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 for BrickletIMUV3#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. See BrickletIMUV3#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. See BrickletIMUV3#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

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/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

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 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
get_acceleration_callback_configuration() click to toggle source

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
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 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
get_all_data_callback_configuration() click to toggle source

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
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 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
get_angular_velocity_callback_configuration() click to toggle source

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
get_bootloader_mode() click to toggle source

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
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 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
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 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
get_gravity_vector_callback_configuration() click to toggle source

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
get_identity() click to toggle source

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
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 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
get_linear_acceleration_callback_configuration() click to toggle source

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
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 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
get_magnetic_field_callback_configuration() click to toggle source

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
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 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
get_orientation_callback_configuration() click to toggle source

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
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 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
get_quaternion_callback_configuration() click to toggle source

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
get_sensor_configuration() click to toggle source

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
get_sensor_fusion_mode() click to toggle source

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
get_spitfp_error_count() 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 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
get_status_led_config() click to toggle source

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
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/bricklet_imu_v3.rb, line 269
def get_temperature
  check_validity

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

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
read_uid() click to toggle source

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
register_callback(id, &block) click to toggle source

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
reset() click to toggle source

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
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/bricklet_imu_v3.rb, line 388
def save_calibration
  check_validity

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

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
set_all_data_callback_configuration(period, value_has_to_change) click to toggle source

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
set_angular_velocity_callback_configuration(period, value_has_to_change) click to toggle source

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
set_bootloader_mode(mode) click to toggle source

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
set_gravity_vector_callback_configuration(period, value_has_to_change) click to toggle source

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
set_linear_acceleration_callback_configuration(period, value_has_to_change) click to toggle source

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
set_magnetic_field_callback_configuration(period, value_has_to_change) click to toggle source

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
set_orientation_callback_configuration(period, value_has_to_change) click to toggle source

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
set_quaternion_callback_configuration(period, value_has_to_change) click to toggle source

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
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.

# 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
set_sensor_fusion_mode(mode) click to toggle source

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
set_status_led_config(config) click to toggle source

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
set_temperature_callback_configuration(period, value_has_to_change) click to toggle source

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
set_write_firmware_pointer(pointer) click to toggle source

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
write_firmware(data) click to toggle source

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
write_uid(uid) click to toggle source

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