..
 #############################################################
 # 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  #
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 #############################################################

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

.. |device_identifier_constant| replace:: There is also a :ref:`constant <imu_v2_brick_python_constants>` for the device identifier of this Brick.

.. _imu_v2_brick_python:

Python - 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:`Python API bindings <api_bindings_python>` 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_python_install>` for the Python API
bindings is part of their general description.

.. _imu_v2_brick_python_examples:


Examples
--------

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

Callback
^^^^^^^^

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

.. literalinclude:: IMUV2_Brick_Python_example_callback.py
 :language: python
 :linenos:
 :tab-width: 4

All Data
^^^^^^^^

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

.. literalinclude:: IMUV2_Brick_Python_example_all_data.py
 :language: python
 :linenos:
 :tab-width: 4

.. _imu_v2_brick_python_api:

API
---

Generally, every method of the Python bindings can throw an
``tinkerforge.ip_connection.Error`` exception that has a ``value`` and a
``description`` property. ``value`` can have different values:

* Error.TIMEOUT = -1
* Error.ALREADY_CONNECTED = -7
* Error.NOT_CONNECTED = -8
* Error.INVALID_PARAMETER = -9
* Error.NOT_SUPPORTED = -10
* Error.UNKNOWN_ERROR_CODE = -11

All methods listed below are thread-safe.




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


.. py:function:: IMUV2(uid, ipcon)

 :param uid: string
 :param ipcon: IPConnection

 Creates an object with the unique device ID ``uid``:

 .. code-block:: python

    imu_v2 = IMUV2("YOUR_DEVICE_UID", ipcon)

 This object can then be used after the IP Connection is connected
 (see examples :ref:`above <imu_v2_brick_python_examples>`).


.. py:function:: IMUV2.get_orientation()

 :rtype: (int, int, 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 :py:attr:`CALLBACK_ORIENTATION <IMUV2.CALLBACK_ORIENTATION>` and set the period with 
 :py:func:`set_orientation_period() <IMUV2.set_orientation_period>`.
 
 The returned namedtuple has the variables ``heading``, ``roll`` and ``pitch``.

.. py:function:: IMUV2.get_linear_acceleration()

 :rtype: (int, int, 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 :py:func:`get_gravity_vector() <IMUV2.get_gravity_vector>`.
 
 If you want to get the linear acceleration periodically, it is recommended 
 to use the callback :py:attr:`CALLBACK_LINEAR_ACCELERATION <IMUV2.CALLBACK_LINEAR_ACCELERATION>` and set the period with 
 :py:func:`set_linear_acceleration_period() <IMUV2.set_linear_acceleration_period>`.
 
 The returned namedtuple has the variables ``x``, ``y`` and ``z``.

.. py:function:: IMUV2.get_gravity_vector()

 :rtype: (int, int, 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 :py:func:`get_linear_acceleration() <IMUV2.get_linear_acceleration>`.
 
 If you want to get the gravity vector periodically, it is recommended 
 to use the callback :py:attr:`CALLBACK_GRAVITY_VECTOR <IMUV2.CALLBACK_GRAVITY_VECTOR>` and set the period with 
 :py:func:`set_gravity_vector_period() <IMUV2.set_gravity_vector_period>`.
 
 The returned namedtuple has the variables ``x``, ``y`` and ``z``.

.. py:function:: IMUV2.get_quaternion()

 :rtype: (int, int, int, 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 :py:attr:`CALLBACK_QUATERNION <IMUV2.CALLBACK_QUATERNION>` and set the period with 
 :py:func:`set_quaternion_period() <IMUV2.set_quaternion_period>`.
 
 The returned namedtuple has the variables ``w``, ``x``, ``y`` and ``z``.

.. py:function:: IMUV2.get_all_data()

 :rtype: ([int, int, int], [int, int, int], [int, int, int], [int, int, int], [int, int, int, int], [int, int, int], [int, int, int], int, int)

 Return all of the available data of the IMU Brick.
 
 * acceleration in 1/100 m/s² (see :py:func:`get_acceleration() <IMUV2.get_acceleration>`)
 * magnetic field in 1/16 µT (see :py:func:`get_magnetic_field() <IMUV2.get_magnetic_field>`)
 * angular velocity in 1/16 °/s (see :py:func:`get_angular_velocity() <IMUV2.get_angular_velocity>`)
 * Euler angles in 1/16 ° (see :py:func:`get_orientation() <IMUV2.get_orientation>`)
 * quaternion 1/16383 (see :py:func:`get_quaternion() <IMUV2.get_quaternion>`)
 * linear acceleration 1/100 m/s² (see :py:func:`get_linear_acceleration() <IMUV2.get_linear_acceleration>`)
 * gravity vector 1/100 m/s² (see :py:func:`get_gravity_vector() <IMUV2.get_gravity_vector>`)
 * temperature in 1 °C (see :py:func:`get_temperature() <IMUV2.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 :py:attr:`CALLBACK_ALL_DATA <IMUV2.CALLBACK_ALL_DATA>` and set the period with 
 :py:func:`set_all_data_period() <IMUV2.set_all_data_period>`.
 
 The returned namedtuple has the variables ``acceleration``, ``magnetic_field``, ``angular_velocity``, ``euler_angle``, ``quaternion``, ``linear_acceleration``, ``gravity_vector``, ``temperature`` and ``calibration_status``.

.. py:function:: IMUV2.leds_on()

 :rtype: None

 Turns the orientation and direction LEDs of the IMU Brick on.
 
.. py:function:: IMUV2.leds_off()

 :rtype: None

 Turns the orientation and direction LEDs of the IMU Brick off.
 
.. py:function:: IMUV2.are_leds_on()

 :rtype: bool

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


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

.. py:function:: IMUV2.get_acceleration()

 :rtype: (int, int, 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 :py:attr:`CALLBACK_ACCELERATION <IMUV2.CALLBACK_ACCELERATION>` and set the period with 
 :py:func:`set_acceleration_period() <IMUV2.set_acceleration_period>`.
 
 The returned namedtuple has the variables ``x``, ``y`` and ``z``.

.. py:function:: IMUV2.get_magnetic_field()

 :rtype: (int, int, 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 :py:attr:`CALLBACK_MAGNETIC_FIELD <IMUV2.CALLBACK_MAGNETIC_FIELD>` and set the period with 
 :py:func:`set_magnetic_field_period() <IMUV2.set_magnetic_field_period>`.
 
 The returned namedtuple has the variables ``x``, ``y`` and ``z``.

.. py:function:: IMUV2.get_angular_velocity()

 :rtype: (int, int, 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 :py:attr:`CALLBACK_ANGULAR_VELOCITY <IMUV2.CALLBACK_ANGULAR_VELOCITY>` and set the period with 
 :py:func:`set_angular_velocity_period() <IMUV2.set_angular_velocity_period>`.
 
 The returned namedtuple has the variables ``x``, ``y`` and ``z``.

.. py:function:: IMUV2.get_temperature()

 :rtype: 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
 
.. py:function:: IMUV2.save_calibration()

 :rtype: 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.
 
.. py:function:: IMUV2.get_api_version()

 :rtype: [int, int, int]

 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.
 
.. py:function:: IMUV2.get_response_expected(function_id)

 :param function_id: int
 :rtype: bool

 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
 :py:func:`set_response_expected() <IMUV2.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 :py:func:`set_response_expected() <IMUV2.set_response_expected>`
 for the list of function ID constants available for this function.
 
.. py:function:: IMUV2.set_response_expected(function_id, response_expected)

 :param function_id: int
 :param response_expected: bool
 :rtype: None

 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 constants are available for this function:
 
 * IMUV2.FUNCTION_LEDS_ON = 10
 * IMUV2.FUNCTION_LEDS_OFF = 11
 * IMUV2.FUNCTION_SET_ACCELERATION_PERIOD = 14
 * IMUV2.FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 16
 * IMUV2.FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 18
 * IMUV2.FUNCTION_SET_TEMPERATURE_PERIOD = 20
 * IMUV2.FUNCTION_SET_ORIENTATION_PERIOD = 22
 * IMUV2.FUNCTION_SET_LINEAR_ACCELERATION_PERIOD = 24
 * IMUV2.FUNCTION_SET_GRAVITY_VECTOR_PERIOD = 26
 * IMUV2.FUNCTION_SET_QUATERNION_PERIOD = 28
 * IMUV2.FUNCTION_SET_ALL_DATA_PERIOD = 30
 * IMUV2.FUNCTION_ENABLE_STATUS_LED = 238
 * IMUV2.FUNCTION_DISABLE_STATUS_LED = 239
 * IMUV2.FUNCTION_RESET = 243
 
.. py:function:: IMUV2.set_response_expected_all(response_expected)

 :param response_expected: bool
 :rtype: None

 Changes the response expected flag for all setter and callback configuration
 functions of this device at once.
 
.. py:function:: IMUV2.enable_status_led()

 :rtype: None

 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.
 
.. py:function:: IMUV2.disable_status_led()

 :rtype: None

 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.
 
.. py:function:: IMUV2.is_status_led_enabled()

 :rtype: bool

 Returns *true* if the status LED is enabled, *false* otherwise.
 
.. py:function:: IMUV2.get_protocol1_bricklet_name(port)

 :param port: chr
 :rtype: (int, [int, int, int], str)

 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.
 
 The returned namedtuple has the variables ``protocol_version``, ``firmware_version`` and ``name``.

.. py:function:: IMUV2.get_chip_temperature()

 :rtype: 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.
 
.. py:function:: IMUV2.reset()

 :rtype: None

 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!
 
.. py:function:: IMUV2.get_identity()

 :rtype: (str, str, chr, [int, int, int], [int, int, int], int)

 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|
 
 The returned namedtuple has the variables ``uid``, ``connected_uid``, ``position``, ``hardware_version``, ``firmware_version`` and ``device_identifier``.



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


.. py:function:: IMUV2.register_callback(id, callback)

 :param id: int
 :param callback: callable
 :rtype: None

 Registers a callback with ID *id* to the function *callback*. The available
 IDs with corresponding function signatures are listed
 :ref:`below <imu_v2_brick_python_callbacks>`.


.. py:function:: IMUV2.set_acceleration_period(period)

 :param period: int
 :rtype: None

 Sets the period in ms with which the :py:attr:`CALLBACK_ACCELERATION <IMUV2.CALLBACK_ACCELERATION>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 The default value is 0.
 
.. py:function:: IMUV2.get_acceleration_period()

 :rtype: int

 Returns the period as set by :py:func:`set_acceleration_period() <IMUV2.set_acceleration_period>`.
 
.. py:function:: IMUV2.set_magnetic_field_period(period)

 :param period: int
 :rtype: None

 Sets the period in ms with which the :py:attr:`CALLBACK_MAGNETIC_FIELD <IMUV2.CALLBACK_MAGNETIC_FIELD>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. py:function:: IMUV2.get_magnetic_field_period()

 :rtype: int

 Returns the period as set by :py:func:`set_magnetic_field_period() <IMUV2.set_magnetic_field_period>`.
 
.. py:function:: IMUV2.set_angular_velocity_period(period)

 :param period: int
 :rtype: None

 Sets the period in ms with which the :py:attr:`CALLBACK_ANGULAR_VELOCITY <IMUV2.CALLBACK_ANGULAR_VELOCITY>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. py:function:: IMUV2.get_angular_velocity_period()

 :rtype: int

 Returns the period as set by :py:func:`set_angular_velocity_period() <IMUV2.set_angular_velocity_period>`.
 
.. py:function:: IMUV2.set_temperature_period(period)

 :param period: int
 :rtype: None

 Sets the period in ms with which the :py:attr:`CALLBACK_TEMPERATURE <IMUV2.CALLBACK_TEMPERATURE>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. py:function:: IMUV2.get_temperature_period()

 :rtype: int

 Returns the period as set by :py:func:`set_temperature_period() <IMUV2.set_temperature_period>`.
 
.. py:function:: IMUV2.set_orientation_period(period)

 :param period: int
 :rtype: None

 Sets the period in ms with which the :py:attr:`CALLBACK_ORIENTATION <IMUV2.CALLBACK_ORIENTATION>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. py:function:: IMUV2.get_orientation_period()

 :rtype: int

 Returns the period as set by :py:func:`set_orientation_period() <IMUV2.set_orientation_period>`.
 
.. py:function:: IMUV2.set_linear_acceleration_period(period)

 :param period: int
 :rtype: None

 Sets the period in ms with which the :py:attr:`CALLBACK_LINEAR_ACCELERATION <IMUV2.CALLBACK_LINEAR_ACCELERATION>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. py:function:: IMUV2.get_linear_acceleration_period()

 :rtype: int

 Returns the period as set by :py:func:`set_linear_acceleration_period() <IMUV2.set_linear_acceleration_period>`.
 
.. py:function:: IMUV2.set_gravity_vector_period(period)

 :param period: int
 :rtype: None

 Sets the period in ms with which the :py:attr:`CALLBACK_GRAVITY_VECTOR <IMUV2.CALLBACK_GRAVITY_VECTOR>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. py:function:: IMUV2.get_gravity_vector_period()

 :rtype: int

 Returns the period as set by :py:func:`set_gravity_vector_period() <IMUV2.set_gravity_vector_period>`.
 
.. py:function:: IMUV2.set_quaternion_period(period)

 :param period: int
 :rtype: None

 Sets the period in ms with which the :py:attr:`CALLBACK_QUATERNION <IMUV2.CALLBACK_QUATERNION>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. py:function:: IMUV2.get_quaternion_period()

 :rtype: int

 Returns the period as set by :py:func:`set_quaternion_period() <IMUV2.set_quaternion_period>`.
 
.. py:function:: IMUV2.set_all_data_period(period)

 :param period: int
 :rtype: None

 Sets the period in ms with which the :py:attr:`CALLBACK_ALL_DATA <IMUV2.CALLBACK_ALL_DATA>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. py:function:: IMUV2.get_all_data_period()

 :rtype: int

 Returns the period as set by :py:func:`set_all_data_period() <IMUV2.set_all_data_period>`.
 


.. _imu_v2_brick_python_callbacks:

Callbacks
^^^^^^^^^

Callbacks can be registered to receive
time critical or recurring data from the device. The registration is done
with the :py:func:`register_callback() <IMUV2.register_callback>` function of
the device object. The first parameter is the callback ID and the second
parameter the callback function:

.. code-block:: python

    def my_callback(param):
        print(param)

    imu_v2.register_callback(IMUV2.CALLBACK_EXAMPLE, my_callback)

The available constants with inherent number and type of parameters 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.

.. py:attribute:: IMUV2.CALLBACK_ACCELERATION

 :param x: int
 :param y: int
 :param z: int


 This callback is triggered periodically with the period that is set by
 :py:func:`set_acceleration_period() <IMUV2.set_acceleration_period>`. The parameters are the acceleration
 for the x, y and z axis.
 
.. py:attribute:: IMUV2.CALLBACK_MAGNETIC_FIELD

 :param x: int
 :param y: int
 :param z: int


 This callback is triggered periodically with the period that is set by
 :py:func:`set_magnetic_field_period() <IMUV2.set_magnetic_field_period>`. The parameters are the magnetic field
 for the x, y and z axis.
 
.. py:attribute:: IMUV2.CALLBACK_ANGULAR_VELOCITY

 :param x: int
 :param y: int
 :param z: int


 This callback is triggered periodically with the period that is set by
 :py:func:`set_angular_velocity_period() <IMUV2.set_angular_velocity_period>`. The parameters are the angular velocity
 for the x, y and z axis.
 
.. py:attribute:: IMUV2.CALLBACK_TEMPERATURE

 :param temperature: int


 This callback is triggered periodically with the period that is set by
 :py:func:`set_temperature_period() <IMUV2.set_temperature_period>`. The parameter is the temperature.
 
.. py:attribute:: IMUV2.CALLBACK_LINEAR_ACCELERATION

 :param x: int
 :param y: int
 :param z: int


 This callback is triggered periodically with the period that is set by
 :py:func:`set_linear_acceleration_period() <IMUV2.set_linear_acceleration_period>`. The parameters are the 
 linear acceleration for the x, y and z axis.
 
.. py:attribute:: IMUV2.CALLBACK_GRAVITY_VECTOR

 :param x: int
 :param y: int
 :param z: int


 This callback is triggered periodically with the period that is set by
 :py:func:`set_gravity_vector_period() <IMUV2.set_gravity_vector_period>`. The parameters gravity vector
 for the x, y and z axis.
 
.. py:attribute:: IMUV2.CALLBACK_ORIENTATION

 :param heading: int
 :param roll: int
 :param pitch: int


 This callback is triggered periodically with the period that is set by
 :py:func:`set_orientation_period() <IMUV2.set_orientation_period>`. The parameters are the orientation
 (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See
 :py:func:`get_orientation() <IMUV2.get_orientation>` for details.
 
.. py:attribute:: IMUV2.CALLBACK_QUATERNION

 :param w: int
 :param x: int
 :param y: int
 :param z: int


 This callback is triggered periodically with the period that is set by
 :py:func:`set_quaternion_period() <IMUV2.set_quaternion_period>`. The parameters are the orientation
 (x, y, z, w) of the IMU Brick in quaternions. See :py:func:`get_quaternion() <IMUV2.get_quaternion>`
 for details.
 
.. py:attribute:: IMUV2.CALLBACK_ALL_DATA

 :param acceleration: [int, int, int]
 :param magnetic_field: [int, int, int]
 :param angular_velocity: [int, int, int]
 :param euler_angle: [int, int, int]
 :param quaternion: [int, int, int, int]
 :param linear_acceleration: [int, int, int]
 :param gravity_vector: [int, int, int]
 :param temperature: int
 :param calibration_status: int


 This callback is triggered periodically with the period that is set by
 :py:func:`set_all_data_period() <IMUV2.set_all_data_period>`. The parameters are as for :py:func:`get_all_data() <IMUV2.get_all_data>`.
 


.. _imu_v2_brick_python_constants:

Constants
^^^^^^^^^

.. py:attribute:: IMUV2.DEVICE_IDENTIFIER

 This constant is used to identify a IMU Brick 2.0.

 The :py:func:`get_identity() <IMUV2.get_identity>` function and the
 :py:attr:`CALLBACK_ENUMERATE <IPConnection.CALLBACK_ENUMERATE>`
 callback of the IP Connection have a ``device_identifier`` parameter to specify
 the Brick's or Bricklet's type.

