Class: Tinkerforge::BrickIMUV2

Inherits:
Device
  • Object
show all
Defined in:
lib/tinkerforge/brick_imu_v2.rb

Overview

Full fledged AHRS with 9 degrees of freedom

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

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DEVICE_DISPLAY_NAME =

:nodoc:

'IMU Brick 2.0'
CALLBACK_ACCELERATION =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_acceleration_period. The parameters are the acceleration for the x, y and z axis.

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CALLBACK_MAGNETIC_FIELD =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_magnetic_field_period. The parameters are the magnetic field for the x, y and z axis.

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CALLBACK_ANGULAR_VELOCITY =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_angular_velocity_period. The parameters are the angular velocity for the x, y and z axis.

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CALLBACK_TEMPERATURE =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_temperature_period. The parameter is the temperature.

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CALLBACK_LINEAR_ACCELERATION =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_linear_acceleration_period. The parameters are the linear acceleration for the x, y and z axis.

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CALLBACK_GRAVITY_VECTOR =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_gravity_vector_period. The parameters gravity vector for the x, y and z axis.

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CALLBACK_ORIENTATION =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_orientation_period. The parameters are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See BrickIMUV2#get_orientation for details.

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CALLBACK_QUATERNION =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_quaternion_period. The parameters are the orientation (w, x, y, z) of the IMU Brick in quaternions. See BrickIMUV2#get_quaternion for details.

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CALLBACK_ALL_DATA =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_all_data_period. The parameters are as for BrickIMUV2#get_all_data.

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FUNCTION_GET_ACCELERATION =

:nodoc:

1
FUNCTION_GET_MAGNETIC_FIELD =

:nodoc:

2
FUNCTION_GET_ANGULAR_VELOCITY =

:nodoc:

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FUNCTION_GET_TEMPERATURE =

:nodoc:

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FUNCTION_GET_ORIENTATION =

:nodoc:

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FUNCTION_GET_LINEAR_ACCELERATION =

:nodoc:

6
FUNCTION_GET_GRAVITY_VECTOR =

:nodoc:

7
FUNCTION_GET_QUATERNION =

:nodoc:

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FUNCTION_GET_ALL_DATA =

:nodoc:

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FUNCTION_LEDS_ON =

:nodoc:

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FUNCTION_LEDS_OFF =

:nodoc:

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FUNCTION_ARE_LEDS_ON =

:nodoc:

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FUNCTION_SAVE_CALIBRATION =

:nodoc:

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FUNCTION_SET_ACCELERATION_PERIOD =

:nodoc:

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FUNCTION_GET_ACCELERATION_PERIOD =

:nodoc:

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FUNCTION_SET_MAGNETIC_FIELD_PERIOD =

:nodoc:

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FUNCTION_GET_MAGNETIC_FIELD_PERIOD =

:nodoc:

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FUNCTION_SET_ANGULAR_VELOCITY_PERIOD =

:nodoc:

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FUNCTION_GET_ANGULAR_VELOCITY_PERIOD =

:nodoc:

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FUNCTION_SET_TEMPERATURE_PERIOD =

:nodoc:

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FUNCTION_GET_TEMPERATURE_PERIOD =

:nodoc:

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FUNCTION_SET_ORIENTATION_PERIOD =

:nodoc:

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FUNCTION_GET_ORIENTATION_PERIOD =

:nodoc:

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FUNCTION_SET_LINEAR_ACCELERATION_PERIOD =

:nodoc:

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FUNCTION_GET_LINEAR_ACCELERATION_PERIOD =

:nodoc:

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FUNCTION_SET_GRAVITY_VECTOR_PERIOD =

:nodoc:

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FUNCTION_GET_GRAVITY_VECTOR_PERIOD =

:nodoc:

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FUNCTION_SET_QUATERNION_PERIOD =

:nodoc:

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FUNCTION_GET_QUATERNION_PERIOD =

:nodoc:

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FUNCTION_SET_ALL_DATA_PERIOD =

:nodoc:

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FUNCTION_GET_ALL_DATA_PERIOD =

:nodoc:

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FUNCTION_SET_SENSOR_CONFIGURATION =

:nodoc:

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FUNCTION_GET_SENSOR_CONFIGURATION =

:nodoc:

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FUNCTION_SET_SENSOR_FUSION_MODE =

:nodoc:

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FUNCTION_GET_SENSOR_FUSION_MODE =

:nodoc:

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FUNCTION_SET_SPITFP_BAUDRATE_CONFIG =

:nodoc:

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FUNCTION_GET_SPITFP_BAUDRATE_CONFIG =

:nodoc:

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FUNCTION_GET_SEND_TIMEOUT_COUNT =

:nodoc:

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FUNCTION_SET_SPITFP_BAUDRATE =

:nodoc:

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FUNCTION_GET_SPITFP_BAUDRATE =

:nodoc:

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FUNCTION_GET_SPITFP_ERROR_COUNT =

:nodoc:

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FUNCTION_ENABLE_STATUS_LED =

:nodoc:

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FUNCTION_DISABLE_STATUS_LED =

:nodoc:

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FUNCTION_IS_STATUS_LED_ENABLED =

:nodoc:

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FUNCTION_GET_PROTOCOL1_BRICKLET_NAME =

:nodoc:

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FUNCTION_GET_CHIP_TEMPERATURE =

:nodoc:

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FUNCTION_RESET =

:nodoc:

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FUNCTION_WRITE_BRICKLET_PLUGIN =

:nodoc:

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FUNCTION_READ_BRICKLET_PLUGIN =

:nodoc:

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FUNCTION_GET_IDENTITY =

:nodoc:

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MAGNETOMETER_RATE_2HZ =

:nodoc:

0
MAGNETOMETER_RATE_6HZ =

:nodoc:

1
MAGNETOMETER_RATE_8HZ =

:nodoc:

2
MAGNETOMETER_RATE_10HZ =

:nodoc:

3
MAGNETOMETER_RATE_15HZ =

:nodoc:

4
MAGNETOMETER_RATE_20HZ =

:nodoc:

5
MAGNETOMETER_RATE_25HZ =

:nodoc:

6
MAGNETOMETER_RATE_30HZ =

:nodoc:

7
GYROSCOPE_RANGE_2000DPS =

:nodoc:

0
GYROSCOPE_RANGE_1000DPS =

:nodoc:

1
GYROSCOPE_RANGE_500DPS =

:nodoc:

2
GYROSCOPE_RANGE_250DPS =

:nodoc:

3
GYROSCOPE_RANGE_125DPS =

:nodoc:

4
GYROSCOPE_BANDWIDTH_523HZ =

:nodoc:

0
GYROSCOPE_BANDWIDTH_230HZ =

:nodoc:

1
GYROSCOPE_BANDWIDTH_116HZ =

:nodoc:

2
GYROSCOPE_BANDWIDTH_47HZ =

:nodoc:

3
GYROSCOPE_BANDWIDTH_23HZ =

:nodoc:

4
GYROSCOPE_BANDWIDTH_12HZ =

:nodoc:

5
GYROSCOPE_BANDWIDTH_64HZ =

:nodoc:

6
GYROSCOPE_BANDWIDTH_32HZ =

:nodoc:

7
ACCELEROMETER_RANGE_2G =

:nodoc:

0
ACCELEROMETER_RANGE_4G =

:nodoc:

1
ACCELEROMETER_RANGE_8G =

:nodoc:

2
ACCELEROMETER_RANGE_16G =

:nodoc:

3
ACCELEROMETER_BANDWIDTH_7_81HZ =

:nodoc:

0
ACCELEROMETER_BANDWIDTH_15_63HZ =

:nodoc:

1
ACCELEROMETER_BANDWIDTH_31_25HZ =

:nodoc:

2
ACCELEROMETER_BANDWIDTH_62_5HZ =

:nodoc:

3
ACCELEROMETER_BANDWIDTH_125HZ =

:nodoc:

4
ACCELEROMETER_BANDWIDTH_250HZ =

:nodoc:

5
ACCELEROMETER_BANDWIDTH_500HZ =

:nodoc:

6
ACCELEROMETER_BANDWIDTH_1000HZ =

:nodoc:

7
SENSOR_FUSION_OFF =

:nodoc:

0
SENSOR_FUSION_ON =

:nodoc:

1
SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER =

:nodoc:

2
SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION =

:nodoc:

3
COMMUNICATION_METHOD_NONE =

:nodoc:

0
COMMUNICATION_METHOD_USB =

:nodoc:

1
COMMUNICATION_METHOD_SPI_STACK =

:nodoc:

2
COMMUNICATION_METHOD_CHIBI =

:nodoc:

3
COMMUNICATION_METHOD_RS485 =

:nodoc:

4
COMMUNICATION_METHOD_WIFI =

:nodoc:

5
COMMUNICATION_METHOD_ETHERNET =

:nodoc:

6
COMMUNICATION_METHOD_WIFI_V2 =

:nodoc:

7

Constants inherited from Device

Device::DEVICE_IDENTIFIER_CHECK_MATCH, Device::DEVICE_IDENTIFIER_CHECK_MISMATCH, Device::DEVICE_IDENTIFIER_CHECK_PENDING, Device::RESPONSE_EXPECTED_ALWAYS_TRUE, Device::RESPONSE_EXPECTED_FALSE, Device::RESPONSE_EXPECTED_INVALID_FUNCTION_ID, Device::RESPONSE_EXPECTED_TRUE

Instance Attribute Summary

Attributes inherited from Device

#callback_formats, #expected_response_function_id, #expected_response_sequence_number, #high_level_callbacks, #registered_callbacks, #replaced, #uid

Instance Method Summary collapse

Methods inherited from Device

#check_validity, #dequeue_response, #enqueue_response, #get_api_version, #get_response_expected, #send_request, #set_response_expected, #set_response_expected_all

Constructor Details

#initialize(uid, ipcon) ⇒ BrickIMUV2

Creates an object with the unique device ID uid and adds it to the IP Connection ipcon.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 165

def initialize(uid, ipcon)
  super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME

  @api_version = [2, 0, 3]

  @response_expected[FUNCTION_GET_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_MAGNETIC_FIELD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_ANGULAR_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_ORIENTATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_LINEAR_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_GRAVITY_VECTOR] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_QUATERNION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_LEDS_ON] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_LEDS_OFF] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_ARE_LEDS_ON] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SAVE_CALIBRATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_MAGNETIC_FIELD_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_MAGNETIC_FIELD_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ANGULAR_VELOCITY_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_ANGULAR_VELOCITY_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_TEMPERATURE_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_TEMPERATURE_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ORIENTATION_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_ORIENTATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_LINEAR_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_LINEAR_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_GRAVITY_VECTOR_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_GRAVITY_VECTOR_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_QUATERNION_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_QUATERNION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_SENSOR_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_SENSOR_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_SENSOR_FUSION_MODE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_SENSOR_FUSION_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_SPITFP_BAUDRATE_CONFIG] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_SPITFP_BAUDRATE_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_SEND_TIMEOUT_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_SPITFP_BAUDRATE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_SPITFP_BAUDRATE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_WRITE_BRICKLET_PLUGIN] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_READ_BRICKLET_PLUGIN] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE

  @callback_formats[CALLBACK_ACCELERATION] = [14, 's s s']
  @callback_formats[CALLBACK_MAGNETIC_FIELD] = [14, 's s s']
  @callback_formats[CALLBACK_ANGULAR_VELOCITY] = [14, 's s s']
  @callback_formats[CALLBACK_TEMPERATURE] = [9, 'c']
  @callback_formats[CALLBACK_LINEAR_ACCELERATION] = [14, 's s s']
  @callback_formats[CALLBACK_GRAVITY_VECTOR] = [14, 's s s']
  @callback_formats[CALLBACK_ORIENTATION] = [14, 's s s']
  @callback_formats[CALLBACK_QUATERNION] = [16, 's s s s']
  @callback_formats[CALLBACK_ALL_DATA] = [54, 's3 s3 s3 s3 s4 s3 s3 c C']

  @ipcon.add_device self
end

Instance Method Details

#are_leds_on ⇒ Object

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



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 400

def are_leds_on
  check_validity

  send_request FUNCTION_ARE_LEDS_ON, [], '', 9, '?'
end

#disable_status_led ⇒ Object

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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# File 'lib/tinkerforge/brick_imu_v2.rb', line 724

def disable_status_led
  check_validity

  send_request FUNCTION_DISABLE_STATUS_LED, [], '', 8, ''
end

#enable_status_led ⇒ Object

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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# File 'lib/tinkerforge/brick_imu_v2.rb', line 712

def enable_status_led
  check_validity

  send_request FUNCTION_ENABLE_STATUS_LED, [], '', 8, ''
end

#get_acceleration ⇒ Object

Returns the calibrated acceleration from the accelerometer for the x, y and z axis. The acceleration is in the range configured with BrickIMUV2#set_sensor_configuration.

If you want to get the acceleration periodically, it is recommended to use the CALLBACK_ACCELERATION callback and set the period with BrickIMUV2#set_acceleration_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 241

def get_acceleration
  check_validity

  send_request FUNCTION_GET_ACCELERATION, [], '', 14, 's s s'
end

#get_acceleration_period ⇒ Object

Returns the period as set by BrickIMUV2#set_acceleration_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 431

def get_acceleration_period
  check_validity

  send_request FUNCTION_GET_ACCELERATION_PERIOD, [], '', 12, 'L'
end

#get_all_data ⇒ Object

Return all of the available data of the IMU Brick.

  • acceleration (see BrickIMUV2#get_acceleration)

  • magnetic field (see BrickIMUV2#get_magnetic_field)

  • angular velocity (see BrickIMUV2#get_angular_velocity)

  • Euler angles (see BrickIMUV2#get_orientation)

  • quaternion (see BrickIMUV2#get_quaternion)

  • linear acceleration (see BrickIMUV2#get_linear_acceleration)

  • gravity vector (see BrickIMUV2#get_gravity_vector)

  • temperature (see BrickIMUV2#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 callback and set the period with BrickIMUV2#set_all_data_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 378

def get_all_data
  check_validity

  send_request FUNCTION_GET_ALL_DATA, [], '', 54, 's3 s3 s3 s3 s4 s3 s3 c C'
end

#get_all_data_period ⇒ Object

Returns the period as set by BrickIMUV2#set_all_data_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 551

def get_all_data_period
  check_validity

  send_request FUNCTION_GET_ALL_DATA_PERIOD, [], '', 12, 'L'
end

#get_angular_velocity ⇒ Object

Returns the calibrated angular velocity from the gyroscope for the x, y and z axis. The angular velocity is in the range configured with BrickIMUV2#set_sensor_configuration.

If you want to get the angular velocity periodically, it is recommended to use the CALLBACK_ANGULAR_VELOCITY acallback nd set the period with BrickIMUV2#set_angular_velocity_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 266

def get_angular_velocity
  check_validity

  send_request FUNCTION_GET_ANGULAR_VELOCITY, [], '', 14, 's s s'
end

#get_angular_velocity_period ⇒ Object

Returns the period as set by BrickIMUV2#set_angular_velocity_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 461

def get_angular_velocity_period
  check_validity

  send_request FUNCTION_GET_ANGULAR_VELOCITY_PERIOD, [], '', 12, 'L'
end

#get_chip_temperature ⇒ Object

Returns the temperature 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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# File 'lib/tinkerforge/brick_imu_v2.rb', line 754

def get_chip_temperature
  check_validity

  send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's'
end

#get_gravity_vector ⇒ Object

Returns the current gravity vector of the IMU Brick for the x, y and z axis.

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 BrickIMUV2#get_linear_acceleration.

If you want to get the gravity vector periodically, it is recommended to use the CALLBACK_GRAVITY_VECTOR callback and set the period with BrickIMUV2#set_gravity_vector_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 327

def get_gravity_vector
  check_validity

  send_request FUNCTION_GET_GRAVITY_VECTOR, [], '', 14, 's s s'
end

#get_gravity_vector_period ⇒ Object

Returns the period as set by BrickIMUV2#set_gravity_vector_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 521

def get_gravity_vector_period
  check_validity

  send_request FUNCTION_GET_GRAVITY_VECTOR_PERIOD, [], '', 12, 'L'
end

#get_identity ⇒ Object

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 is the position in the stack from ‘0’ (bottom) to ‘8’ (top).

The device identifier numbers can be found :ref:‘here <device_identifier>`. |device_identifier_constant|



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 802

def get_identity
  send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
end

#get_linear_acceleration ⇒ Object

Returns the linear acceleration of the IMU Brick for the x, y and z axis. The acceleration is in the range configured with BrickIMUV2#set_sensor_configuration.

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 BrickIMUV2#get_gravity_vector.

If you want to get the linear acceleration periodically, it is recommended to use the CALLBACK_LINEAR_ACCELERATION callback and set the period with BrickIMUV2#set_linear_acceleration_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 309

def get_linear_acceleration
  check_validity

  send_request FUNCTION_GET_LINEAR_ACCELERATION, [], '', 14, 's s s'
end

#get_linear_acceleration_period ⇒ Object

Returns the period as set by BrickIMUV2#set_linear_acceleration_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 506

def get_linear_acceleration_period
  check_validity

  send_request FUNCTION_GET_LINEAR_ACCELERATION_PERIOD, [], '', 12, 'L'
end

#get_magnetic_field ⇒ Object

Returns the calibrated magnetic field from the magnetometer for the x, y and z axis.

If you want to get the magnetic field periodically, it is recommended to use the CALLBACK_MAGNETIC_FIELD callback and set the period with BrickIMUV2#set_magnetic_field_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 253

def get_magnetic_field
  check_validity

  send_request FUNCTION_GET_MAGNETIC_FIELD, [], '', 14, 's s s'
end

#get_magnetic_field_period ⇒ Object

Returns the period as set by BrickIMUV2#set_magnetic_field_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 446

def get_magnetic_field_period
  check_validity

  send_request FUNCTION_GET_MAGNETIC_FIELD_PERIOD, [], '', 12, 'L'
end

#get_orientation ⇒ Object

Returns the current orientation (heading, roll, pitch) of the IMU Brick as independent Euler angles. Note that Euler angles always experience a ‘gimbal lock <en.wikipedia.org/wiki/Gimbal_lock>`__. We recommend that you use quaternions instead, if you need the absolute orientation.

If you want to get the orientation periodically, it is recommended to use the CALLBACK_ORIENTATION callback and set the period with BrickIMUV2#set_orientation_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 290

def get_orientation
  check_validity

  send_request FUNCTION_GET_ORIENTATION, [], '', 14, 's s s'
end

#get_orientation_period ⇒ Object

Returns the period as set by BrickIMUV2#set_orientation_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 491

def get_orientation_period
  check_validity

  send_request FUNCTION_GET_ORIENTATION_PERIOD, [], '', 12, 'L'
end

#get_protocol1_bricklet_name(port) ⇒ Object

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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# File 'lib/tinkerforge/brick_imu_v2.rb', line 742

def get_protocol1_bricklet_name(port)
  check_validity

  send_request FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 52, 'C C3 Z40'
end

#get_quaternion ⇒ Object

Returns the current orientation (w, x, y, z) of the IMU Brick as ‘quaternions <en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.

You have to divide the return 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 callback and set the period with BrickIMUV2#set_quaternion_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 342

def get_quaternion
  check_validity

  send_request FUNCTION_GET_QUATERNION, [], '', 16, 's s s s'
end

#get_quaternion_period ⇒ Object

Returns the period as set by BrickIMUV2#set_quaternion_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 536

def get_quaternion_period
  check_validity

  send_request FUNCTION_GET_QUATERNION_PERIOD, [], '', 12, 'L'
end

#get_send_timeout_count(communication_method) ⇒ Object

Returns the timeout count for the different communication methods.

The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.

This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0.

.. versionadded

2.0.7$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 651

def get_send_timeout_count(communication_method)
  check_validity

  send_request FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 12, 'L'
end

#get_sensor_configuration ⇒ Object

Returns the sensor configuration as set by BrickIMUV2#set_sensor_configuration.

.. versionadded

2.0.5$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 571

def get_sensor_configuration
  check_validity

  send_request FUNCTION_GET_SENSOR_CONFIGURATION, [], '', 13, 'C C C C C'
end

#get_sensor_fusion_mode ⇒ Object

Returns the sensor fusion mode as set by BrickIMUV2#set_sensor_fusion_mode.

.. versionadded

2.0.5$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 602

def get_sensor_fusion_mode
  check_validity

  send_request FUNCTION_GET_SENSOR_FUSION_MODE, [], '', 9, 'C'
end

#get_spitfp_baudrate(bricklet_port) ⇒ Object

Returns the baudrate for a given Bricklet port, see BrickIMUV2#set_spitfp_baudrate.

.. versionadded

2.0.5$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 681

def get_spitfp_baudrate(bricklet_port)
  check_validity

  send_request FUNCTION_GET_SPITFP_BAUDRATE, [bricklet_port], 'k', 12, 'L'
end

#get_spitfp_baudrate_config ⇒ Object

Returns the baudrate config, see BrickIMUV2#set_spitfp_baudrate_config.

.. versionadded

2.0.10$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 637

def get_spitfp_baudrate_config
  check_validity

  send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 13, '? L'
end

#get_spitfp_error_count(bricklet_port) ⇒ Object

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

  • ACK checksum errors,

  • message checksum errors,

  • framing errors and

  • overflow errors.

The errors counts are for errors that occur on the Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

.. versionadded

2.0.5$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 700

def get_spitfp_error_count(bricklet_port)
  check_validity

  send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [bricklet_port], 'k', 24, 'L L L L'
end

#get_temperature ⇒ Object

Returns the temperature of the IMU Brick. The temperature is measured in the core of the BNO055 IC, it is not the ambient temperature



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 275

def get_temperature
  check_validity

  send_request FUNCTION_GET_TEMPERATURE, [], '', 9, 'c'
end

#get_temperature_period ⇒ Object

Returns the period as set by BrickIMUV2#set_temperature_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 476

def get_temperature_period
  check_validity

  send_request FUNCTION_GET_TEMPERATURE_PERIOD, [], '', 12, 'L'
end

#is_status_led_enabled ⇒ Object

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



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 731

def is_status_led_enabled
  check_validity

  send_request FUNCTION_IS_STATUS_LED_ENABLED, [], '', 9, '?'
end

#leds_off ⇒ Object

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



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 392

def leds_off
  check_validity

  send_request FUNCTION_LEDS_OFF, [], '', 8, ''
end

#leds_on ⇒ Object

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



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 385

def leds_on
  check_validity

  send_request FUNCTION_LEDS_ON, [], '', 8, ''
end

#read_bricklet_plugin(port, offset) ⇒ Object

Reads 32 bytes of firmware from the bricklet attached at the given port. The bytes are read starting at the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 788

def read_bricklet_plugin(port, offset)
  check_validity

  send_request FUNCTION_READ_BRICKLET_PLUGIN, [port, offset], 'k C', 40, 'C32'
end

#register_callback(id, &block) ⇒ Object

Registers a callback with ID id to the block block.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 807

def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end

#reset ⇒ Object

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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# File 'lib/tinkerforge/brick_imu_v2.rb', line 766

def reset
  check_validity

  send_request FUNCTION_RESET, [], '', 8, ''
end

#save_calibration ⇒ Object

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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# File 'lib/tinkerforge/brick_imu_v2.rb', line 416

def save_calibration
  check_validity

  send_request FUNCTION_SAVE_CALIBRATION, [], '', 9, '?'
end

#set_acceleration_period(period) ⇒ Object

Sets the period with which the CALLBACK_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 424

def set_acceleration_period(period)
  check_validity

  send_request FUNCTION_SET_ACCELERATION_PERIOD, [period], 'L', 8, ''
end

#set_all_data_period(period) ⇒ Object

Sets the period with which the CALLBACK_ALL_DATA callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 544

def set_all_data_period(period)
  check_validity

  send_request FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 8, ''
end

#set_angular_velocity_period(period) ⇒ Object

Sets the period with which the CALLBACK_ANGULAR_VELOCITY callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 454

def set_angular_velocity_period(period)
  check_validity

  send_request FUNCTION_SET_ANGULAR_VELOCITY_PERIOD, [period], 'L', 8, ''
end

#set_gravity_vector_period(period) ⇒ Object

Sets the period with which the CALLBACK_GRAVITY_VECTOR callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 514

def set_gravity_vector_period(period)
  check_validity

  send_request FUNCTION_SET_GRAVITY_VECTOR_PERIOD, [period], 'L', 8, ''
end

#set_linear_acceleration_period(period) ⇒ Object

Sets the period with which the CALLBACK_LINEAR_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 499

def set_linear_acceleration_period(period)
  check_validity

  send_request FUNCTION_SET_LINEAR_ACCELERATION_PERIOD, [period], 'L', 8, ''
end

#set_magnetic_field_period(period) ⇒ Object

Sets the period with which the CALLBACK_MAGNETIC_FIELD callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 439

def set_magnetic_field_period(period)
  check_validity

  send_request FUNCTION_SET_MAGNETIC_FIELD_PERIOD, [period], 'L', 8, ''
end

#set_orientation_period(period) ⇒ Object

Sets the period with which the CALLBACK_ORIENTATION callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 484

def set_orientation_period(period)
  check_validity

  send_request FUNCTION_SET_ORIENTATION_PERIOD, [period], 'L', 8, ''
end

#set_quaternion_period(period) ⇒ Object

Sets the period with which the CALLBACK_QUATERNION callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 529

def set_quaternion_period(period)
  check_validity

  send_request FUNCTION_SET_QUATERNION_PERIOD, [period], 'L', 8, ''
end

#set_sensor_configuration(magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth) ⇒ Object

Sets the available sensor configuration for the Magnetometer, Gyroscope and Accelerometer. The Accelerometer Range is user selectable in all fusion modes, all other configurations are auto-controlled in fusion mode.

.. versionadded

2.0.5$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 562

def set_sensor_configuration(magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth)
  check_validity

  send_request FUNCTION_SET_SENSOR_CONFIGURATION, [magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth], 'C C C C C', 8, ''
end

#set_sensor_fusion_mode(mode) ⇒ Object

If the fusion mode is turned off, the functions BrickIMUV2#get_acceleration, BrickIMUV2#get_magnetic_field and BrickIMUV2#get_angular_velocity return uncalibrated and uncompensated sensor data. All other sensor data getters return no data.

Since firmware version 2.0.6 you can also use a fusion mode without magnetometer. In this mode the calculated orientation is relative (with magnetometer it is absolute with respect to the earth). However, the calculation can’t be influenced by spurious magnetic fields.

Since firmware version 2.0.13 you can also use a fusion mode without fast magnetometer calibration. This mode is the same as the normal fusion mode, but the fast magnetometer calibration is turned off. So to find the orientation the first time will likely take longer, but small magnetic influences might not affect the automatic calibration as much.

.. versionadded

2.0.5$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 593

def set_sensor_fusion_mode(mode)
  check_validity

  send_request FUNCTION_SET_SENSOR_FUSION_MODE, [mode], 'C', 8, ''
end

#set_spitfp_baudrate(bricklet_port, baudrate) ⇒ Object

Sets the baudrate for a specific Bricklet port.

If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see BrickIMUV2#get_spitfp_error_count) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see BrickIMUV2#set_spitfp_baudrate_config).

Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate.

.. versionadded

2.0.5$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 672

def set_spitfp_baudrate(bricklet_port, baudrate)
  check_validity

  send_request FUNCTION_SET_SPITFP_BAUDRATE, [bricklet_port, baudrate], 'k L', 8, ''
end

#set_spitfp_baudrate_config(enable_dynamic_baudrate, minimum_dynamic_baudrate) ⇒ Object

The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred.

The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received.

This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.

In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance.

The maximum value of the baudrate can be set per port with the function BrickIMUV2#set_spitfp_baudrate. If the dynamic baudrate is disabled, the baudrate as set by BrickIMUV2#set_spitfp_baudrate will be used statically.

.. versionadded

2.0.10$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 628

def set_spitfp_baudrate_config(enable_dynamic_baudrate, minimum_dynamic_baudrate)
  check_validity

  send_request FUNCTION_SET_SPITFP_BAUDRATE_CONFIG, [enable_dynamic_baudrate, minimum_dynamic_baudrate], '? L', 8, ''
end

#set_temperature_period(period) ⇒ Object

Sets the period with which the CALLBACK_TEMPERATURE callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 469

def set_temperature_period(period)
  check_validity

  send_request FUNCTION_SET_TEMPERATURE_PERIOD, [period], 'L', 8, ''
end

#write_bricklet_plugin(port, offset, chunk) ⇒ Object

Writes 32 bytes of firmware to the bricklet attached at the given port. The bytes are written to the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 777

def write_bricklet_plugin(port, offset, chunk)
  check_validity

  send_request FUNCTION_WRITE_BRICKLET_PLUGIN, [port, offset, chunk], 'k C C32', 8, ''
end