Note
This Brick is currently in the prototype stage and the software/hardware as well as the documentation is in an incomplete state.
This is the description of the Shell API bindings for the IMU Brick 2.0. General information and technical specifications for the IMU Brick 2.0 are summarized in its hardware description.
An installation guide for the Shell API bindings is part of their general description.
The example code below is Public Domain (CC0 1.0).
Possible exit codes for all tinkerforge commands are:
The common options of the call and dispatch commands are documented here. The specific command structure is shown below.
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The call command is used to call a function of the IMU Brick 2.0. It can take several options:
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The dispatch command is used to dispatch a callback of the IMU Brick 2.0. It can take several options:
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The <function> to be called can take different options depending of its kind. All functions can take the following options:
Getter functions can take the following options:
Setter functions can take the following options:
The --expect-response option for setter functions allows to detect timeouts and other error conditions calls of setters as well. The device will then send a response for this purpose. If this option is not given for a setter function then no response is send and errors are silently ignored, because they cannot be detected.
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The <callback> to be dispatched can take several options:
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Return all of the available data of the IMU Brick.
The calibration status consists of four pairs of two bits. Each pair of bits represents the status of the current calibration.
A value of 0 means for "not calibrated" and a value of 3 means "fully calibrated". In your program you should always be able to ignore the calibration status, it is used by the calibration window of the Brick Viewer and it can be ignored after the first calibration. See the documentation in the calibration window for more information regarding the calibration of the IMU Brick.
If you want to get the data periodically, it is recommended to use the callback all-data and set the period with set-all-data-period.
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Turns the orientation and direction LEDs of the IMU Brick on.
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Turns the orientation and direction LEDs of the IMU Brick off.
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Returns true if the orientation and direction LEDs of the IMU Brick are on, false otherwise.
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Returns the calibrated acceleration from the accelerometer for the x, y and z axis in 1/100 m/s².
If you want to get the acceleration periodically, it is recommended to use the callback acceleration and set the period with set-acceleration-period.
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Returns the calibrated magnetic field from the magnetometer for the x, y and z axis in 1/16 µT (Microtesla).
If you want to get the magnetic field periodically, it is recommended to use the callback magnetic-field and set the period with set-magnetic-field-period.
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Returns the calibrated angular velocity from the gyroscope for the x, y and z axis in 1/16 °/s.
If you want to get the angular velocity periodically, it is recommended to use the callback angular-velocity and set the period with set-angular-velocity-period.
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Returns the temperature of the IMU Brick. The temperature is given in °C. The temperature is measured in the core of the BNO055 IC, it is not the ambient temperature
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Returns the current orientation (heading, roll, pitch) of the IMU Brick as Euler angles in 1/16 degree. Note that Euler angles always experience a gimbal lock.
We recommend that you use quaternions instead.
The rotation angle has the following ranges:
If you want to get the orientation periodically, it is recommended to use the callback orientation and set the period with set-orientation-period.
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Returns the linear acceleration of the IMU Brick for the x, y and z axis in 1/100 m/s².
The linear acceleration is the acceleration in each of the three axis of the IMU Brick with the influences of gravity removed.
It is also possible to get the gravity vector with the influence of linear acceleration removed, see get-gravity-vector.
If you want to get the linear acceleration periodically, it is recommended to use the callback linear-acceleration and set the period with set-linear-acceleration-period.
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Returns the current gravity vector of the IMU Brick for the x, y and z axis in 1/100 m/s².
The gravity vector is the acceleration that occurs due to gravity. Influences of additional linear acceleration are removed.
It is also possible to get the linear acceleration with the influence of gravity removed, see get-linear-acceleration.
If you want to get the gravity vector periodically, it is recommended to use the callback gravity-vector and set the period with set-gravity-vector-period.
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Returns the current orientation (w, x, y, z) of the IMU Brick as quaternions.
You have to divide the returns values by 16383 (14 bit) to get the usual range of -1.0 to +1.0 for quaternions.
If you want to get the quaternions periodically, it is recommended to use the callback quaternion and set the period with set-quaternion-period.
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A call of this function saves the current calibration to be used as a starting point for the next restart of continuous calibration of the IMU Brick.
A return value of true means that the calibration could be used and false means that it could not be used (this happens if the calibration status is not "fully calibrated").
This function is used by the calibration window of the Brick Viewer, you should not need to call it in your program.
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Enables the status LED.
The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.
The default state is enabled.
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Disables the status LED.
The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.
The default state is enabled.
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Returns true if the status LED is enabled, false otherwise.
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Returns the firmware and protocol version and the name of the Bricklet for a given port.
This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.
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Returns the temperature in °C/10 as measured inside the microcontroller. The value returned is not the ambient temperature!
The temperature is only proportional to the real temperature and it has an accuracy of +-15%. Practically it is only useful as an indicator for temperature changes.
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Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.
After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!
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Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.
The position can be '0'-'8' (stack position).
The device identifier numbers can be found here.
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Sets the period in ms with which the acceleration callback is triggered periodically. A value of 0 turns the callback off.
The default value is 0.
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Returns the period as set by set-acceleration-period.
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Sets the period in ms with which the magnetic-field callback is triggered periodically. A value of 0 turns the callback off.
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Returns the period as set by set-magnetic-field-period.
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Sets the period in ms with which the angular-velocity callback is triggered periodically. A value of 0 turns the callback off.
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Returns the period as set by set-angular-velocity-period.
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Sets the period in ms with which the temperature callback is triggered periodically. A value of 0 turns the callback off.
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Returns the period as set by set-temperature-period.
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Sets the period in ms with which the orientation callback is triggered periodically. A value of 0 turns the callback off.
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Returns the period as set by set-orientation-period.
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Sets the period in ms with which the linear-acceleration callback is triggered periodically. A value of 0 turns the callback off.
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Returns the period as set by set-linear-acceleration-period.
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Sets the period in ms with which the gravity-vector callback is triggered periodically. A value of 0 turns the callback off.
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Returns the period as set by set-gravity-vector-period.
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Sets the period in ms with which the quaternion callback is triggered periodically. A value of 0 turns the callback off.
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Returns the period as set by set-quaternion-period.
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Sets the period in ms with which the all-data callback is triggered periodically. A value of 0 turns the callback off.
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Returns the period as set by set-all-data-period.
Callbacks can be used to receive time critical or recurring data from the device:
tinkerforge dispatch imu-v2-brick <uid> example
The available callbacks are described below.
Note
Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.
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This callback is triggered periodically with the period that is set by set-acceleration-period. The parameters are the acceleration for the x, y and z axis.
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This callback is triggered periodically with the period that is set by set-magnetic-field-period. The parameters are the magnetic field for the x, y and z axis.
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This callback is triggered periodically with the period that is set by set-angular-velocity-period. The parameters are the angular velocity for the x, y and z axis.
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This callback is triggered periodically with the period that is set by set-temperature-period. The parameter is the temperature.
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This callback is triggered periodically with the period that is set by set-linear-acceleration-period. The parameters are the linear acceleration for the x, y and z axis.
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This callback is triggered periodically with the period that is set by set-gravity-vector-period. The parameters gravity vector for the x, y and z axis.
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This callback is triggered periodically with the period that is set by set-orientation-period. The parameters are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See get-orientation for details.
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This callback is triggered periodically with the period that is set by set-quaternion-period. The parameters are the orientation (x, y, z, w) of the IMU Brick in quaternions. See get-quaternion for details.
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This callback is triggered periodically with the period that is set by set-all-data-period. The parameters are as for get-all-data.