Shell - Accelerometer Bricklet¶

Simple¶

Download (example-simple.sh)

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#!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this

uid=XYZ # Change XYZ to the UID of your Accelerometer Bricklet

# Get current acceleration
tinkerforge call accelerometer-bricklet $uid get-acceleration

Callback¶

Download (example-callback.sh)

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#!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this

uid=XYZ # Change XYZ to the UID of your Accelerometer Bricklet

# Handle incoming acceleration callbacks
tinkerforge dispatch accelerometer-bricklet $uid acceleration &

# 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!
tinkerforge call accelerometer-bricklet $uid set-acceleration-callback-period 1000

echo "Press key to exit"; read dummy

kill -- -$$ # Stop callback dispatch in background

Threshold¶

Download (example-threshold.sh)

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#!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this

uid=XYZ # Change XYZ to the UID of your Accelerometer Bricklet

# Get threshold callbacks with a debounce time of 10 seconds (10000ms)
tinkerforge call accelerometer-bricklet $uid set-debounce-period 10000

# Handle incoming acceleration reached callbacks
tinkerforge dispatch accelerometer-bricklet $uid acceleration-reached &

# Configure threshold for acceleration "greater than 2 g, 2 g, 2 g"
tinkerforge call accelerometer-bricklet $uid set-acceleration-callback-threshold threshold-option-greater 2000 0 2000 0 2000 0

echo "Press key to exit"; read dummy

kill -- -$$ # Stop callback dispatch in background

Command Structure¶

The common options of the call and dispatch commands are documented here. The specific command structure is shown below.

tinkerforge call accelerometer-bricklet [<option>..] <uid> <function> [<argument>..]¶

Parameters:	<uid> – Type: String <function> – Type: String

The call command is used to call a function of the Accelerometer Bricklet. It can take several options:

• --help shows help for the specific call command and exits
• --list-functions shows a list of known functions of the Accelerometer Bricklet and exits

tinkerforge dispatch accelerometer-bricklet [<option>..] <uid> <callback>¶

Parameters:	<uid> – Type: String <callback> – Type: String

The dispatch command is used to dispatch a callback of the Accelerometer Bricklet. It can take several options:

• --help shows help for the specific dispatch command and exits
• --list-callbacks shows a list of known callbacks of the Accelerometer Bricklet and exits

tinkerforge call accelerometer-bricklet <uid> <function> [<option>..] [<argument>..]¶

Parameters:	<uid> – Type: String <function> – Type: String

The <function> to be called can take different options depending of its kind. All functions can take the following options:

• --help shows help for the specific function and exits

Getter functions can take the following options:

• --execute <command> shell command line to execute for each incoming response (see section about output formatting for details)

Setter functions can take the following options:

• --expect-response requests response and waits for it

The --expect-response option for setter functions allows to detect timeouts and other error conditions calls of setters as well. The device will then send a response for this purpose. If this option is not given for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

tinkerforge dispatch accelerometer-bricklet <uid> <callback> [<option>..]¶

Parameters:	<uid> – Type: String <callback> – Type: String

The <callback> to be dispatched can take several options:

• --help shows help for the specific callback and exits
• --execute <command> shell command line to execute for each incoming response (see section about output formatting for details)

Basic Functions¶

tinkerforge call accelerometer-bricklet <uid> get-acceleration¶

Output:	x – Type: Int, Unit: 1/1000 gₙ, Range: ? y – Type: Int, Unit: 1/1000 gₙ, Range: ? z – Type: Int, Unit: 1/1000 gₙ, Range: ?

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 set-configuration.

If you want to get the acceleration periodically, it is recommended to use the acceleration callback and set the period with set-acceleration-callback-period.

tinkerforge call accelerometer-bricklet <uid> get-temperature¶

Output:	temperature – Type: Int, Unit: 1 °C, Range: [-103 to 152]

Returns the temperature of the accelerometer.

tinkerforge call accelerometer-bricklet <uid> led-on¶

Output:	no output

Enables the LED on the Bricklet.

tinkerforge call accelerometer-bricklet <uid> led-off¶

Output:	no output

Disables the LED on the Bricklet.

tinkerforge call accelerometer-bricklet <uid> is-led-on¶

Output:	on – Type: Bool, Default: false

Returns true if the LED is enabled, false otherwise.

Advanced Functions¶

tinkerforge call accelerometer-bricklet <uid> set-configuration <data-rate> <full-scale> <filter-bandwidth>¶

Parameters:	<data-rate> – Type: Int, Range: See symbols, Default: 6 <full-scale> – Type: Int, Range: See symbols, Default: 1 <filter-bandwidth> – Type: Int, Range: See symbols, Default: 2
Output:	no output

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 symbols are available for this function:

For <data-rate>:

• data-rate-off = 0
• data-rate-3hz = 1
• data-rate-6hz = 2
• data-rate-12hz = 3
• data-rate-25hz = 4
• data-rate-50hz = 5
• data-rate-100hz = 6
• data-rate-400hz = 7
• data-rate-800hz = 8
• data-rate-1600hz = 9

For <full-scale>:

• full-scale-2g = 0
• full-scale-4g = 1
• full-scale-6g = 2
• full-scale-8g = 3
• full-scale-16g = 4

For <filter-bandwidth>:

• filter-bandwidth-800hz = 0
• filter-bandwidth-400hz = 1
• filter-bandwidth-200hz = 2
• filter-bandwidth-50hz = 3

tinkerforge call accelerometer-bricklet <uid> get-configuration¶

Output:	data-rate – Type: Int, Range: See symbols, Default: 6 full-scale – Type: Int, Range: See symbols, Default: 1 filter-bandwidth – Type: Int, Range: See symbols, Default: 2

Returns the configuration as set by set-configuration.

The following symbols are available for this function:

For data-rate:

• data-rate-off = 0
• data-rate-3hz = 1
• data-rate-6hz = 2
• data-rate-12hz = 3
• data-rate-25hz = 4
• data-rate-50hz = 5
• data-rate-100hz = 6
• data-rate-400hz = 7
• data-rate-800hz = 8
• data-rate-1600hz = 9

For full-scale:

• full-scale-2g = 0
• full-scale-4g = 1
• full-scale-6g = 2
• full-scale-8g = 3
• full-scale-16g = 4

For filter-bandwidth:

• filter-bandwidth-800hz = 0
• filter-bandwidth-400hz = 1
• filter-bandwidth-200hz = 2
• filter-bandwidth-50hz = 3

tinkerforge call accelerometer-bricklet <uid> get-identity¶

Output:

uid – Type: String, Length: up to 8 connected-uid – Type: String, Length: up to 8 position – Type: Char, Range: [a to h, z] hardware-version – Type: Int Array, Length: 3 0: major – Type: Int, Range: [0 to 255] 1: minor – Type: Int, Range: [0 to 255] 2: revision – Type: Int, Range: [0 to 255] firmware-version – Type: Int Array, Length: 3 0: major – Type: Int, Range: [0 to 255] 1: minor – Type: Int, Range: [0 to 255] 2: revision – Type: Int, Range: [0 to 255] device-identifier – Type: Int, Range: [0 to 216 - 1]

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. 

Callback Configuration Functions¶

tinkerforge call accelerometer-bricklet <uid> set-acceleration-callback-period <period>¶

Parameters:	<period> – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Output:	no output

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

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

tinkerforge call accelerometer-bricklet <uid> get-acceleration-callback-period¶

Output:	period – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by set-acceleration-callback-period.

tinkerforge call accelerometer-bricklet <uid> set-acceleration-callback-threshold <option> <min-x> <max-x> <min-y> <max-y> <min-z> <max-z>¶

Parameters:

<option> – Type: Char, Range: See symbols, Default: x <min-x> – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 <max-x> – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 <min-y> – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 <max-y> – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 <min-z> – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 <max-z> – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0

Output:

no output

Sets the thresholds for the 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 symbols are available for this function:

For <option>:

• threshold-option-off = x
• threshold-option-outside = o
• threshold-option-inside = i
• threshold-option-smaller = <
• threshold-option-greater = >

tinkerforge call accelerometer-bricklet <uid> get-acceleration-callback-threshold¶

Output:

option – Type: Char, Range: See symbols, Default: x min-x – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max-x – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 min-y – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max-y – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 min-z – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max-z – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0

Returns the threshold as set by set-acceleration-callback-threshold.

The following symbols are available for this function:

For option:

• threshold-option-off = x
• threshold-option-outside = o
• threshold-option-inside = i
• threshold-option-smaller = <
• threshold-option-greater = >

tinkerforge call accelerometer-bricklet <uid> set-debounce-period <debounce>¶

Parameters:	<debounce> – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100
Output:	no output

Sets the period with which the threshold callback

• acceleration-reached

is triggered, if the threshold

• set-acceleration-callback-threshold

keeps being reached.

tinkerforge call accelerometer-bricklet <uid> get-debounce-period¶

Output:	debounce – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Returns the debounce period as set by set-debounce-period.

Callbacks¶

Callbacks can be used to receive time critical or recurring data from the device:

tinkerforge dispatch accelerometer-bricklet <uid> example

The available callbacks are described below.

tinkerforge dispatch accelerometer-bricklet <uid> acceleration¶

Output:	x – Type: Int, Unit: 1/1000 gₙ, Range: ? y – Type: Int, Unit: 1/1000 gₙ, Range: ? z – Type: Int, Unit: 1/1000 gₙ, Range: ?

This callback is triggered periodically with the period that is set by set-acceleration-callback-period. The parameters are the X, Y and Z acceleration. The range is configured with set-configuration.

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

tinkerforge dispatch accelerometer-bricklet <uid> acceleration-reached¶

Output:	x – Type: Int, Unit: 1/1000 gₙ, Range: ? y – Type: Int, Unit: 1/1000 gₙ, Range: ? z – Type: Int, Unit: 1/1000 gₙ, Range: ?

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

If the threshold keeps being reached, the callback is triggered periodically with the period as set by set-debounce-period.