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adxl345.py
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#!/usr/bin/env python
from I2C import I2C
from time import sleep
class ADXL345(I2C):
ADXL345_ADDRESS = 0x53
ADXL345_REG_DEVID = 0x00 # Device ID
ADXL345_REG_DATAX0 = 0x32 # X-axis data 0 (6 bytes for X/Y/Z)
ADXL345_REG_POWER_CTL = 0x2D # Power-saving features control
ADXL345_DATARATE_0_10_HZ = 0x00
ADXL345_DATARATE_0_20_HZ = 0x01
ADXL345_DATARATE_0_39_HZ = 0x02
ADXL345_DATARATE_0_78_HZ = 0x03
ADXL345_DATARATE_1_56_HZ = 0x04
ADXL345_DATARATE_3_13_HZ = 0x05
ADXL345_DATARATE_6_25HZ = 0x06
ADXL345_DATARATE_12_5_HZ = 0x07
ADXL345_DATARATE_25_HZ = 0x08
ADXL345_DATARATE_50_HZ = 0x09
ADXL345_DATARATE_100_HZ = 0x0A # (default)
ADXL345_DATARATE_200_HZ = 0x0B
ADXL345_DATARATE_400_HZ = 0x0C
ADXL345_DATARATE_800_HZ = 0x0D
ADXL345_DATARATE_1600_HZ = 0x0E
ADXL345_DATARATE_3200_HZ = 0x0F
ADXL345_RANGE_2_G = 0x00 # +/- 2g (default)
ADXL345_RANGE_4_G = 0x01 # +/- 4g
ADXL345_RANGE_8_G = 0x02 # +/- 8g
ADXL345_RANGE_16_G = 0x03 # +/- 16g
def __init__(self, busnum=-1, debug=False):
self.accel = I2C(self.ADXL345_ADDRESS, busnum, debug)
if self.accel.readU8(self.ADXL345_REG_DEVID) == 0xE5:
# Enable the accelerometer
self.accel.write8(self.ADXL345_REG_POWER_CTL, 0x08)
def setRange(self, range):
# Read the data format register to preserve bits. Update the data
# rate, make sure that the FULL-RES bit is enabled for range scaling
format = ((self.accel.readU8(self.ADXL345_REG_DATA_FORMAT) & ~0x0F) |
range | 0x08)
# Write the register back to the IC
seld.accel.write8(self.ADXL345_REG_DATA_FORMAT, format)
def getRange(self):
return self.accel.readU8(self.ADXL345_REG_DATA_FORMAT) & 0x03
def setDataRate(self, dataRate):
# Note: The LOW_POWER bits are currently ignored,
# we always keep the device in 'normal' mode
self.accel.write8(self.ADXL345_REG_BW_RATE, dataRate & 0x0F)
def getDataRate(self):
return self.accel.readU8(self.ADXL345_REG_BW_RATE) & 0x0F
# Read the accelerometer
def read(self):
raw = self.accel.readList(self.ADXL345_REG_DATAX0, 6)
print raw
res = []
for i in range(0, 6, 2):
g = raw[i] | (raw[i+1] << 8)
if g > 32767:
g -= 65535
res.append(g)
return res
def print_msg():
print ("========================================")
print ("| ADXL345 |")
print ("| ------------------------------ |")
print ("| SCL connect to SCL |")
print ("| SDA connect to SDA |")
print ("| |")
print ("| Read value from ADXL345 |")
print ("| |")
print ("| SunFounder|")
print ("========================================\n")
print 'Program is running...'
print 'Please press Ctrl+C to end the program...'
raw_input ("Press anykey to begin\n")
# Simple example prints accelerometer data once per second:
def main():
accel = ADXL345()
while True:
x, y, z = accel.read()
print 'X: %d, Y: %d, Z: %d'%(x, y, z)
print ''
sleep(1) # Output is fun to watch if this is commented out
def destroy():
exit()
if __name__ == '__main__':
try:
main()
except KeyboardInterrupt:
destroy()