Shell - IMU Brick 2.0 – Tinkerforge

- Getting Started
- Hardware
- Software
- Starter Kits
- Embedded Boards
- Specifications

# Shell - IMU Brick 2.0

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.

## Examples

The example code below is Public Domain (CC0 1.0).

### Callback

Download (example-callback.sh)

     1
     2
     3
     4
     5
     6
     7
     8
     9
    10
    11

    #!/bin/sh
    # connects to localhost:4223 by default, use --host and --port to change it

    # change to your UID
    uid=6ww9bv

    # set period for quaternion callback to 100ms
    tinkerforge call imu-v2-brick $uid set-quaternion-period 100

    # handle incoming quaternion callbacks
    tinkerforge dispatch imu-v2-brick $uid quaternion

## API

Possible exit codes for all `tinkerforge` commands are:

- 1: interrupted (ctrl+c)
- 2: syntax error
- 21: Python 2.5 or newer is required
- 22: Python `argparse` module is missing
- 23: socket error
- 24: other exception
- 25: invalid placeholder in format string
- 26: authentication error
- 201: timeout occurred
- 209: invalid argument value
- 210: function is not supported
- 211: unknown error

### Command Structure

The common options of the `call` and `dispatch` commands are documented here. The specific command structure is shown below.

tinkerforge `call` `imu-v2-brick` [<option>..] <uid> <function> [<argument>..]

  Parameters:

  - <uid> -- string
  - <function> -- string

  The `call` command is used to call a function of the IMU Brick 2.0. It can take several options:

  - `--help` shows help for the specific `call` command and exits
  - `--list-functions` shows a list of known functions of the IMU Brick 2.0 and exits

tinkerforge `dispatch` `imu-v2-brick` [<option>..] <uid> <callback>

  Parameters:

  - <uid> -- string
  - <callback> -- string

  The `dispatch` command is used to dispatch a callback of the IMU Brick 2.0. It can take several options:

  - `--help` shows help for the specific `dispatch` command and exits
  - `--list-callbacks` shows a list of known callbacks of the IMU Brick 2.0 and exits

tinkerforge call `imu-v2-brick` <uid> `<function>` [<option>..] [<argument>..]

  Parameters:

  - <uid> -- string
  - <function> -- string

  The `<function>` to be called can take different options depending of its kind. All functions can take the following options:

  - `--help` shows help for the specific function and exits

  Getter functions can take the following options:

  - `--execute <command>` shell command line to execute for each incoming response (see section about output formatting for details)

  Setter functions can take the following options:

  - `--expect-response` requests response and waits for it

  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.

tinkerforge dispatch `imu-v2-brick` <uid> `<callback>` [<option>..]

  Parameters:

  - <uid> -- string
  - <callback> -- string

  The `<callback>` to be dispatched can take several options:

  - `--help` shows help for the specific callback and exits
  - `--execute <command>` shell command line to execute for each incoming response (see section about output formatting for details)

### Basic Functions

tinkerforge call `imu-v2-brick` <uid> `get-orientation`

  Output:

  - heading -- int
  - roll -- int
  - pitch -- int

  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:

  - heading: 0° to 360°
  - roll: -90° to +90°
  - pitch: -180° to +180°

  If you want to get the orientation periodically, it is recommended to use the callback `orientation` and set the period with `set-orientation-period`.

tinkerforge call `imu-v2-brick` <uid> `get-linear-acceleration`

  Output:

  - x -- int
  - y -- int
  - z -- int

  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`.

tinkerforge call `imu-v2-brick` <uid> `get-gravity-vector`

  Output:

  - x -- int
  - y -- int
  - z -- int

  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`.

tinkerforge call `imu-v2-brick` <uid> `get-quaternion`

  Output:

  - w -- int
  - x -- int
  - y -- int
  - z -- int

  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`.

tinkerforge call `imu-v2-brick` <uid> `get-all-data`

  Output:

  - acceleration -- int,int,int
  - magnetic-field -- int,int,int
  - angular-velocity -- int,int,int
  - euler-angle -- int,int,int
  - quaternion -- int,int,int,int
  - linear-acceleration -- int,int,int
  - gravity-vector -- int,int,int
  - temperature -- int
  - calibration-status -- int

  Return all of the available data of the IMU Brick.

  - acceleration in 1/100 m/s² (see `get-acceleration`)
  - magnetic field in 1/16 µT (see `get-magnetic-field`)
  - angular velocity in 1/16 °/s (see `get-angular-velocity`)
  - Euler angles in 1/16 ° (see `get-orientation`)
  - quaternion 1/16383 (see `get-quaternion`)
  - linear acceleration 1/100 m/s² (see `get-linear-acceleration`)
  - gravity vector 1/100 m/s² (see `get-gravity-vector`)
  - temperature in 1 °C (see `get-temperature`)
  - calibration status (see below)

  The calibration status consists of four pairs of two bits. Each pair of bits represents the status of the current calibration.

  - bit 0-1: Magnetometer
  - bit 2-3: Accelerometer
  - bit 4-5: Gyroscope
  - bit 6-7: System

  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`.

tinkerforge call `imu-v2-brick` <uid> `leds-on`

  Output: | no output

  Turns the orientation and direction LEDs of the IMU Brick on.

tinkerforge call `imu-v2-brick` <uid> `leds-off`

  Output: | no output

  Turns the orientation and direction LEDs of the IMU Brick off.

tinkerforge call `imu-v2-brick` <uid> `are-leds-on`

  Output:

  - leds -- bool

  Returns true if the orientation and direction LEDs of the IMU Brick are on, false otherwise.

### Advanced Functions

tinkerforge call `imu-v2-brick` <uid> `get-acceleration`

  Output:

  - x -- int
  - y -- int
  - z -- int

  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`.

tinkerforge call `imu-v2-brick` <uid> `get-magnetic-field`

  Output:

  - x -- int
  - y -- int
  - z -- int

  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`.

tinkerforge call `imu-v2-brick` <uid> `get-angular-velocity`

  Output:

  - x -- int
  - y -- int
  - z -- int

  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`.

tinkerforge call `imu-v2-brick` <uid> `get-temperature`

  Output:

  - temperature -- int

  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

tinkerforge call `imu-v2-brick` <uid> `save-calibration`

  Output:

  - calibration-done -- bool

  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.

tinkerforge call `imu-v2-brick` <uid> `enable-status-led`

  Output: | no output

  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.

tinkerforge call `imu-v2-brick` <uid> `disable-status-led`

  Output: | no output

  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.

tinkerforge call `imu-v2-brick` <uid> `is-status-led-enabled`

  Output:

  - enabled -- bool

  Returns true if the status LED is enabled, false otherwise.

tinkerforge call `imu-v2-brick` <uid> `get-protocol1-bricklet-name` <port>

  Parameters:

  - <port> -- char

  Output:

  - protocol-version -- int
  - firmware-version -- int,int,int
  - name -- string

  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.

tinkerforge call `imu-v2-brick` <uid> `get-chip-temperature`

  Output:

  - temperature -- int

  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.

tinkerforge call `imu-v2-brick` <uid> `reset`

  Output: | no output

  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!

tinkerforge call `imu-v2-brick` <uid> `get-identity`

  Output:

  - uid -- string
  - connected-uid -- string
  - position -- char
  - hardware-version -- int,int,int
  - firmware-version -- int,int,int
  - device-identifier -- int (has symbols)

  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.

### Callback Configuration Functions

tinkerforge call `imu-v2-brick` <uid> `set-acceleration-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  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.

tinkerforge call `imu-v2-brick` <uid> `get-acceleration-period`

  Output:

  - period -- int

  Returns the period as set by `set-acceleration-period`.

tinkerforge call `imu-v2-brick` <uid> `set-magnetic-field-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  Sets the period in ms with which the `magnetic-field` callback is triggered periodically. A value of 0 turns the callback off.

tinkerforge call `imu-v2-brick` <uid> `get-magnetic-field-period`

  Output:

  - period -- int

  Returns the period as set by `set-magnetic-field-period`.

tinkerforge call `imu-v2-brick` <uid> `set-angular-velocity-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  Sets the period in ms with which the `angular-velocity` callback is triggered periodically. A value of 0 turns the callback off.

tinkerforge call `imu-v2-brick` <uid> `get-angular-velocity-period`

  Output:

  - period -- int

  Returns the period as set by `set-angular-velocity-period`.

tinkerforge call `imu-v2-brick` <uid> `set-temperature-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  Sets the period in ms with which the `temperature` callback is triggered periodically. A value of 0 turns the callback off.

tinkerforge call `imu-v2-brick` <uid> `get-temperature-period`

  Output:

  - period -- int

  Returns the period as set by `set-temperature-period`.

tinkerforge call `imu-v2-brick` <uid> `set-orientation-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  Sets the period in ms with which the `orientation` callback is triggered periodically. A value of 0 turns the callback off.

tinkerforge call `imu-v2-brick` <uid> `get-orientation-period`

  Output:

  - period -- int

  Returns the period as set by `set-orientation-period`.

tinkerforge call `imu-v2-brick` <uid> `set-linear-acceleration-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  Sets the period in ms with which the `linear-acceleration` callback is triggered periodically. A value of 0 turns the callback off.

tinkerforge call `imu-v2-brick` <uid> `get-linear-acceleration-period`

  Output:

  - period -- int

  Returns the period as set by `set-linear-acceleration-period`.

tinkerforge call `imu-v2-brick` <uid> `set-gravity-vector-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  Sets the period in ms with which the `gravity-vector` callback is triggered periodically. A value of 0 turns the callback off.

tinkerforge call `imu-v2-brick` <uid> `get-gravity-vector-period`

  Output:

  - period -- int

  Returns the period as set by `set-gravity-vector-period`.

tinkerforge call `imu-v2-brick` <uid> `set-quaternion-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  Sets the period in ms with which the `quaternion` callback is triggered periodically. A value of 0 turns the callback off.

tinkerforge call `imu-v2-brick` <uid> `get-quaternion-period`

  Output:

  - period -- int

  Returns the period as set by `set-quaternion-period`.

tinkerforge call `imu-v2-brick` <uid> `set-all-data-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  Sets the period in ms with which the `all-data` callback is triggered periodically. A value of 0 turns the callback off.

tinkerforge call `imu-v2-brick` <uid> `get-all-data-period`

  Output:

  - period -- int

  Returns the period as set by `set-all-data-period`.

### Callbacks

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.

tinkerforge dispatch `imu-v2-brick` <uid> `acceleration`

  Output:

  - x -- int
  - y -- int
  - z -- int

  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.

tinkerforge dispatch `imu-v2-brick` <uid> `magnetic-field`

  Output:

  - x -- int
  - y -- int
  - z -- int

  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.

tinkerforge dispatch `imu-v2-brick` <uid> `angular-velocity`

  Output:

  - x -- int
  - y -- int
  - z -- int

  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.

tinkerforge dispatch `imu-v2-brick` <uid> `temperature`

  Output:

  - temperature -- int

  This callback is triggered periodically with the period that is set by `set-temperature-period`. The parameter is the temperature.

tinkerforge dispatch `imu-v2-brick` <uid> `linear-acceleration`

  Output:

  - x -- int
  - y -- int
  - z -- int

  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.

tinkerforge dispatch `imu-v2-brick` <uid> `gravity-vector`

  Output:

  - x -- int
  - y -- int
  - z -- int

  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.

tinkerforge dispatch `imu-v2-brick` <uid> `orientation`

  Output:

  - heading -- int
  - roll -- int
  - pitch -- int

  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.

tinkerforge dispatch `imu-v2-brick` <uid> `quaternion`

  Output:

  - w -- int
  - x -- int
  - y -- int
  - z -- int

  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.

tinkerforge dispatch `imu-v2-brick` <uid> `all-data`

  Output:

  - acceleration -- int,int,int
  - magnetic-field -- int,int,int
  - angular-velocity -- int,int,int
  - euler-angle -- int,int,int
  - quaternion -- int,int,int,int
  - linear-acceleration -- int,int,int
  - gravity-vector -- int,int,int
  - temperature -- int
  - calibration-status -- int

  This callback is triggered periodically with the period that is set by `set-all-data-period`. The parameters are as for `get-all-data`.

The content of this page is licensed under Creative Commons Attribution 3.0 Unported License.