Lesson 17 ADXL345

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In this lesson, we will learn how to use the acceleration sensor ADXL345.


– 1 * Raspberry Pi

– 1 * Breadboard

– 1 * ADXL345 module

– Jumper wires



The ADXL345 is a small, thin, low power, 3-axis accelerometer with high resolution (13-bit) measurement at up to ±16 g. Digital output data is formatted as 16-bit two’s complement and is accessible through either an SPI (3- or 4-wire) or I2C digital interface.

The ADXL345 is well suited to measure the static acceleration of gravity in tilt-sensing applications, as well as dynamic acceleration resulting from motion or shock. Its high resolution (4 mg/LSB) enables the inclination change measurement by less than 1.0°. And the excellent sensitivity (3.9mg/LSB @2g) provides a high-precision output of up to ±16g.

In this experiment, I2C digital interface is used.

ADXL345 works like this: 

When you place the module face up, Z_OUT is at the maximum which is +1g; face down, Z_OUT is at the minimum. No matter of face, as long as it’s placed on a level surface, X_OUT increases along the Ax axis direction, so does Y_OUT along the Ay axis. See the picture below. Thus, when you rotate the module, you can see the changes of X_OUTY_OUT, and Z_OUT.

          Relationship between output and gravity direction

Pin Function of ADXL345 Module:

VSSupply Voltage
CSChip Select; I2C mode is enabled if it’s tie-high to VDD I/O (VDD I/O = 1.8V).
SDOSerial Data Out, alternate I2C address select
INT1Interrupt 1 Output
INT2Interrupt 2 Output
SDASerial Data (I2C), Serial Data In (SPI 4-Wire), Serial Data In/Out (SPI 3-Wire)
SCLSerial Communications Clock

Experimental Procedures

Step 1: Build the circuit 

The I2C interface is used in the following program. Before running the program, please make sure the I2C driver module of Raspberry Pi has loaded normally.

For C language users:

Step 2: Get into the folder of code

    cd /home/pi/SunFounder_Super_Kit_V3.0_for_Raspberry_Pi/C

Step 3: Compile the Code  

    make 17_adxl345

Step 4: Run       

    sudo ./17_adxl345

For Python users:

Step 2: Get into the folder of the code

    cd /home/pi/SunFounder_Super_Kit_V3.0_for_Raspberry_Pi/Python

Step 3: Run       

    sudo python 17_ADXL345.py

Now, rotate the acceleration sensor, and you should see the values printed on the screen change.

C Code

* Filename    : adxl345.c
* Description : Use an adxl345
* Author      : Robot
* E-mail      : support@sunfounder.com
* website     : www.sunfounder.com
* Update      : Cavon    2016/07/01
#include <wiringPiI2C.h>
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>

#define  DevAddr  0x53  //device address

struct acc_dat{
	int x;
	int y;
	int z;

void adxl345_init(int fd)
	wiringPiI2CWriteReg8(fd, 0x31, 0x0b);
	wiringPiI2CWriteReg8(fd, 0x2d, 0x08);
//	wiringPiI2CWriteReg8(fd, 0x2e, 0x00);
	wiringPiI2CWriteReg8(fd, 0x1e, 0x00);
	wiringPiI2CWriteReg8(fd, 0x1f, 0x00);
	wiringPiI2CWriteReg8(fd, 0x20, 0x00);
	wiringPiI2CWriteReg8(fd, 0x21, 0x00);
	wiringPiI2CWriteReg8(fd, 0x22, 0x00);
	wiringPiI2CWriteReg8(fd, 0x23, 0x00);

	wiringPiI2CWriteReg8(fd, 0x24, 0x01);
	wiringPiI2CWriteReg8(fd, 0x25, 0x0f);
	wiringPiI2CWriteReg8(fd, 0x26, 0x2b);
	wiringPiI2CWriteReg8(fd, 0x27, 0x00);
	wiringPiI2CWriteReg8(fd, 0x28, 0x09);
	wiringPiI2CWriteReg8(fd, 0x29, 0xff);
	wiringPiI2CWriteReg8(fd, 0x2a, 0x80);
	wiringPiI2CWriteReg8(fd, 0x2c, 0x0a);
	wiringPiI2CWriteReg8(fd, 0x2f, 0x00);
	wiringPiI2CWriteReg8(fd, 0x38, 0x9f);

struct acc_dat adxl345_read_xyz(int fd)
	char x0, y0, z0, x1, y1, z1;
	struct acc_dat acc_xyz;

	x0 = 0xff - wiringPiI2CReadReg8(fd, 0x32);
	x1 = 0xff - wiringPiI2CReadReg8(fd, 0x33);
	y0 = 0xff - wiringPiI2CReadReg8(fd, 0x34);
	y1 = 0xff - wiringPiI2CReadReg8(fd, 0x35);
	z0 = 0xff - wiringPiI2CReadReg8(fd, 0x36);
	z1 = 0xff - wiringPiI2CReadReg8(fd, 0x37);

	printf("  x0 = %d   ",x0);printf("x1 = %d  \n",x1);
	printf("  y0 = %d   ",y0);printf("y1 = %d  \n",y1);
	printf("  z0 = %d   ",z0);printf("z1 = %d  \n",z1);

	acc_xyz.x = (int)(x1 << 8) + (int)x0;
	acc_xyz.y = (int)(y1 << 8) + (int)y0;
	acc_xyz.z = (int)(z1 << 8) + (int)z0;

	if(acc_xyz.x > 32767){
		acc_xyz.x -= 65536;	    
	if(acc_xyz.y > 32767){
		acc_xyz.y -= 65536;	    
	if(acc_xyz.z >32767){
	    acc_xyz.z -= 65536;	

	return acc_xyz;

int main(void)
	int fd;
	struct acc_dat acc_xyz;

	fd = wiringPiI2CSetup(DevAddr);
	if(-1 == fd){
		perror("I2C device setup error");	


	printf("|                ADXL345               |\n");
	printf("|    ------------------------------    |\n");
	printf("|          SCL connect to SCL          |\n");
	printf("|          SDA connect to SDA          |\n");
	printf("|                                      |\n");
	printf("|        Read value from ADXL345       |\n");
	printf("|                                      |\n");
	printf("|                            SunFounder|\n");

		acc_xyz = adxl345_read_xyz(fd);
		printf("x: %d  y: %d  z: %d\n", acc_xyz.x, acc_xyz.y, acc_xyz.z);
	return 0;

Python Code

#!/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
		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():

if __name__ == '__main__':
	except KeyboardInterrupt:

Copyright Notice

All contents including but not limited to texts, images, and code in this manual are owned by the SunFounder Company. You should only use it for personal study, investigation, enjoyment, or other non-commercial or nonprofit purposes, under the related regulations and copyrights laws, without infringing the legal rights of the author and relevant right holders. For any individual or organization that uses these for commercial profit without permission, the Company reserves the right to take legal action.