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where device is the device descriptor of the sensor and id_data is a sensor_data_t
structure to receive the ID and version data.
When the sensor_device_id() function returns, the device ID value can be read
from the sensor_data_t structure's device.id field. The device version can be
read from the device.version field. If either value is not provided by the sensor
device, the corresponding field will be set to 0.
7.3 Acceleration
Accelerometer sensors measure linear acceleration force, typically along three axes
(X, Y, and Z). The sensor_get_acceleration() function reads the sensor and
returns the measured acceleration. The function takes the following form:
sensor_get_acceleration (&device, &accel_data);
where device is the device descriptor of the accelerometer and accel_data is a
sensor_data_t structure to receive the acceleration data.
Scaled acceleration measurements are expressed in milli-g. When the function
returns, the values can be read from the accel_data structure using the “axis” fields
( axis.x, axis.y, axis.z ).
7.3.1 Example code sequence
7.3.1.1 Definitions and declarations
#include "sensor.h"
sensor_t
sensor_data_t
accel_dev;
accel_data;
// device descriptor
// acceleration data from device
7.3.1.2 Sensor initialization
sensor_attach (&accel_dev, SENSOR_TYPE_ACCELEROMETER, 0, 0);
7.3.1.3 Sensor read
accel_data.scaled = true;
// read values in milli-g
sensor_get_acceleration (&accel_dev, &accel_data);
7.3.1.4 Use data in application
int32_t
int32_t
int32_t
app_x_value
app_y_value
app_z_value
= accel_data.axis.x;
= accel_data.axis.y;
= accel_data.axis.z;
uint32_t app_read_time = accel_data.timestamp;
7.4 Rotation
Gyroscope sensors measure rotation rates, typically along three axes (X, Y, and Z).
The sensor_get_rotation() function reads the sensor and returns the measured
rotation rate. The function takes the following form:
sensor_get_rotation (&device, &gyro_data);
where device is the device descriptor of the gyroscope and gyro_data is a
sensor_data_t structure to receive the rotation data.
16
Atmel AVR4016
8367B-AVR-06/11
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