Added code for ADXL345 accelerometer

Adafruit_ADXL345/Adafruit_ADXL345.py

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+#!/usr/bin/python
+
+# Python library for ADXL345 accelerometer.
+
+# Copyright 2013 Adafruit Industries
+
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included
+# in all copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
+
+from Adafruit_I2C import Adafruit_I2C
+
+
+class Adafruit_ADXL345(Adafruit_I2C):
+
+    # Minimal constants carried over from Arduino library
+
+    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 = Adafruit_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)
+        res = []
+        for i in range(0, 6, 2):
+            g = raw[i] | (raw[i+1] << 8)
+            if g > 32767: g -= 65536
+            res.append(g)
+        return res
+
+
+# Simple example prints accelerometer data once per second:
+if __name__ == '__main__':
+
+    from time import sleep
+
+    accel = Adafruit_ADXL345()
+
+    print '[Accelerometer X, Y, Z]'
+    while True:
+        print accel.read()
+        sleep(1) # Output is fun to watch if this is commented out

Adafruit_ADXL345/Adafruit_I2C.py

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+../Adafruit_I2C/Adafruit_I2C.py