Grove - 3-Axis Digital Accelerometer(±16g)

From Wiki
Jump to: navigation, search


Grove - 3-Axis Digital Accelerometer(16g) v1.2 Grove - 3-Axis Digital Accelerometer(16g) v1.3


This is a high resolution digital accelerometer providing you at max 3.9mg/LSB resolution and large ±16g measurement range. It's base on an advanced 3-axis IC ADXL345. Have no worry to implement it into your free-fall detection project, cause it's robust enough to survive up to 10,000g shock. Meanwhile, it's agile enough to detect single and double taps. It's ideal for motion detection, Gesture detection as well as robotics.

Specifications Input Voltage: 3.3V, 5V Test Range: ±16 High sensitivity Large measurement range Low power 0.1 μA in standby mode at VS = 2.5 V (typical) 10,000 g shock survival RoHS/WEEE lead-free compliant Suli-compatible Library

Note: More details about Suli-compatible Library, please refer to Suli

Demonstration With ArduinoEvery accelerometer has been individually tested before shipping to you. But in rare cases, you might need to reset the zero-offset by yourself.

Here below we show you how to read the raw data and obtain data in the unit of g, AKA g-force, from this accelerometer.

[[File:File:495px-Grove - 3-Axis Digital Accelerometer ADXL345 connect photo 副本.png]]

1. Plug it onto the I2C port of your Grove - Base Shield.

2. Download the Digital Accelerometer(±16g) Library .zip and unpack it into arduino-1.0\libraries in your Arduino installation folder.

3. Open the demo code directly by the path:File -> Example ->DigitalAccelerometer_ADXL345->ADXL345_demo_code.

4. Upload the code and open the serial monitor. Please click here if you do not know how to upload.

5. Open the serial monitor to check the result.


The outputs of this sensor consist of two parts: raw data and 3-axis acceleration info converted into the unit of gravity, "g".

With Raspberry Pi 1.You should have got a raspberry pi and a grovepi or grovepi+. 2.You should have completed configuring the development enviroment, otherwise follow here. 3.Connection

Plug the sensor to grovepi socket i2c-x(1~3) by using a grove cable.

4.Navigate to the demos' directory:

  cd yourpath/GrovePi/Software/Python/

To see the code

  nano   # "Ctrl+x" to exit #

import smbus from time import sleep

  1. select the correct i2c bus for this revision of Raspberry Pi

revision = ([l[12:-1] for l in open('/proc/cpuinfo','r').readlines() if l[:8]=="Revision"]+['0000'])[0] bus = smbus.SMBus(1 if int(revision, 16) >= 4 else 0)

  1. ADXL345 constants



BW_RATE_1600HZ = 0x0F BW_RATE_800HZ = 0x0E BW_RATE_400HZ = 0x0D BW_RATE_200HZ = 0x0C BW_RATE_100HZ = 0x0B BW_RATE_50HZ = 0x0A BW_RATE_25HZ = 0x09

RANGE_2G = 0x00 RANGE_4G = 0x01 RANGE_8G = 0x02 RANGE_16G = 0x03

MEASURE = 0x08 AXES_DATA = 0x32

class ADXL345:

   address = None
   def __init__(self, address = 0x53):        
       self.address = address
   def enableMeasurement(self):
       bus.write_byte_data(self.address, POWER_CTL, MEASURE)
   def setBandwidthRate(self, rate_flag):
       bus.write_byte_data(self.address, BW_RATE, rate_flag)
   # set the measurement range for 10-bit readings
   def setRange(self, range_flag):
       value = bus.read_byte_data(self.address, DATA_FORMAT)
       value &= ~0x0F;
       value |= range_flag;  
       value |= 0x08;
       bus.write_byte_data(self.address, DATA_FORMAT, value)
   # returns the current reading from the sensor for each axis
   # parameter gforce:
   #    False (default): result is returned in m/s^2
   #    True           : result is returned in gs
   def getAxes(self, gforce = False):
       bytes = bus.read_i2c_block_data(self.address, AXES_DATA, 6)
       x = bytes[0] | (bytes[1] << 8)
       if(x & (1 << 16 - 1)):
           x = x - (1<<16)
       y = bytes[2] | (bytes[3] << 8)
       if(y & (1 << 16 - 1)):
           y = y - (1<<16)
       z = bytes[4] | (bytes[5] << 8)
       if(z & (1 << 16 - 1)):
           z = z - (1<<16)
       x = x * SCALE_MULTIPLIER 
       y = y * SCALE_MULTIPLIER
       z = z * SCALE_MULTIPLIER
       if gforce == False:
           x = x * EARTH_GRAVITY_MS2
           y = y * EARTH_GRAVITY_MS2
           z = z * EARTH_GRAVITY_MS2
       x = round(x, 4)
       y = round(y, 4)
       z = round(z, 4)
       return {"x": x, "y": y, "z": z}

if __name__ == "__main__":

   # if run directly we'll just create an instance of the class and output 
   # the current readings
   adxl345 = ADXL345()
   axes = adxl345.getAxes(True)
   print "ADXL345 on address 0x%x:" % (adxl345.address)
   print "   x = %.3fG" % ( axes['x'] )
   print "   y = %.3fG" % ( axes['y'] )
   print "   z = %.3fG" % ( axes['z'] )

5.Run the demo.

  sudo python


File:ADXL345 datasheet.pdf