class Tinkerforge::BrickletIMUV3
Full fledged AHRS with 9 degrees of freedom
Constants
- CALLBACK_ACCELERATION
This callback is triggered periodically with the period that is set by
BrickletIMUV3#set_acceleration_callback_configuration
. 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
BrickletIMUV3#set_all_data_callback_configuration
. The parameters are as forBrickletIMUV3#get_all_data
.- CALLBACK_ANGULAR_VELOCITY
This callback is triggered periodically with the period that is set by
BrickletIMUV3#set_angular_velocity_callback_configuration
. 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
BrickletIMUV3#set_gravity_vector_callback_configuration
. 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
BrickletIMUV3#set_linear_acceleration_callback_configuration
. 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
BrickletIMUV3#set_magnetic_field_callback_configuration
. 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
BrickletIMUV3#set_orientation_callback_configuration
. The parameters are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. SeeBrickletIMUV3#get_orientation
for details.- CALLBACK_QUATERNION
This callback is triggered periodically with the period that is set by
BrickletIMUV3#set_quaternion_callback_configuration
. The parameters are the orientation (w, x, y, z) of the IMU Brick in quaternions. SeeBrickletIMUV3#get_quaternion
for details.- CALLBACK_TEMPERATURE
This callback is triggered periodically with the period that is set by
BrickletIMUV3#set_temperature_callback_configuration
. The parameter is the temperature.
Public Class Methods
Creates an object with the unique device ID uid
and adds it to the IP Connection ipcon
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 165 def initialize(uid, ipcon) super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME @api_version = [2, 0, 0] @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_SAVE_CALIBRATION] = 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_ACCELERATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_ACCELERATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_TEMPERATURE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_ORIENTATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_QUATERNION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_ALL_DATA_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = 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_UID] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_READ_UID] = 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
Returns the calibrated acceleration from the accelerometer for the x, y and z axis. The acceleration is in the range configured with BrickletIMUV3#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 BrickletIMUV3#set_acceleration_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 235 def get_acceleration check_validity send_request FUNCTION_GET_ACCELERATION, [], '', 14, 's s s' end
Returns the callback configuration as set by BrickletIMUV3#set_acceleration_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 453 def get_acceleration_callback_configuration check_validity send_request FUNCTION_GET_ACCELERATION_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
Return all of the available data of the IMU Brick.
-
acceleration (see
BrickletIMUV3#get_acceleration
) -
magnetic field (see
BrickletIMUV3#get_magnetic_field
) -
angular velocity (see
BrickletIMUV3#get_angular_velocity
) -
Euler angles (see
BrickletIMUV3#get_orientation
) -
quaternion (see
BrickletIMUV3#get_quaternion
) -
linear acceleration (see
BrickletIMUV3#get_linear_acceleration
) -
gravity vector (see
BrickletIMUV3#get_gravity_vector
) -
temperature (see
BrickletIMUV3#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 BrickletIMUV3#set_all_data_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 372 def get_all_data check_validity send_request FUNCTION_GET_ALL_DATA, [], '', 54, 's3 s3 s3 s3 s4 s3 s3 c C' end
Returns the callback configuration as set by BrickletIMUV3#set_all_data_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 629 def get_all_data_callback_configuration check_validity send_request FUNCTION_GET_ALL_DATA_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
Returns the calibrated angular velocity from the gyroscope for the x, y and z axis. The angular velocity is in the range configured with BrickletIMUV3#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 BrickletIMUV3#set_angular_velocity_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 260 def get_angular_velocity check_validity send_request FUNCTION_GET_ANGULAR_VELOCITY, [], '', 14, 's s s' end
Returns the callback configuration as set by BrickletIMUV3#set_angular_velocity_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 497 def get_angular_velocity_callback_configuration check_validity send_request FUNCTION_GET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
Returns the current bootloader mode, see BrickletIMUV3#set_bootloader_mode
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 668 def get_bootloader_mode check_validity send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C' end
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 bad accuracy. Practically it is only useful as an indicator for temperature changes.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 726 def get_chip_temperature check_validity send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's' end
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 BrickletIMUV3#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 BrickletIMUV3#set_gravity_vector_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 321 def get_gravity_vector check_validity send_request FUNCTION_GET_GRAVITY_VECTOR, [], '', 14, 's s s' end
Returns the callback configuration as set by BrickletIMUV3#set_gravity_vector_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 585 def get_gravity_vector_callback_configuration check_validity send_request FUNCTION_GET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.
The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at position 'z'.
The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|
# File lib/tinkerforge/bricklet_imu_v3.rb, line 773 def get_identity send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S' end
Returns the linear acceleration of the IMU Brick for the x, y and z axis. The acceleration is in the range configured with BrickletIMUV3#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 BrickletIMUV3#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 BrickletIMUV3#set_linear_acceleration_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 303 def get_linear_acceleration check_validity send_request FUNCTION_GET_LINEAR_ACCELERATION, [], '', 14, 's s s' end
Returns the callback configuration as set by BrickletIMUV3#set_linear_acceleration_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 563 def get_linear_acceleration_callback_configuration check_validity send_request FUNCTION_GET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
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 BrickletIMUV3#set_magnetic_field_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 247 def get_magnetic_field check_validity send_request FUNCTION_GET_MAGNETIC_FIELD, [], '', 14, 's s s' end
Returns the callback configuration as set by BrickletIMUV3#set_magnetic_field_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 475 def get_magnetic_field_callback_configuration check_validity send_request FUNCTION_GET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
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 BrickletIMUV3#set_orientation_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 284 def get_orientation check_validity send_request FUNCTION_GET_ORIENTATION, [], '', 14, 's s s' end
Returns the callback configuration as set by BrickletIMUV3#set_orientation_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 541 def get_orientation_callback_configuration check_validity send_request FUNCTION_GET_ORIENTATION_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
Returns the current orientation (w, x, y, z) of the IMU Brick as `quaternions <CALLBACK_QUATERNION
callback and set the period with BrickletIMUV3#set_quaternion_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 336 def get_quaternion check_validity send_request FUNCTION_GET_QUATERNION, [], '', 16, 's s s s' end
Returns the callback configuration as set by BrickletIMUV3#set_quaternion_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 607 def get_quaternion_callback_configuration check_validity send_request FUNCTION_GET_QUATERNION_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
Returns the sensor configuration as set by BrickletIMUV3#set_sensor_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 404 def get_sensor_configuration check_validity send_request FUNCTION_GET_SENSOR_CONFIGURATION, [], '', 13, 'C C C C C' end
Returns the sensor fusion mode as set by BrickletIMUV3#set_sensor_fusion_mode
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 431 def get_sensor_fusion_mode check_validity send_request FUNCTION_GET_SENSOR_FUSION_MODE, [], '', 9, 'C' end
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 Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 646 def get_spitfp_error_count check_validity send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L' end
Returns the configuration as set by BrickletIMUV3#set_status_led_config
# File lib/tinkerforge/bricklet_imu_v3.rb, line 714 def get_status_led_config check_validity send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C' end
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/bricklet_imu_v3.rb, line 269 def get_temperature check_validity send_request FUNCTION_GET_TEMPERATURE, [], '', 9, 'c' end
Returns the callback configuration as set by BrickletIMUV3#set_temperature_callback_configuration
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 519 def get_temperature_callback_configuration check_validity send_request FUNCTION_GET_TEMPERATURE_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
Returns the current UID as an integer. Encode as Base58
to get the usual string version.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 757 def read_uid check_validity send_request FUNCTION_READ_UID, [], '', 12, 'L' end
Registers a callback with ID id
to the block block
.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 778 def register_callback(id, &block) callback = block @registered_callbacks[id] = callback end
Calling this function will reset the Bricklet. All configurations will be lost.
After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!
# File lib/tinkerforge/bricklet_imu_v3.rb, line 738 def reset check_validity send_request FUNCTION_RESET, [], '', 8, '' end
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/bricklet_imu_v3.rb, line 388 def save_calibration check_validity send_request FUNCTION_SAVE_CALIBRATION, [], '', 9, '?' end
The period is the period with which the CALLBACK_ACCELERATION
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 446 def set_acceleration_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
The period is the period with which the CALLBACK_ALL_DATA
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 622 def set_all_data_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
The period is the period with which the CALLBACK_ANGULAR_VELOCITY
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 490 def set_angular_velocity_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
Sets the bootloader mode and returns the status after the requested mode change was instigated.
You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.
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/bricklet_imu_v3.rb, line 661 def set_bootloader_mode(mode) check_validity send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C' end
The period is the period with which the CALLBACK_GRAVITY_VECTOR
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 578 def set_gravity_vector_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
The period is the period with which the CALLBACK_LINEAR_ACCELERATION
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 556 def set_linear_acceleration_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
The period is the period with which the CALLBACK_MAGNETIC_FIELD
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 468 def set_magnetic_field_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
The period is the period with which the CALLBACK_ORIENTATION
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 534 def set_orientation_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
The period is the period with which the CALLBACK_QUATERNION
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 600 def set_quaternion_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
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.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 397 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
If the fusion mode is turned off, the functions BrickletIMUV3#get_acceleration
, BrickletIMUV3#get_magnetic_field
and BrickletIMUV3#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.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 424 def set_sensor_fusion_mode(mode) check_validity send_request FUNCTION_SET_SENSOR_FUSION_MODE, [mode], 'C', 8, '' end
Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.
You can also turn the LED permanently on/off or show a heartbeat.
If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 707 def set_status_led_config(config) check_validity send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, '' end
The period is the period with which the CALLBACK_TEMPERATURE
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 512 def set_temperature_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
Sets the firmware pointer for BrickletIMUV3#write_firmware
. The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).
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/bricklet_imu_v3.rb, line 680 def set_write_firmware_pointer(pointer) check_validity send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, '' end
Writes 64 Bytes of firmware at the position as written by BrickletIMUV3#set_write_firmware_pointer
before. The firmware is written to flash every 4 chunks.
You can only write firmware in bootloader mode.
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/bricklet_imu_v3.rb, line 694 def write_firmware(data) check_validity send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C' end
Writes a new UID into flash. If you want to set a new UID you have to decode the Base58
encoded UID string into an integer first.
We recommend that you use Brick Viewer to change the UID.
# File lib/tinkerforge/bricklet_imu_v3.rb, line 749 def write_uid(uid) check_validity send_request FUNCTION_WRITE_UID, [uid], 'L', 8, '' end