Struct tinkerforge::accelerometer_v2_bricklet::AccelerometerV2Bricklet

pub struct AccelerometerV2Bricklet { /* fields omitted */ }

Measures acceleration in three axis

Methods

impl AccelerometerV2Bricklet

pub const DEVICE_IDENTIFIER: u16

pub const DEVICE_DISPLAY_NAME: &'static str

pub fn new<T: GetRequestSender>(
    uid: &str,
    req_sender: T
) -> AccelerometerV2Bricklet

Creates an object with the unique device ID uid. This object can then be used after the IP Connection ip_connection is connected.

pub fn get_response_expected(
    &mut self,
    fun: AccelerometerV2BrickletFunction
) -> Result<bool, GetResponseExpectedError>

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 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 set_response_expected for the list of function ID constants available for this function.

pub fn set_response_expected(
    &mut self,
    fun: AccelerometerV2BrickletFunction,
    response_expected: bool
) -> Result<(), SetResponseExpectedError>

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.

pub fn 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 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 get_acceleration_callback_receiver(
    &self
) -> ConvertingCallbackReceiver<AccelerationEvent>

This receiver is triggered periodically according to the configuration set by set_acceleration_callback_configuration.

The parameters are the same as get_acceleration.

pub fn get_continuous_acceleration_16_bit_callback_receiver(
    &self
) -> ConvertingCallbackReceiver<[i16; 30]>

Returns 30 acceleration values with 16 bit resolution. The data rate can be configured with set_configuration and this receiver can be enabled with 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 set_configuration) to calculate the data in g/10000 (same unit that is returned by 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 get_continuous_acceleration_8_bit_callback_receiver(
    &self
) -> ConvertingCallbackReceiver<[i8; 60]>

Returns 30 acceleration values with 8 bit resolution. The data rate can be configured with set_configuration and this receiver can be enabled with 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 set_configuration) to calculate the data in g/10000 (same unit that is returned by get_acceleration):

• Full scale 2G: acceleration = value256625/1024
• Full scale 4G: acceleration = value2561250/1024
• Full scale 8G: acceleration = value2562500/1024

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

pub fn 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 get_acceleration_callback_receiver receiver and set the period with set_acceleration_callback_configuration.

pub fn 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.

Associated constants:

• ACCELEROMETER_V2_BRICKLET_DATA_RATE_0_781HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_1_563HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_3_125HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_6_2512HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_12_5HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_25HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_50HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_100HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_200HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_400HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_800HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_1600HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_3200HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_6400HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_12800HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_25600HZ
• ACCELEROMETER_V2_BRICKLET_FULL_SCALE_2G
• ACCELEROMETER_V2_BRICKLET_FULL_SCALE_4G
• ACCELEROMETER_V2_BRICKLET_FULL_SCALE_8G

pub fn get_configuration(&self) -> ConvertingReceiver<Configuration>

Returns the configuration as set by set_configuration.

Associated constants:

• ACCELEROMETER_V2_BRICKLET_DATA_RATE_0_781HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_1_563HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_3_125HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_6_2512HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_12_5HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_25HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_50HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_100HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_200HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_400HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_800HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_1600HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_3200HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_6400HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_12800HZ
• ACCELEROMETER_V2_BRICKLET_DATA_RATE_25600HZ
• ACCELEROMETER_V2_BRICKLET_FULL_SCALE_2G
• ACCELEROMETER_V2_BRICKLET_FULL_SCALE_4G
• ACCELEROMETER_V2_BRICKLET_FULL_SCALE_8G

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

The period in ms is the period with which the get_acceleration_callback_receiver receiver is triggered periodically. A value of 0 turns the receiver off.

If the value has to change-parameter is set to true, the receiver is only triggered after the value has changed. If the value didn't change within the period, the receiver is triggered immediately on change.

If it is set to false, the receiver is continuously triggered with the period, independent of the value.

If this receiver is enabled, the get_continuous_acceleration_16_bit_callback_receiver receiver and get_continuous_acceleration_8_bit_callback_receiver receiver will automatically be disabled.

The default value is (0, false).

pub fn get_acceleration_callback_configuration(
    &self
) -> ConvertingReceiver<AccelerationCallbackConfiguration>

Returns the receiver configuration as set by set_acceleration_callback_configuration.

pub fn 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.

Associated constants:

• ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_OFF
• ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_ON
• ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_SHOW_HEARTBEAT

pub fn get_info_led_config(&self) -> ConvertingReceiver<u8>

Returns the LED configuration as set by set_info_led_config

Associated constants:

• ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_OFF
• ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_ON
• ACCELEROMETER_V2_BRICKLET_INFO_LED_CONFIG_SHOW_HEARTBEAT

pub fn 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 get_continuous_acceleration_16_bit_callback_receiver or get_continuous_acceleration_8_bit_callback_receiver callbacks.

You can enable the receiver 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 get_continuous_acceleration_8_bit_callback_receiver receiver is activated. If at least one of the axis is enabled and the resolution is set to 16 bit, the get_continuous_acceleration_16_bit_callback_receiver receiver 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 set_configuration) to calculate the data in g/10000 (same unit that is returned by 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 = value256625/1024
• 8 bit, full scale 4G: acceleration = value2561250/1024
• 8 bit, full scale 8G: acceleration = value2562500/1024

If no axis is enabled, both receivers are disabled. If one of the continuous callbacks is enabled, the get_acceleration_callback_receiver receiver 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

Associated constants:

• ACCELEROMETER_V2_BRICKLET_RESOLUTION_8BIT
• ACCELEROMETER_V2_BRICKLET_RESOLUTION_16BIT

pub fn get_continuous_acceleration_configuration(
    &self
) -> ConvertingReceiver<ContinuousAccelerationConfiguration>

Returns the continuous acceleration configuration as set by set_continuous_acceleration_configuration.

Associated constants:

• ACCELEROMETER_V2_BRICKLET_RESOLUTION_8BIT
• ACCELEROMETER_V2_BRICKLET_RESOLUTION_16BIT

pub fn set_filter_configuration(
    &self,
    iir_bypass: u8,
    low_pass_filter: u8
) -> ConvertingReceiver<()>

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

By default filtering is applied and the filter corner frequency is a ninth of the output data rate.

.. versionadded:: 2.0.2$nbsp;(Plugin)

Associated constants:

• ACCELEROMETER_V2_BRICKLET_IIR_BYPASS_APPLIED
• ACCELEROMETER_V2_BRICKLET_IIR_BYPASS_BYPASSED
• ACCELEROMETER_V2_BRICKLET_LOW_PASS_FILTER_NINTH
• ACCELEROMETER_V2_BRICKLET_LOW_PASS_FILTER_HALF

pub fn get_filter_configuration(
    &self
) -> ConvertingReceiver<FilterConfiguration>

Returns the configuration as set by set_filter_configuration.

.. versionadded:: 2.0.2$nbsp;(Plugin)

Associated constants:

• ACCELEROMETER_V2_BRICKLET_IIR_BYPASS_APPLIED
• ACCELEROMETER_V2_BRICKLET_IIR_BYPASS_BYPASSED
• ACCELEROMETER_V2_BRICKLET_LOW_PASS_FILTER_NINTH
• ACCELEROMETER_V2_BRICKLET_LOW_PASS_FILTER_HALF

pub fn 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 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.

Associated constants:

• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_OK
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH

pub fn get_bootloader_mode(&self) -> ConvertingReceiver<u8>

Returns the current bootloader mode, see set_bootloader_mode.

Associated constants:

• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
• ACCELEROMETER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT

pub fn set_write_firmware_pointer(&self, pointer: u32) -> ConvertingReceiver<()>

Sets the firmware pointer for 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 write_firmware(&self, data: [u8; 64]) -> ConvertingReceiver<u8>

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

Associated constants:

• ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_OFF
• ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_ON
• ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
• ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS

pub fn get_status_led_config(&self) -> ConvertingReceiver<u8>

Returns the configuration as set by set_status_led_config

Associated constants:

• ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_OFF
• ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_ON
• ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
• ACCELEROMETER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS

pub fn 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 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 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 read_uid(&self) -> ConvertingReceiver<u32>

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

pub fn 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. |device_identifier_constant|

Trait Implementations

impl Clone for AccelerometerV2Bricklet

fn clone(&self) -> AccelerometerV2Bricklet

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.