..
 #############################################################
 # 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-c">Software</a> / C/C++ - IMU Brick 2.0

.. |device_identifier_constant| replace:: There is also a :ref:`constant <imu_v2_brick_c_constants>` for the device identifier of this Brick.

.. _imu_v2_brick_c:

C/C++ - 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:`C/C++ API bindings <api_bindings_c>` 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_c_install>` for the C/C++ API
bindings is part of their general description.

.. _imu_v2_brick_c_examples:


Examples
--------

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

Callback
^^^^^^^^

`Download (example_callback.c) <https://github.com/Tinkerforge/imu-v2-brick/raw/master/software/examples/c/example_callback.c>`__

.. literalinclude:: IMUV2_Brick_C_example_callback.c
 :language: c
 :linenos:
 :tab-width: 4

.. _imu_v2_brick_c_api:

API
---

Every function of the C/C++ bindings returns an integer which describes an
error code. Data returned from the device, when a getter is called,
is handled via call by reference. These parameters are labeled with the
``ret_`` prefix.

Possible error codes are:

* E_OK = 0
* E_TIMEOUT = -1
* E_NO_STREAM_SOCKET = -2
* E_HOSTNAME_INVALID = -3
* E_NO_CONNECT = -4
* E_NO_THREAD = -5
* E_NOT_ADDED = -6 (unused since bindings version 2.0.0)
* E_ALREADY_CONNECTED = -7
* E_NOT_CONNECTED = -8
* E_INVALID_PARAMETER = -9
* E_NOT_SUPPORTED = -10
* E_UNKNOWN_ERROR_CODE = -11

as defined in :file:`ip_connection.h`.

All functions listed below are thread-safe.




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


.. c:function:: void imu_v2_create(IMUV2 *imu_v2, const char *uid, IPConnection *ipcon)

 Creates the device object ``imu_v2`` with the unique device ID ``uid`` and adds
 it to the IPConnection ``ipcon``:

 .. code-block:: c

    IMUV2 imu_v2;
    imu_v2_create(&imu_v2, "YOUR_DEVICE_UID", &ipcon);

 This device object can be used after the IP connection has been connected
 (see examples :ref:`above <imu_v2_brick_c_examples>`).

.. c:function:: void imu_v2_destroy(IMUV2 *imu_v2)

 Removes the device object ``imu_v2`` from its IPConnection and destroys it.
 The device object cannot be used anymore afterwards.


.. c:function:: int imu_v2_get_orientation(IMUV2 *imu_v2, int16_t *ret_heading, int16_t *ret_roll, int16_t *ret_pitch)

 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 :c:data:`IMU_V2_CALLBACK_ORIENTATION` and set the period with 
 :c:func:`imu_v2_set_orientation_period`.
 
.. c:function:: int imu_v2_get_linear_acceleration(IMUV2 *imu_v2, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)

 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 :c:func:`imu_v2_get_gravity_vector`.
 
 If you want to get the linear acceleration periodically, it is recommended 
 to use the callback :c:data:`IMU_V2_CALLBACK_LINEAR_ACCELERATION` and set the period with 
 :c:func:`imu_v2_set_linear_acceleration_period`.
 
.. c:function:: int imu_v2_get_gravity_vector(IMUV2 *imu_v2, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)

 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 :c:func:`imu_v2_get_linear_acceleration`.
 
 If you want to get the gravity vector periodically, it is recommended 
 to use the callback :c:data:`IMU_V2_CALLBACK_GRAVITY_VECTOR` and set the period with 
 :c:func:`imu_v2_set_gravity_vector_period`.
 
.. c:function:: int imu_v2_get_quaternion(IMUV2 *imu_v2, int16_t *ret_w, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)

 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 :c:data:`IMU_V2_CALLBACK_QUATERNION` and set the period with 
 :c:func:`imu_v2_set_quaternion_period`.
 
.. c:function:: int imu_v2_get_all_data(IMUV2 *imu_v2, int16_t ret_acceleration[3], int16_t ret_magnetic_field[3], int16_t ret_angular_velocity[3], int16_t ret_euler_angle[3], int16_t ret_quaternion[4], int16_t ret_linear_acceleration[3], int16_t ret_gravity_vector[3], int8_t *ret_temperature, uint8_t *ret_calibration_status)

 Return all of the available data of the IMU Brick.
 
 * acceleration in 1/100 m/s² (see :c:func:`imu_v2_get_acceleration`)
 * magnetic field in 1/16 µT (see :c:func:`imu_v2_get_magnetic_field`)
 * angular velocity in 1/16 °/s (see :c:func:`imu_v2_get_angular_velocity`)
 * Euler angles in 1/16 ° (see :c:func:`imu_v2_get_orientation`)
 * quaternion 1/16383 (see :c:func:`imu_v2_get_quaternion`)
 * linear acceleration 1/100 m/s² (see :c:func:`imu_v2_get_linear_acceleration`)
 * gravity vector 1/100 m/s² (see :c:func:`imu_v2_get_gravity_vector`)
 * temperature in 1 °C (see :c:func:`imu_v2_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 :c:data:`IMU_V2_CALLBACK_ALL_DATA` and set the period with 
 :c:func:`imu_v2_set_all_data_period`.
 
.. c:function:: int imu_v2_leds_on(IMUV2 *imu_v2)

 Turns the orientation and direction LEDs of the IMU Brick on.
 
.. c:function:: int imu_v2_leds_off(IMUV2 *imu_v2)

 Turns the orientation and direction LEDs of the IMU Brick off.
 
.. c:function:: int imu_v2_are_leds_on(IMUV2 *imu_v2, bool *ret_leds)

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


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

.. c:function:: int imu_v2_get_acceleration(IMUV2 *imu_v2, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)
 
 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 :c:data:`IMU_V2_CALLBACK_ACCELERATION` and set the period with 
 :c:func:`imu_v2_set_acceleration_period`.
 
.. c:function:: int imu_v2_get_magnetic_field(IMUV2 *imu_v2, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)

 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 :c:data:`IMU_V2_CALLBACK_MAGNETIC_FIELD` and set the period with 
 :c:func:`imu_v2_set_magnetic_field_period`.
 
.. c:function:: int imu_v2_get_angular_velocity(IMUV2 *imu_v2, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)

 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 :c:data:`IMU_V2_CALLBACK_ANGULAR_VELOCITY` and set the period with 
 :c:func:`imu_v2_set_angular_velocity_period`.
 
.. c:function:: int imu_v2_get_temperature(IMUV2 *imu_v2, int8_t *ret_temperature)

 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
 
.. c:function:: int imu_v2_save_calibration(IMUV2 *imu_v2, bool *ret_calibration_done)

 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.
 
.. c:function:: int imu_v2_get_api_version(IMUV2 *imu_v2, uint8_t ret_api_version[3])

 Returns the version of the API definition (major, minor, revision) implemented
 by this API bindings. This is neither the release version of this API bindings
 nor does it tell you anything about the represented Brick or Bricklet.
 
.. c:function:: int imu_v2_get_response_expected(IMUV2 *imu_v2, uint8_t function_id, bool *ret_response_expected)

 Returns the response expected flag for the function specified by the function
 ID parameter. It is *true* if the function is expected to send a response,
 *false* otherwise.
 
 For getter functions this is enabled by default and cannot be disabled,
 because those functions will always send a response. For callback configuration
 functions it is enabled by default too, but can be disabled by
 :c:func:`imu_v2_set_response_expected`. For setter functions it is disabled by default
 and can be enabled.
 
 Enabling the response expected flag for a setter function allows to detect
 timeouts and other error conditions calls of this setter as well. The
 device will then send a response for this purpose. If this flag is disabled for
 a setter function then no response is send and errors are silently ignored,
 because they cannot be detected.
 
 See :c:func:`imu_v2_set_response_expected`
 for the list of function ID defines available for this function.
 
.. c:function:: int imu_v2_set_response_expected(IMUV2 *imu_v2, uint8_t function_id, bool response_expected)

 Changes the response expected flag of the function specified by the
 function ID parameter. This flag can only be changed for setter (default value:
 *false*) and callback configuration functions (default value: *true*). For
 getter functions it is always enabled and callbacks it is always disabled.
 
 Enabling the response expected flag for a setter function allows to detect
 timeouts and other error conditions calls of this setter as well. The
 device will then send a response for this purpose. If this flag is disabled for
 a setter function then no response is send and errors are silently ignored,
 because they cannot be detected.
 
 The following function ID defines are available for this function:
 
 * IMU_V2_FUNCTION_LEDS_ON = 10
 * IMU_V2_FUNCTION_LEDS_OFF = 11
 * IMU_V2_FUNCTION_SET_ACCELERATION_PERIOD = 14
 * IMU_V2_FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 16
 * IMU_V2_FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 18
 * IMU_V2_FUNCTION_SET_TEMPERATURE_PERIOD = 20
 * IMU_V2_FUNCTION_SET_ORIENTATION_PERIOD = 22
 * IMU_V2_FUNCTION_SET_LINEAR_ACCELERATION_PERIOD = 24
 * IMU_V2_FUNCTION_SET_GRAVITY_VECTOR_PERIOD = 26
 * IMU_V2_FUNCTION_SET_QUATERNION_PERIOD = 28
 * IMU_V2_FUNCTION_SET_ALL_DATA_PERIOD = 30
 * IMU_V2_FUNCTION_ENABLE_STATUS_LED = 238
 * IMU_V2_FUNCTION_DISABLE_STATUS_LED = 239
 * IMU_V2_FUNCTION_RESET = 243
 
.. c:function:: int imu_v2_set_response_expected_all(IMUV2 *imu_v2, bool response_expected)

 Changes the response expected flag for all setter and callback configuration
 functions of this device at once.
 
.. c:function:: int imu_v2_enable_status_led(IMUV2 *imu_v2)

 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.
 
.. c:function:: int imu_v2_disable_status_led(IMUV2 *imu_v2)

 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.
 
.. c:function:: int imu_v2_is_status_led_enabled(IMUV2 *imu_v2, bool *ret_enabled)

 Returns *true* if the status LED is enabled, *false* otherwise.
 
.. c:function:: int imu_v2_get_protocol1_bricklet_name(IMUV2 *imu_v2, char port, uint8_t *ret_protocol_version, uint8_t ret_firmware_version[3], char ret_name[40])

 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.
 
.. c:function:: int imu_v2_get_chip_temperature(IMUV2 *imu_v2, int16_t *ret_temperature)

 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.
 
.. c:function:: int imu_v2_reset(IMUV2 *imu_v2)

 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!
 
.. c:function:: int imu_v2_get_identity(IMUV2 *imu_v2, char ret_uid[8], char ret_connected_uid[8], char *ret_position, uint8_t ret_hardware_version[3], uint8_t ret_firmware_version[3], uint16_t *ret_device_identifier)

 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
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^


.. c:function:: void imu_v2_register_callback(IMUV2 *imu_v2, uint8_t id, void *callback, void *user_data)

 Registers a callback with ID ``id`` to the function ``callback``. The
 ``user_data`` will be given as a parameter of the callback.

 The available IDs with corresponding function signatures are listed
 :ref:`below <imu_v2_brick_c_callbacks>`.


.. c:function:: int imu_v2_set_acceleration_period(IMUV2 *imu_v2, uint32_t period)

 Sets the period in ms with which the :c:data:`IMU_V2_CALLBACK_ACCELERATION` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 The default value is 0.
 
.. c:function:: int imu_v2_get_acceleration_period(IMUV2 *imu_v2, uint32_t *ret_period)

 Returns the period as set by :c:func:`imu_v2_set_acceleration_period`.
 
.. c:function:: int imu_v2_set_magnetic_field_period(IMUV2 *imu_v2, uint32_t period)

 Sets the period in ms with which the :c:data:`IMU_V2_CALLBACK_MAGNETIC_FIELD` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. c:function:: int imu_v2_get_magnetic_field_period(IMUV2 *imu_v2, uint32_t *ret_period)

 Returns the period as set by :c:func:`imu_v2_set_magnetic_field_period`.
 
.. c:function:: int imu_v2_set_angular_velocity_period(IMUV2 *imu_v2, uint32_t period)

 Sets the period in ms with which the :c:data:`IMU_V2_CALLBACK_ANGULAR_VELOCITY` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. c:function:: int imu_v2_get_angular_velocity_period(IMUV2 *imu_v2, uint32_t *ret_period)

 Returns the period as set by :c:func:`imu_v2_set_angular_velocity_period`.
 
.. c:function:: int imu_v2_set_temperature_period(IMUV2 *imu_v2, uint32_t period)

 Sets the period in ms with which the :c:data:`IMU_V2_CALLBACK_TEMPERATURE` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. c:function:: int imu_v2_get_temperature_period(IMUV2 *imu_v2, uint32_t *ret_period)

 Returns the period as set by :c:func:`imu_v2_set_temperature_period`.
 
.. c:function:: int imu_v2_set_orientation_period(IMUV2 *imu_v2, uint32_t period)

 Sets the period in ms with which the :c:data:`IMU_V2_CALLBACK_ORIENTATION` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. c:function:: int imu_v2_get_orientation_period(IMUV2 *imu_v2, uint32_t *ret_period)

 Returns the period as set by :c:func:`imu_v2_set_orientation_period`.
 
.. c:function:: int imu_v2_set_linear_acceleration_period(IMUV2 *imu_v2, uint32_t period)

 Sets the period in ms with which the :c:data:`IMU_V2_CALLBACK_LINEAR_ACCELERATION` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. c:function:: int imu_v2_get_linear_acceleration_period(IMUV2 *imu_v2, uint32_t *ret_period)

 Returns the period as set by :c:func:`imu_v2_set_linear_acceleration_period`.
 
.. c:function:: int imu_v2_set_gravity_vector_period(IMUV2 *imu_v2, uint32_t period)

 Sets the period in ms with which the :c:data:`IMU_V2_CALLBACK_GRAVITY_VECTOR` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. c:function:: int imu_v2_get_gravity_vector_period(IMUV2 *imu_v2, uint32_t *ret_period)

 Returns the period as set by :c:func:`imu_v2_set_gravity_vector_period`.
 
.. c:function:: int imu_v2_set_quaternion_period(IMUV2 *imu_v2, uint32_t period)

 Sets the period in ms with which the :c:data:`IMU_V2_CALLBACK_QUATERNION` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. c:function:: int imu_v2_get_quaternion_period(IMUV2 *imu_v2, uint32_t *ret_period)

 Returns the period as set by :c:func:`imu_v2_set_quaternion_period`.
 
.. c:function:: int imu_v2_set_all_data_period(IMUV2 *imu_v2, uint32_t period)

 Sets the period in ms with which the :c:data:`IMU_V2_CALLBACK_ALL_DATA` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. c:function:: int imu_v2_get_all_data_period(IMUV2 *imu_v2, uint32_t *ret_period)

 Returns the period as set by :c:func:`imu_v2_set_all_data_period`.
 


.. _imu_v2_brick_c_callbacks:

Callbacks
^^^^^^^^^

Callbacks can be registered to receive
time critical or recurring data from the device. The registration is done
with the :c:func:`imu_v2_register_callback` function. The parameters consist of
the device object, the callback ID, the callback function and optional
user data:

 .. code-block:: c

    void my_callback(int p, void *user_data) {
        printf("parameter: %d\n", p);
    }

    imu_v2_register_callback(&imu_v2, IMU_V2_CALLBACK_EXAMPLE, (void *)my_callback, NULL);

The available constants with corresponding callback function signatures
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.

.. c:var:: IMU_V2_CALLBACK_ACCELERATION

 .. code-block:: c

  void callback(int16_t x, int16_t y, int16_t z, void *user_data)


 This callback is triggered periodically with the period that is set by
 :c:func:`imu_v2_set_acceleration_period`. The parameters are the acceleration
 for the x, y and z axis.
 
.. c:var:: IMU_V2_CALLBACK_MAGNETIC_FIELD

 .. code-block:: c

  void callback(int16_t x, int16_t y, int16_t z, void *user_data)


 This callback is triggered periodically with the period that is set by
 :c:func:`imu_v2_set_magnetic_field_period`. The parameters are the magnetic field
 for the x, y and z axis.
 
.. c:var:: IMU_V2_CALLBACK_ANGULAR_VELOCITY

 .. code-block:: c

  void callback(int16_t x, int16_t y, int16_t z, void *user_data)


 This callback is triggered periodically with the period that is set by
 :c:func:`imu_v2_set_angular_velocity_period`. The parameters are the angular velocity
 for the x, y and z axis.
 
.. c:var:: IMU_V2_CALLBACK_TEMPERATURE

 .. code-block:: c

  void callback(int8_t temperature, void *user_data)


 This callback is triggered periodically with the period that is set by
 :c:func:`imu_v2_set_temperature_period`. The parameter is the temperature.
 
.. c:var:: IMU_V2_CALLBACK_LINEAR_ACCELERATION

 .. code-block:: c

  void callback(int16_t x, int16_t y, int16_t z, void *user_data)


 This callback is triggered periodically with the period that is set by
 :c:func:`imu_v2_set_linear_acceleration_period`. The parameters are the 
 linear acceleration for the x, y and z axis.
 
.. c:var:: IMU_V2_CALLBACK_GRAVITY_VECTOR

 .. code-block:: c

  void callback(int16_t x, int16_t y, int16_t z, void *user_data)


 This callback is triggered periodically with the period that is set by
 :c:func:`imu_v2_set_gravity_vector_period`. The parameters gravity vector
 for the x, y and z axis.
 
.. c:var:: IMU_V2_CALLBACK_ORIENTATION

 .. code-block:: c

  void callback(int16_t heading, int16_t roll, int16_t pitch, void *user_data)


 This callback is triggered periodically with the period that is set by
 :c:func:`imu_v2_set_orientation_period`. The parameters are the orientation
 (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See
 :c:func:`imu_v2_get_orientation` for details.
 
.. c:var:: IMU_V2_CALLBACK_QUATERNION

 .. code-block:: c

  void callback(int16_t w, int16_t x, int16_t y, int16_t z, void *user_data)


 This callback is triggered periodically with the period that is set by
 :c:func:`imu_v2_set_quaternion_period`. The parameters are the orientation
 (x, y, z, w) of the IMU Brick in quaternions. See :c:func:`imu_v2_get_quaternion`
 for details.
 
.. c:var:: IMU_V2_CALLBACK_ALL_DATA

 .. code-block:: c

  void callback(int16_t acceleration[3], int16_t magnetic_field[3], int16_t angular_velocity[3], int16_t euler_angle[3], int16_t quaternion[4], int16_t linear_acceleration[3], int16_t gravity_vector[3], int8_t temperature, uint8_t calibration_status, void *user_data)


 This callback is triggered periodically with the period that is set by
 :c:func:`imu_v2_set_all_data_period`. The parameters are as for :c:func:`imu_v2_get_all_data`.
 


.. _imu_v2_brick_c_constants:

Constants
^^^^^^^^^

.. c:var:: IMU_V2_DEVICE_IDENTIFIER

 This constant is used to identify a IMU Brick 2.0.

 The :c:func:`imu_v2_get_identity` function and the :c:data:`IPCON_CALLBACK_ENUMERATE`
 callback of the IP Connection have a ``device_identifier`` parameter to specify
 the Brick's or Bricklet's type.

