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 forBrickIMUV2#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. SeeBrickIMUV2#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. SeeBrickIMUV2#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
Creates an object with the unique device ID uid
and adds it to the IP Connection ipcon
.
# 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
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
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
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
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
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
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
.
# 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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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$nbsp;(Firmware)
# File lib/tinkerforge/brick_imu_v2.rb, line 650 def get_send_timeout_count(communication_method) check_validity send_request FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 12, 'L' end
Returns the sensor configuration as set by BrickIMUV2#set_sensor_configuration
.
- .. versionadded
-
2.0.5$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
Returns the sensor fusion mode as set by BrickIMUV2#set_sensor_fusion_mode
.
- .. versionadded
-
2.0.5$nbsp;(Firmware)
# File lib/tinkerforge/brick_imu_v2.rb, line 601 def get_sensor_fusion_mode check_validity send_request FUNCTION_GET_SENSOR_FUSION_MODE, [], '', 9, 'C' end
Returns the baudrate for a given Bricklet port, see BrickIMUV2#set_spitfp_baudrate
.
- .. versionadded
-
2.0.5$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
Returns the baudrate config, see BrickIMUV2#set_spitfp_baudrate_config
.
- .. versionadded
-
2.0.10$nbsp;(Firmware)
# File lib/tinkerforge/brick_imu_v2.rb, line 636 def get_spitfp_baudrate_config check_validity send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 13, '? L' end
Returns the error count for the communication between Brick and Bricklet.
The errors are divided into
-
ACK checksum errors,
-
message checksum errors,
-
framing errors and
-
overflow errors.
The errors counts are for errors that occur on the Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.
- .. versionadded
-
2.0.5$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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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$nbsp;(Firmware)
# File lib/tinkerforge/brick_imu_v2.rb, line 561 def set_sensor_configuration(magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth) check_validity send_request FUNCTION_SET_SENSOR_CONFIGURATION, [magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth], 'C C C C C', 8, '' end
If the fusion mode is turned off, the functions BrickIMUV2#get_acceleration
, BrickIMUV2#get_magnetic_field
and BrickIMUV2#get_angular_velocity
return uncalibrated and uncompensated sensor data. All other sensor data getters return no data.
Since firmware version 2.0.6 you can also use a fusion mode without magnetometer. In this mode the calculated orientation is relative (with magnetometer it is absolute with respect to the earth). However, the calculation can't be influenced by spurious magnetic fields.
Since firmware version 2.0.13 you can also use a fusion mode without fast magnetometer calibration. This mode is the same as the normal fusion mode, but the fast magnetometer calibration is turned off. So to find the orientation the first time will likely take longer, but small magnetic influences might not affect the automatic calibration as much.
- .. versionadded
-
2.0.5$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
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
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2.0.5$nbsp;(Firmware)
# File lib/tinkerforge/brick_imu_v2.rb, line 671 def set_spitfp_baudrate(bricklet_port, baudrate) check_validity send_request FUNCTION_SET_SPITFP_BAUDRATE, [bricklet_port, baudrate], 'k L', 8, '' end
The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred.
The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received.
This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.
In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance.
The maximum value of the baudrate can be set per port with the function BrickIMUV2#set_spitfp_baudrate
. If the dynamic baudrate is disabled, the baudrate as set by BrickIMUV2#set_spitfp_baudrate
will be used statically.
- .. versionadded
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2.0.10$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
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
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