Accelerometer Sensor

This sensor interface allows to control the accelerometer of the INGA sensor platform. More...

Data Output Channels
#define	ACC_X   0
	x axis data (mg output)
#define	ACC_Y   1
	y axis data (mg output)
#define	ACC_Z   2
	z axis data (mg output)
#define	ACC_X_RAW   3
	x axis data (raw output)
#define	ACC_Y_RAW   4
	y axis data (raw output)
#define	ACC_Z_RAW   5
	z axis data (raw output)

Configuration types
#define	ACC_CONF_SENSITIVITY   10
	Sensitivity configuration The sensor can operate at different ranges at different sensitivity levels (+/-2g,+/-4g,+/-8g,+/-16g) Possible values can be found in SENSITIVITY Values.
#define	ACC_CONF_FIFOMODE   20
	FIFO mode configuration. More...
#define	ACC_CONF_POWERMODE   30
	Controls power / sleep mode. More...
#define	ACC_CONF_DATA_RATE   40
	Output data rate. More...

Status types
#define	ACC_STATUS_BUFFER_LEVEL   50
	Fill level of the sensor buffer (If working in FIFO or Streaming mode). More...

SENSITIVITY Values
See Also ACC_SENSOR_SENSITIVITY
#define	ACC_2G   2
#define	ACC_4G   4
#define	ACC_8G   8
#define	ACC_16G   16

Output Data Rate Values
#define	ACC_0HZ10   1
	ODR: 0.1 Hz, bandwith: 0.05Hz, I_DD: 23 µA.
#define	ACC_0HZ20   2
	ODR: 0.2 Hz, bandwith: 0.1Hz, I_DD: 23 µA.
#define	ACC_0HZ39   4
	ODR: 0.39 Hz, bandwith: 0.2Hz, I_DD: 23 µA.
#define	ACC_0HZ78   8
	ODR: 0.78 Hz, bandwith: 0.39Hz, I_DD: 23 µA.
#define	ACC_1HZ56   16
	ODR: 1.56 Hz, bandwith: x.xxHz, I_DD: xx µA.
#define	ACC_3HZ13   31
	ODR: 3.13 Hz, bandwith: x.xxHz, I_DD: xx µA.
#define	ACC_6HZ25   63
	ODR: 6.25 Hz, bandwith: x.xxHz, I_DD: xx µA.
#define	ACC_12HZ5   125
	ODR: 12.5 Hz, bandwith: x.xxHz, I_DD: xx µA.
#define	ACC_25HZ   250
	ODR: 25 Hz, bandwith: x.xxHz, I_DD: xx µA.
#define	ACC_50HZ   500
	ODR: 50 Hz, bandwith: x.xxHz, I_DD: xx µA.
#define	ACC_100HZ   1000
	ODR: 100 Hz, bandwith: x.xxHz, I_DD: xx µA (default)
#define	ACC_200HZ   2000
	ODR: 200 Hz, bandwith: x.xxHz, I_DD: xx µA.
#define	ACC_400HZ   4000
	ODR: 400 Hz, bandwith: x.xxHz, I_DD: xx µA.
#define	ACC_800HZ   8000
	ODR: 800 Hz, bandwith: x.xxHz, I_DD: xx µA.
#define	ACC_1600HZ   16000
	ODR: 1600 Hz, bandwith: x.xxHz, I_DD: xx µA.
#define	ACC_3200HZ   32000
	ODR: 3200 Hz, bandwith: x.xxHz, I_DD: xx µA.

FIFO mode values
See Also ACC_SENSOR_FIFOMODE
#define	ACC_MODE_BYPASS   0x0
	Bypass mode (default). More...
#define	ACC_MODE_FIFO   0x1
	FIFO mode. More...
#define	ACC_MODE_STREAM   0x2
	Stream mode. More...

Power mode values
See Also ACC_SENSOR_POWERMODE
#define	ACC_NOSLEEP   0
	No sleep.
#define	ACC_AUTOSLEEP   1
	Auto sleep.

Detailed Description

This sensor interface allows to control the accelerometer of the INGA sensor platform.

Note

This interface provides only a subset of the full sensor features. If you require extended configuration, consider using the underlying sensor driver.

Activate Sensor

Default initialization settings:

• bypass mode, i.e. a read command will always return the latest sampled data
• 100Hz sample rate

Configure sensor

acc_sensor.configure(type, value)

The sensor interface allows to configure:

• Sensitivity (ACC_CONF_SENSITIVITY)
• Data rate (ACC_CONF_DATA_RATE)

Details of the different configurations are given in the documentation of respective config.

Query measurements

acc_sensor.value(channel)

The sensor provides 6 data channels.

• 3 provide mg values
• 3 provide unprocessed raw values A detailed list can be found at Channels

Note

Measurement values are updated only if one channel is read twice. I.e. reading x,y, and z channel will provide values from a single measurement. If then one of these channels is read again, a new measurement is initated.

Example Usage

#include <sensors.h>
[...]
struct sensors_sensor accsensor = find_sensor("ACC");
ACTIVATE_SENSOR(accsensor);
accsensor.configure(GYRO_CONF_SENSITIVITY, ACC_25HZ);
[...]
int x = accsensor.value(ACC_X);
int y = accsensor.value(ACC_Y);
int z = accsensor.value(ACC_Z);

Macro Definition Documentation

#define ACC_CONF_DATA_RATE   40

Output data rate.

Values should be one of those described in Output Data Rate Values.

Note

If another value is given, the value is rounded to the next upper valid value.

In bypass mode (default) you should always select twice the rate of your desired readout frequency

Definition at line 165 of file acc-sensor.h.

#define ACC_CONF_FIFOMODE   20

FIFO mode configuration.

• ACC_MODE_BYPASS - Bypass mode
• ACC_MODE_FIFO - FIFO mode
• ACC_MODE_STREAM - Stream mode

Definition at line 145 of file acc-sensor.h.

#define ACC_CONF_POWERMODE   30

Controls power / sleep mode.

• ACC_NOSLEEP - No sleep
• ACC_AUTOSLEEP - Autosleep

Definition at line 152 of file acc-sensor.h.

#define ACC_MODE_BYPASS   0x0

Bypass mode (default).

No buffering, data is always the latest.

Definition at line 239 of file acc-sensor.h.

#define ACC_MODE_FIFO   0x1

FIFO mode.

A 32 entry fifo is used to buffer unread data. If buffer is full, no data is read anymore.

Definition at line 244 of file acc-sensor.h.

#define ACC_MODE_STREAM   0x2

Stream mode.

A 32 entry fifo is used to buffer unread data. If buffer is full old data will be dropped and replaced by new one.

Definition at line 249 of file acc-sensor.h.

#define ACC_STATUS_BUFFER_LEVEL   50

Fill level of the sensor buffer (If working in FIFO or Streaming mode).

Max value: 33 (full)

This can be used to determine whether a buffer overflow occured between two readouts or to adapt readout rate.

Definition at line 178 of file acc-sensor.h.