Documentation ¶
Overview ¶
Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer attached to an I2C bus on the robot (the chip supports communicating over SPI as well, but this package does not support that interface). The datasheet for this chip is available at: https://www.analog.com/media/en/technical-documentation/data-sheets/adxl345.pdf
We support reading the accelerometer data off of the chip. We do not yet support using the digital interrupt pins to notify on events (freefall, collision, etc.).
Because we only support I2C interaction, the CS pin must be wired to hot (which tells the chip which communication interface to use). The chip has two possible I2C addresses, which can be selected by wiring the SDO pin to either hot or ground:
- if SDO is wired to ground, it uses the default I2C address of 0x53
- if SDO is wired to hot, it uses the alternate I2C address of 0x1D
If you use the alternate address, your config file for this component must set its "use_alternate_i2c_address" boolean to true.
Index ¶
Constants ¶
const ( // an unsigned time value representing the maximum time that an event must be above the // THRESH_TAP threshold to qualify as a tap event [625 µs/LSB]. DurAddr byte = 0x21 // info on which interrupts have been enabled. IntEnableAddr byte = 0x2E // info on which interrupt pin to send each interrupt. IntMapAddr byte = 0x2F // info on which interrupt has gone off since the last time this address has been read from. IntSourceAddr byte = 0x30 // an unsigned time value representing the wait time from the detection of a tap event to the // start of the time window [1.25 ms/LSB]. LatentAddr byte = 0x22 // info on which axes have been turned on for taps (X, Y, Z are bits 2, 1, 0 respectively). TapAxesAddr byte = 0x2A // an unsigned threshold value for tap interrupts [62.5 mg/LSB ]. ThreshTapAddr byte = 0x1D // che threshold value, in unsigned format, for free-fall detection. ThreshFfAddr byte = 0x28 // the minimum time that the value of all axes must be less than THRESH_FF to generate a free-fall interrupt. TimeFfAddr byte = 0x29 )
addresses relevant to interrupts.
const ( // ThreshTapScaleFactor is the scale factor for THRESH_TAP register. ThreshTapScaleFactor float32 = 62.5 // DurScaleFactor is the scale factor for DUR register. DurScaleFactor float32 = 625 // TimeFfScaleFactor is the scale factor for TIME_FF register. TimeFfScaleFactor float32 = .5 // ThreshFfScaleFactor is the scale factor for THRESH_FF register. ThreshFfScaleFactor float32 = 62.5 )
Variables ¶
This section is empty.
Functions ¶
func NewAdxl345 ¶
func NewAdxl345( ctx context.Context, deps registry.Dependencies, rawConfig config.Component, logger golog.Logger, ) (movementsensor.MovementSensor, error)
NewAdxl345 is a constructor to create a new object representing an ADXL345 accelerometer.
Types ¶
type AttrConfig ¶
type AttrConfig struct { BoardName string `json:"board"` I2cBus string `json:"i2c_bus"` UseAlternateI2CAddress bool `json:"use_alternate_i2c_address,omitempty"` SingleTap *TapAttrConfig `json:"tap,omitempty"` FreeFall *FreeFallAttrConfig `json:"free_fall,omitempty"` }
AttrConfig is a description of how to find an ADXL345 accelerometer on the robot.
type FreeFallAttrConfig ¶ added in v0.2.26
type FreeFallAttrConfig struct { AccelerometerPin int `json:"accelerometer_pin"` InterruptPin string `json:"interrupt_pin"` Threshold float32 `json:"threshold,omitempty"` Time float32 `json:"time_ms,omitempty"` }
FreeFallAttrConfig is a description of the configs for free fall registers.
func (*FreeFallAttrConfig) ValidateFreeFallConfigs ¶ added in v0.2.26
func (freefallCfg *FreeFallAttrConfig) ValidateFreeFallConfigs(path string) error
ValidateFreeFallConfigs validates the freefall piece of the configs.
type InterruptID ¶ added in v0.2.26
type InterruptID = uint8
InterruptID is a type of interrupts available on ADXL345.
const ( // SingleTap is a key value used to find various needs associated with this interrupt. SingleTap InterruptID = iota // FreeFall is a key value used to find various needs associated with this interrupt. FreeFall InterruptID = iota )
type TapAttrConfig ¶ added in v0.2.26
type TapAttrConfig struct { AccelerometerPin int `json:"accelerometer_pin"` InterruptPin string `json:"interrupt_pin"` ExcludeX bool `json:"exclude_x,omitempty"` ExcludeY bool `json:"exclude_y,omitempty"` ExcludeZ bool `json:"exclude_z,omitempty"` Threshold float32 `json:"threshold,omitempty"` Dur float32 `json:"dur_us,omitempty"` }
TapAttrConfig is a description of the configs for tap registers.
func (*TapAttrConfig) ValidateTapConfigs ¶ added in v0.2.26
func (tapCfg *TapAttrConfig) ValidateTapConfigs(path string) error
ValidateTapConfigs validates the tap piece of the configs.