..
 #############################################################
 # This file was automatically generated on 2015-05-19.      #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
 # to the generators git repository on tinkerforge.com       #
 #############################################################

:orphan:
:breadcrumbs: <a href="../../index.html">Home</a> / <a href="../../index.html#software-shell">Software</a> / Shell - IMU Brick 2.0

.. |device_identifier_constant| unicode:: 0xA0
   :trim:

.. _imu_v2_brick_shell:

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 :ref:`Shell API bindings <api_bindings_shell>` for the :ref:`IMU Brick 2.0 <imu_v2_brick>`. General information and technical
specifications for the IMU Brick 2.0 are summarized in its :ref:`hardware description
<imu_v2_brick_description>`.

An :ref:`installation guide <api_bindings_shell_install>` for the Shell API
bindings is part of their general description.

.. _imu_v2_brick_shell_examples:


Examples
--------

The example code below is `Public Domain (CC0 1.0)
<http://creativecommons.org/publicdomain/zero/1.0/>`__.

Callback
^^^^^^^^

`Download (example-callback.sh) <https://github.com/Tinkerforge/imu-v2-brick/raw/master/software/examples/shell/example-callback.sh>`__

.. literalinclude:: IMUV2_Brick_Shell_example-callback.sh
 :language: bash
 :linenos:
 :tab-width: 4

.. _imu_v2_brick_shell_api:

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
:ref:`here <ipcon_shell_api>`. The specific command structure is shown below.

.. sh:function:: X Stinkerforge Pcall Nimu-v2-brick A[<option>..] L<uid> L<function> L[<argument>..]

 :param <uid>: string
 :param <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


.. sh:function:: X Stinkerforge Pdispatch Nimu-v2-brick A[<option>..] L<uid> L<callback>

 :param <uid>: string
 :param <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


.. sh:function:: X Stinkerforge Scall Pimu-v2-brick L<uid> N<function> A[<option>..] L[<argument>..]

 :param <uid>: string
 :param <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 :ref:`output formatting <ipcon_shell_output>`
   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.


.. sh:function:: X Stinkerforge Sdispatch Pimu-v2-brick L<uid> N<callback> A[<option>..]

 :param <uid>: string
 :param <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 :ref:`output formatting <ipcon_shell_output>`
   for details)



Basic Functions
^^^^^^^^^^^^^^^



.. sh:function:: tinkerforge call imu-v2-brick <uid> get-orientation  


 :returns heading: int
 :returns roll: int
 :returns 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 <http://en.wikipedia.org/wiki/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 :sh:func:`orientation <imu-v2-brick orientation>` and set the period with 
 :sh:func:`set-orientation-period <imu-v2-brick set-orientation-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-linear-acceleration  


 :returns x: int
 :returns y: int
 :returns 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 :sh:func:`get-gravity-vector <imu-v2-brick get-gravity-vector>`.
 
 If you want to get the linear acceleration periodically, it is recommended 
 to use the callback :sh:func:`linear-acceleration <imu-v2-brick linear-acceleration>` and set the period with 
 :sh:func:`set-linear-acceleration-period <imu-v2-brick set-linear-acceleration-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-gravity-vector  


 :returns x: int
 :returns y: int
 :returns 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 :sh:func:`get-linear-acceleration <imu-v2-brick get-linear-acceleration>`.
 
 If you want to get the gravity vector periodically, it is recommended 
 to use the callback :sh:func:`gravity-vector <imu-v2-brick gravity-vector>` and set the period with 
 :sh:func:`set-gravity-vector-period <imu-v2-brick set-gravity-vector-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-quaternion  


 :returns w: int
 :returns x: int
 :returns y: int
 :returns z: int

 Returns the current orientation (w, x, y, z) of the IMU Brick as
 `quaternions <http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
 
 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 :sh:func:`quaternion <imu-v2-brick quaternion>` and set the period with 
 :sh:func:`set-quaternion-period <imu-v2-brick set-quaternion-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-all-data  


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

 Return all of the available data of the IMU Brick.
 
 * acceleration in 1/100 m/s² (see :sh:func:`get-acceleration <imu-v2-brick get-acceleration>`)
 * magnetic field in 1/16 µT (see :sh:func:`get-magnetic-field <imu-v2-brick get-magnetic-field>`)
 * angular velocity in 1/16 °/s (see :sh:func:`get-angular-velocity <imu-v2-brick get-angular-velocity>`)
 * Euler angles in 1/16 ° (see :sh:func:`get-orientation <imu-v2-brick get-orientation>`)
 * quaternion 1/16383 (see :sh:func:`get-quaternion <imu-v2-brick get-quaternion>`)
 * linear acceleration 1/100 m/s² (see :sh:func:`get-linear-acceleration <imu-v2-brick get-linear-acceleration>`)
 * gravity vector 1/100 m/s² (see :sh:func:`get-gravity-vector <imu-v2-brick get-gravity-vector>`)
 * temperature in 1 °C (see :sh:func:`get-temperature <imu-v2-brick 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 :sh:func:`all-data <imu-v2-brick all-data>` and set the period with 
 :sh:func:`set-all-data-period <imu-v2-brick set-all-data-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> leds-on  


 :noreturn: no output

 Turns the orientation and direction LEDs of the IMU Brick on.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> leds-off  


 :noreturn: no output

 Turns the orientation and direction LEDs of the IMU Brick off.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> are-leds-on  


 :returns leds: bool

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


Advanced Functions
^^^^^^^^^^^^^^^^^^

.. sh:function:: tinkerforge call imu-v2-brick <uid> get-acceleration  


 :returns x: int
 :returns y: int
 :returns 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 :sh:func:`acceleration <imu-v2-brick acceleration>` and set the period with 
 :sh:func:`set-acceleration-period <imu-v2-brick set-acceleration-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-magnetic-field  


 :returns x: int
 :returns y: int
 :returns 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 :sh:func:`magnetic-field <imu-v2-brick magnetic-field>` and set the period with 
 :sh:func:`set-magnetic-field-period <imu-v2-brick set-magnetic-field-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-angular-velocity  


 :returns x: int
 :returns y: int
 :returns 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 :sh:func:`angular-velocity <imu-v2-brick angular-velocity>` and set the period with 
 :sh:func:`set-angular-velocity-period <imu-v2-brick set-angular-velocity-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-temperature  


 :returns 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
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> save-calibration  


 :returns 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.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> enable-status-led  


 :noreturn: 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.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> disable-status-led  


 :noreturn: 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.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> is-status-led-enabled  


 :returns enabled: bool

 Returns *true* if the status LED is enabled, *false* otherwise.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-protocol1-bricklet-name <port> 

 :param <port>: char

 :returns protocol-version: int
 :returns firmware-version: int,int,int
 :returns 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.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-chip-temperature  


 :returns 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.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> reset  


 :noreturn: 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!
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-identity  


 :returns uid: string
 :returns connected-uid: string
 :returns position: char
 :returns hardware-version: int,int,int
 :returns firmware-version: int,int,int
 :returns 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 :ref:`here <device_identifier>`.
 |device_identifier_constant|
 


Callback Configuration Functions
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^



.. sh:function:: tinkerforge call imu-v2-brick <uid> set-acceleration-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`acceleration <imu-v2-brick acceleration>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 The default value is 0.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-acceleration-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-acceleration-period <imu-v2-brick set-acceleration-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> set-magnetic-field-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`magnetic-field <imu-v2-brick magnetic-field>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-magnetic-field-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-magnetic-field-period <imu-v2-brick set-magnetic-field-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> set-angular-velocity-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`angular-velocity <imu-v2-brick angular-velocity>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-angular-velocity-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-angular-velocity-period <imu-v2-brick set-angular-velocity-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> set-temperature-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`temperature <imu-v2-brick temperature>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-temperature-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-temperature-period <imu-v2-brick set-temperature-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> set-orientation-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`orientation <imu-v2-brick orientation>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-orientation-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-orientation-period <imu-v2-brick set-orientation-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> set-linear-acceleration-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`linear-acceleration <imu-v2-brick linear-acceleration>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-linear-acceleration-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-linear-acceleration-period <imu-v2-brick set-linear-acceleration-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> set-gravity-vector-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`gravity-vector <imu-v2-brick gravity-vector>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-gravity-vector-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-gravity-vector-period <imu-v2-brick set-gravity-vector-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> set-quaternion-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`quaternion <imu-v2-brick quaternion>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-quaternion-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-quaternion-period <imu-v2-brick set-quaternion-period>`.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> set-all-data-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`all-data <imu-v2-brick all-data>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. sh:function:: tinkerforge call imu-v2-brick <uid> get-all-data-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-all-data-period <imu-v2-brick set-all-data-period>`.
 


.. _imu_v2_brick_shell_callbacks:

Callbacks
^^^^^^^^^

Callbacks can be used to receive time critical or recurring data from the
device:

.. code-block:: bash

    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.

.. sh:function::  tinkerforge dispatch imu-v2-brick <uid> acceleration

 :returns x: int
 :returns y: int
 :returns z: int


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-acceleration-period <imu-v2-brick set-acceleration-period>`. The parameters are the acceleration
 for the x, y and z axis.
 
.. sh:function::  tinkerforge dispatch imu-v2-brick <uid> magnetic-field

 :returns x: int
 :returns y: int
 :returns z: int


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-magnetic-field-period <imu-v2-brick set-magnetic-field-period>`. The parameters are the magnetic field
 for the x, y and z axis.
 
.. sh:function::  tinkerforge dispatch imu-v2-brick <uid> angular-velocity

 :returns x: int
 :returns y: int
 :returns z: int


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-angular-velocity-period <imu-v2-brick set-angular-velocity-period>`. The parameters are the angular velocity
 for the x, y and z axis.
 
.. sh:function::  tinkerforge dispatch imu-v2-brick <uid> temperature

 :returns temperature: int


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-temperature-period <imu-v2-brick set-temperature-period>`. The parameter is the temperature.
 
.. sh:function::  tinkerforge dispatch imu-v2-brick <uid> linear-acceleration

 :returns x: int
 :returns y: int
 :returns z: int


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-linear-acceleration-period <imu-v2-brick set-linear-acceleration-period>`. The parameters are the 
 linear acceleration for the x, y and z axis.
 
.. sh:function::  tinkerforge dispatch imu-v2-brick <uid> gravity-vector

 :returns x: int
 :returns y: int
 :returns z: int


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-gravity-vector-period <imu-v2-brick set-gravity-vector-period>`. The parameters gravity vector
 for the x, y and z axis.
 
.. sh:function::  tinkerforge dispatch imu-v2-brick <uid> orientation

 :returns heading: int
 :returns roll: int
 :returns pitch: int


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-orientation-period <imu-v2-brick set-orientation-period>`. The parameters are the orientation
 (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See
 :sh:func:`get-orientation <imu-v2-brick get-orientation>` for details.
 
.. sh:function::  tinkerforge dispatch imu-v2-brick <uid> quaternion

 :returns w: int
 :returns x: int
 :returns y: int
 :returns z: int


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-quaternion-period <imu-v2-brick set-quaternion-period>`. The parameters are the orientation
 (x, y, z, w) of the IMU Brick in quaternions. See :sh:func:`get-quaternion <imu-v2-brick get-quaternion>`
 for details.
 
.. sh:function::  tinkerforge dispatch imu-v2-brick <uid> all-data

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


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-all-data-period <imu-v2-brick set-all-data-period>`. The parameters are as for :sh:func:`get-all-data <imu-v2-brick get-all-data>`.
 


