class Tinkerforge::BrickIMUV2

Full fledged AHRS with 9 degrees of freedom

Constants

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.

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.

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.

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.

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.

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.

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.

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.

CALLBACK_TEMPERATURE

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

Public Class Methods

new(uid, ipcon) click to toggle source

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

Calls superclass method
# File lib/tinkerforge/brick_imu_v2.rb, line 164
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

Public Instance Methods

are_leds_on() click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 399
def are_leds_on
  check_validity

  send_request FUNCTION_ARE_LEDS_ON, [], '', 9, '?'
end
disable_status_led() click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 723
def disable_status_led
  check_validity

  send_request FUNCTION_DISABLE_STATUS_LED, [], '', 8, ''
end
enable_status_led() click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 711
def enable_status_led
  check_validity

  send_request FUNCTION_ENABLE_STATUS_LED, [], '', 8, ''
end
get_acceleration() click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 240
def get_acceleration
  check_validity

  send_request FUNCTION_GET_ACCELERATION, [], '', 14, 's s s'
end
get_acceleration_period() click to toggle source

Returns the period as set by BrickIMUV2#set_acceleration_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 430
def get_acceleration_period
  check_validity

  send_request FUNCTION_GET_ACCELERATION_PERIOD, [], '', 12, 'L'
end
get_all_data() click to toggle source

Return all of the available data of the IMU Brick.

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 377
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() click to toggle source

Returns the period as set by BrickIMUV2#set_all_data_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 550
def get_all_data_period
  check_validity

  send_request FUNCTION_GET_ALL_DATA_PERIOD, [], '', 12, 'L'
end
get_angular_velocity() click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 265
def get_angular_velocity
  check_validity

  send_request FUNCTION_GET_ANGULAR_VELOCITY, [], '', 14, 's s s'
end
get_angular_velocity_period() click to toggle source

Returns the period as set by BrickIMUV2#set_angular_velocity_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 460
def get_angular_velocity_period
  check_validity

  send_request FUNCTION_GET_ANGULAR_VELOCITY_PERIOD, [], '', 12, 'L'
end
get_chip_temperature() click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 753
def get_chip_temperature
  check_validity

  send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's'
end
get_gravity_vector() click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 326
def get_gravity_vector
  check_validity

  send_request FUNCTION_GET_GRAVITY_VECTOR, [], '', 14, 's s s'
end
get_gravity_vector_period() click to toggle source

Returns the period as set by BrickIMUV2#set_gravity_vector_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 520
def get_gravity_vector_period
  check_validity

  send_request FUNCTION_GET_GRAVITY_VECTOR_PERIOD, [], '', 12, 'L'
end
get_identity() click to toggle source

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|

# File lib/tinkerforge/brick_imu_v2.rb, line 801
def get_identity
  send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
end
get_linear_acceleration() click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 308
def get_linear_acceleration
  check_validity

  send_request FUNCTION_GET_LINEAR_ACCELERATION, [], '', 14, 's s s'
end
get_linear_acceleration_period() click to toggle source

Returns the period as set by BrickIMUV2#set_linear_acceleration_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 505
def get_linear_acceleration_period
  check_validity

  send_request FUNCTION_GET_LINEAR_ACCELERATION_PERIOD, [], '', 12, 'L'
end
get_magnetic_field() click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 252
def get_magnetic_field
  check_validity

  send_request FUNCTION_GET_MAGNETIC_FIELD, [], '', 14, 's s s'
end
get_magnetic_field_period() click to toggle source

Returns the period as set by BrickIMUV2#set_magnetic_field_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 445
def get_magnetic_field_period
  check_validity

  send_request FUNCTION_GET_MAGNETIC_FIELD_PERIOD, [], '', 12, 'L'
end
get_orientation() click to toggle source

Returns the current orientation (heading, roll, pitch) of the IMU Brick as independent Euler angles. Note that Euler angles always experience a `gimbal lock <CALLBACK_ORIENTATION callback and set the period with BrickIMUV2#set_orientation_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 289
def get_orientation
  check_validity

  send_request FUNCTION_GET_ORIENTATION, [], '', 14, 's s s'
end
get_orientation_period() click to toggle source

Returns the period as set by BrickIMUV2#set_orientation_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 490
def get_orientation_period
  check_validity

  send_request FUNCTION_GET_ORIENTATION_PERIOD, [], '', 12, 'L'
end
get_protocol1_bricklet_name(port) click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 741
def get_protocol1_bricklet_name(port)
  check_validity

  send_request FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 52, 'C C3 Z40'
end
get_quaternion() click to toggle source

Returns the current orientation (w, x, y, z) of the IMU Brick as `quaternions <CALLBACK_QUATERNION callback and set the period with BrickIMUV2#set_quaternion_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 341
def get_quaternion
  check_validity

  send_request FUNCTION_GET_QUATERNION, [], '', 16, 's s s s'
end
get_quaternion_period() click to toggle source

Returns the period as set by BrickIMUV2#set_quaternion_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 535
def get_quaternion_period
  check_validity

  send_request FUNCTION_GET_QUATERNION_PERIOD, [], '', 12, 'L'
end
get_send_timeout_count(communication_method) click to toggle source

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)

# File lib/tinkerforge/brick_imu_v2.rb, line 650
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() click to toggle source

Returns the sensor configuration as set by BrickIMUV2#set_sensor_configuration.

.. versionadded

2.0.5$nbsp;(Firmware)

# File lib/tinkerforge/brick_imu_v2.rb, line 570
def get_sensor_configuration
  check_validity

  send_request FUNCTION_GET_SENSOR_CONFIGURATION, [], '', 13, 'C C C C C'
end
get_sensor_fusion_mode() click to toggle source

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

.. versionadded

2.0.5$nbsp;(Firmware)

# File lib/tinkerforge/brick_imu_v2.rb, line 601
def get_sensor_fusion_mode
  check_validity

  send_request FUNCTION_GET_SENSOR_FUSION_MODE, [], '', 9, 'C'
end
get_spitfp_baudrate(bricklet_port) click to toggle source

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

.. versionadded

2.0.5$nbsp;(Firmware)

# File lib/tinkerforge/brick_imu_v2.rb, line 680
def get_spitfp_baudrate(bricklet_port)
  check_validity

  send_request FUNCTION_GET_SPITFP_BAUDRATE, [bricklet_port], 'k', 12, 'L'
end
get_spitfp_baudrate_config() click to toggle source

Returns the baudrate config, see BrickIMUV2#set_spitfp_baudrate_config.

.. versionadded

2.0.10$nbsp;(Firmware)

# File lib/tinkerforge/brick_imu_v2.rb, line 636
def get_spitfp_baudrate_config
  check_validity

  send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 13, '? L'
end
get_spitfp_error_count(bricklet_port) click to toggle source

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)

# File lib/tinkerforge/brick_imu_v2.rb, line 699
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() click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 274
def get_temperature
  check_validity

  send_request FUNCTION_GET_TEMPERATURE, [], '', 9, 'c'
end
get_temperature_period() click to toggle source

Returns the period as set by BrickIMUV2#set_temperature_period.

# File lib/tinkerforge/brick_imu_v2.rb, line 475
def get_temperature_period
  check_validity

  send_request FUNCTION_GET_TEMPERATURE_PERIOD, [], '', 12, 'L'
end
is_status_led_enabled() click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 730
def is_status_led_enabled
  check_validity

  send_request FUNCTION_IS_STATUS_LED_ENABLED, [], '', 9, '?'
end
leds_off() click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 391
def leds_off
  check_validity

  send_request FUNCTION_LEDS_OFF, [], '', 8, ''
end
leds_on() click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 384
def leds_on
  check_validity

  send_request FUNCTION_LEDS_ON, [], '', 8, ''
end
read_bricklet_plugin(port, offset) click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 787
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) click to toggle source

Registers a callback with ID id to the block block.

# File lib/tinkerforge/brick_imu_v2.rb, line 806
def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end
reset() click to toggle source

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!

# File lib/tinkerforge/brick_imu_v2.rb, line 765
def reset
  check_validity

  send_request FUNCTION_RESET, [], '', 8, ''
end
save_calibration() click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 415
def save_calibration
  check_validity

  send_request FUNCTION_SAVE_CALIBRATION, [], '', 9, '?'
end
set_acceleration_period(period) click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 423
def set_acceleration_period(period)
  check_validity

  send_request FUNCTION_SET_ACCELERATION_PERIOD, [period], 'L', 8, ''
end
set_all_data_period(period) click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 543
def set_all_data_period(period)
  check_validity

  send_request FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 8, ''
end
set_angular_velocity_period(period) click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 453
def set_angular_velocity_period(period)
  check_validity

  send_request FUNCTION_SET_ANGULAR_VELOCITY_PERIOD, [period], 'L', 8, ''
end
set_gravity_vector_period(period) click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 513
def set_gravity_vector_period(period)
  check_validity

  send_request FUNCTION_SET_GRAVITY_VECTOR_PERIOD, [period], 'L', 8, ''
end
set_linear_acceleration_period(period) click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 498
def set_linear_acceleration_period(period)
  check_validity

  send_request FUNCTION_SET_LINEAR_ACCELERATION_PERIOD, [period], 'L', 8, ''
end
set_magnetic_field_period(period) click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 438
def set_magnetic_field_period(period)
  check_validity

  send_request FUNCTION_SET_MAGNETIC_FIELD_PERIOD, [period], 'L', 8, ''
end
set_orientation_period(period) click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 483
def set_orientation_period(period)
  check_validity

  send_request FUNCTION_SET_ORIENTATION_PERIOD, [period], 'L', 8, ''
end
set_quaternion_period(period) click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 528
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) click to toggle source

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)

# File lib/tinkerforge/brick_imu_v2.rb, line 561
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) click to toggle source

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)

# File lib/tinkerforge/brick_imu_v2.rb, line 592
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) click to toggle source

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)

# File lib/tinkerforge/brick_imu_v2.rb, line 671
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) click to toggle source

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)

# File lib/tinkerforge/brick_imu_v2.rb, line 627
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) click to toggle source

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

# File lib/tinkerforge/brick_imu_v2.rb, line 468
def set_temperature_period(period)
  check_validity

  send_request FUNCTION_SET_TEMPERATURE_PERIOD, [period], 'L', 8, ''
end
write_bricklet_plugin(port, offset, chunk) click to toggle source

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.

# File lib/tinkerforge/brick_imu_v2.rb, line 776
def write_bricklet_plugin(port, offset, chunk)
  check_validity

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