ = 3
• ACCELEROMETER_DATA_RATE_25HZ = 4
• ACCELEROMETER_DATA_RATE_50HZ = 5
• ACCELEROMETER_DATA_RATE_100HZ = 6
• ACCELEROMETER_DATA_RATE_400HZ = 7
• ACCELEROMETER_DATA_RATE_800HZ = 8
• ACCELEROMETER_DATA_RATE_1600HZ = 9

For ret_full_scale:

• ACCELEROMETER_FULL_SCALE_2G = 0
• ACCELEROMETER_FULL_SCALE_4G = 1
• ACCELEROMETER_FULL_SCALE_6G = 2
• ACCELEROMETER_FULL_SCALE_8G = 3
• ACCELEROMETER_FULL_SCALE_16G = 4

For ret_filter_bandwidth:

• ACCELEROMETER_FILTER_BANDWIDTH_800HZ = 0
• ACCELEROMETER_FILTER_BANDWIDTH_400HZ = 1
• ACCELEROMETER_FILTER_BANDWIDTH_200HZ = 2
• ACCELEROMETER_FILTER_BANDWIDTH_50HZ = 3

int accelerometer_get_identity(Accelerometer *accelerometer, char ret_uid[8], char ret_connected_uid[8], char *ret_position, uint8_t ret_hardware_version[3], uint8_t ret_firmware_version[3], uint16_t *ret_device_identifier)¶

Parameters:	accelerometer – Type: Accelerometer *
Output Parameters:	ret_uid – Type: char[8] ret_connected_uid – Type: char[8] ret_position – Type: char, Range: ['a' to 'h', 'z'] ret_hardware_version – Type: uint8_t[3] 0: major – Type: uint8_t, Range: [0 to 255] 1: minor – Type: uint8_t, Range: [0 to 255] 2: revision – Type: uint8_t, Range: [0 to 255] ret_firmware_version – Type: uint8_t[3] 0: major – Type: uint8_t, Range: [0 to 255] 1: minor – Type: uint8_t, Range: [0 to 255] 2: revision – Type: uint8_t, Range: [0 to 255] ret_device_identifier – Type: uint16_t, Range: [0 to 216 - 1]
Returns:	e_code – Type: int

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 Isolator Bricklet is always at 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¶

void accelerometer_register_callback(Accelerometer *accelerometer, int16_t callback_id, void (*function)(void), void *user_data)¶

Parameters:	accelerometer – Type: Accelerometer * callback_id – Type: int16_t function – Type: void (*)(void) user_data – Type: void *

Registers the given function with the given callback_id. The user_data will be passed as the last parameter to the function.

The available callback IDs with corresponding function signatures are listed below.

int accelerometer_set_acceleration_callback_period(Accelerometer *accelerometer, uint32_t period)¶

Parameters:	accelerometer – Type: Accelerometer * period – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Returns:	e_code – Type: int

Sets the period with which the ACCELEROMETER_CALLBACK_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.

The ACCELEROMETER_CALLBACK_ACCELERATION callback is only triggered if the acceleration has changed since the last triggering.

int accelerometer_get_acceleration_callback_period(Accelerometer *accelerometer, uint32_t *ret_period)¶

Parameters:	accelerometer – Type: Accelerometer *
Output Parameters:	ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Returns:	e_code – Type: int

Returns the period as set by accelerometer_set_acceleration_callback_period().

int accelerometer_set_acceleration_callback_threshold(Accelerometer *accelerometer, char option, int16_t min_x, int16_t max_x, int16_t min_y, int16_t max_y, int16_t min_z, int16_t max_z)¶

Parameters:

accelerometer – Type: Accelerometer * option – Type: char, Range: See constants, Default: 'x' min_x – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max_x – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 min_y – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max_y – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 min_z – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max_z – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0

Returns:

e_code – Type: int

Sets the thresholds for the ACCELEROMETER_CALLBACK_ACCELERATION_REACHED 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 following constants are available for this function:

For option:

• ACCELEROMETER_THRESHOLD_OPTION_OFF = 'x'
• ACCELEROMETER_THRESHOLD_OPTION_OUTSIDE = 'o'
• ACCELEROMETER_THRESHOLD_OPTION_INSIDE = 'i'
• ACCELEROMETER_THRESHOLD_OPTION_SMALLER = '<'
• ACCELEROMETER_THRESHOLD_OPTION_GREATER = '>'

int accelerometer_get_acceleration_callback_threshold(Accelerometer *accelerometer, char *ret_option, int16_t *ret_min_x, int16_t *ret_max_x, int16_t *ret_min_y, int16_t *ret_max_y, int16_t *ret_min_z, int16_t *ret_max_z)¶

Parameters:	accelerometer – Type: Accelerometer *
Output Parameters:	ret_option – Type: char, Range: See constants, Default: 'x' ret_min_x – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 ret_max_x – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 ret_min_y – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 ret_max_y – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 ret_min_z – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 ret_max_z – Type: int16_t, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
Returns:	e_code – Type: int

Returns the threshold as set by accelerometer_set_acceleration_callback_threshold().

The following constants are available for this function:

For ret_option:

• ACCELEROMETER_THRESHOLD_OPTION_OFF = 'x'
• ACCELEROMETER_THRESHOLD_OPTION_OUTSIDE = 'o'
• ACCELEROMETER_THRESHOLD_OPTION_INSIDE = 'i'
• ACCELEROMETER_THRESHOLD_OPTION_SMALLER = '<'
• ACCELEROMETER_THRESHOLD_OPTION_GREATER = '>'

int accelerometer_set_debounce_period(Accelerometer *accelerometer, uint32_t debounce)¶

Parameters:	accelerometer – Type: Accelerometer * debounce – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100
Returns:	e_code – Type: int

Sets the period with which the threshold callback

• ACCELEROMETER_CALLBACK_ACCELERATION_REACHED

is triggered, if the threshold

• accelerometer_set_acceleration_callback_threshold()

keeps being reached.

int accelerometer_get_debounce_period(Accelerometer *accelerometer, uint32_t *ret_debounce)¶

Parameters:	accelerometer – Type: Accelerometer *
Output Parameters:	ret_debounce – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100
Returns:	e_code – Type: int

Returns the debounce period as set by accelerometer_set_debounce_period().

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the accelerometer_register_callback() function:

void my_callback(int value, void *user_data) {
    printf("Value: %d\n", value);
}

accelerometer_register_callback(&accelerometer,
                                ACCELEROMETER_CALLBACK_EXAMPLE,
                                (void (*)(void))my_callback,
                                NULL);

The available constants with corresponding function signatures are described below.

ACCELEROMETER_CALLBACK_ACCELERATION¶

void callback(int16_t x, int16_t y, int16_t z, void *user_data)

Callback Parameters:	x – Type: int16_t, Unit: 1/1000 gₙ, Range: ? y – Type: int16_t, Unit: 1/1000 gₙ, Range: ? z – Type: int16_t, Unit: 1/1000 gₙ, Range: ? user_data – Type: void *

This callback is triggered periodically with the period that is set by accelerometer_set_acceleration_callback_period(). The parameters are the X, Y and Z acceleration. The range is configured with accelerometer_set_configuration().

The ACCELEROMETER_CALLBACK_ACCELERATION callback is only triggered if the acceleration has changed since the last triggering.

ACCELEROMETER_CALLBACK_ACCELERATION_REACHED¶

void callback(int16_t x, int16_t y, int16_t z, void *user_data)

Callback Parameters:	x – Type: int16_t, Unit: 1/1000 gₙ, Range: ? y – Type: int16_t, Unit: 1/1000 gₙ, Range: ? z – Type: int16_t, Unit: 1/1000 gₙ, Range: ? user_data – Type: void *

This callback is triggered when the threshold as set by accelerometer_set_acceleration_callback_threshold() is reached. The parameters are the X, Y and Z acceleration. The range is configured with accelerometer_set_configuration().

If the threshold keeps being reached, the callback is triggered periodically with the period as set by accelerometer_set_debounce_period().

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.

int accelerometer_get_api_version(Accelerometer *accelerometer, uint8_t ret_api_version[3])¶

Parameters:	accelerometer – Type: Accelerometer *
Output Parameters:	ret_api_version – Type: uint8_t[3] 0: major – Type: uint8_t, Range: [0 to 255] 1: minor – Type: uint8_t, Range: [0 to 255] 2: revision – Type: uint8_t, Range: [0 to 255]
Returns:	e_code – Type: int

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.

int accelerometer_get_response_expected(Accelerometer *accelerometer, uint8_t function_id, bool *ret_response_expected)¶

Parameters:	accelerometer – Type: Accelerometer * function_id – Type: uint8_t, Range: See constants
Output Parameters:	ret_response_expected – Type: bool
Returns:	e_code – Type: int

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 accelerometer_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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

• ACCELEROMETER_FUNCTION_SET_ACCELERATION_CALLBACK_PERIOD = 2
• ACCELEROMETER_FUNCTION_SET_ACCELERATION_CALLBACK_THRESHOLD = 4
• ACCELEROMETER_FUNCTION_SET_DEBOUNCE_PERIOD = 6
• ACCELEROMETER_FUNCTION_SET_CONFIGURATION = 9
• ACCELEROMETER_FUNCTION_LED_ON = 11
• ACCELEROMETER_FUNCTION_LED_OFF = 12

int accelerometer_set_response_expected(Accelerometer *accelerometer, uint8_t function_id, bool response_expected)¶

Parameters:	accelerometer – Type: Accelerometer * function_id – Type: uint8_t, Range: See constants response_expected – Type: bool
Returns:	e_code – Type: int

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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

• ACCELEROMETER_FUNCTION_SET_ACCELERATION_CALLBACK_PERIOD = 2
• ACCELEROMETER_FUNCTION_SET_ACCELERATION_CALLBACK_THRESHOLD = 4
• ACCELEROMETER_FUNCTION_SET_DEBOUNCE_PERIOD = 6
• ACCELEROMETER_FUNCTION_SET_CONFIGURATION = 9
• ACCELEROMETER_FUNCTION_LED_ON = 11
• ACCELEROMETER_FUNCTION_LED_OFF = 12

int accelerometer_set_response_expected_all(Accelerometer *accelerometer, bool response_expected)¶

Parameters:	accelerometer – Type: Accelerometer * response_expected – Type: bool
Returns:	e_code – Type: int

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

Constants¶

ACCELEROMETER_DEVICE_IDENTIFIER¶

This constant is used to identify a Accelerometer Bricklet.

The accelerometer_get_identity() function and the IPCON_CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

ACCELEROMETER_DEVICE_DISPLAY_NAME¶

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