Delphi/Lazarus - IMU Bricklet 3.0¶

Simple¶

Download (ExampleSimple.pas)

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program ExampleSimple;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletIMUV3;

type
  TExample = class
  private
    ipcon: TIPConnection;
    imu: TBrickletIMUV3;
  public
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your IMU Bricklet 3.0 }

var
  e: TExample;

procedure TExample.Execute;
var w, x, y, z: smallint;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  imu := TBrickletIMUV3.Create(UID, ipcon);

  { Connect to brickd }
  ipcon.Connect(HOST, PORT);
  { Don't use device before ipcon is connected }

  { Get current quaternion }
  imu.GetQuaternion(w, x, y, z);

  WriteLn(Format('Quaternion [W]: %f', [w/16383.0]));
  WriteLn(Format('Quaternion [X]: %f', [x/16383.0]));
  WriteLn(Format('Quaternion [Y]: %f', [y/16383.0]));
  WriteLn(Format('Quaternion [Z]: %f', [z/16383.0]));

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

Callback¶

Download (ExampleCallback.pas)

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program ExampleCallback;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletIMUV3;

type
  TExample = class
  private
    ipcon: TIPConnection;
    imu: TBrickletIMUV3;
  public
    procedure QuaternionCB(sender: TBrickletIMUV3; const w: smallint; const x: smallint;
                           const y: smallint; const z: smallint);
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your IMU Bricklet 3.0 }

var
  e: TExample;

{ Callback procedure for quaternion callback }
procedure TExample.QuaternionCB(sender: TBrickletIMUV3; const w: smallint;
                                const x: smallint; const y: smallint; const z: smallint);
begin
  WriteLn(Format('Quaternion [W]: %f', [w/16383.0]));
  WriteLn(Format('Quaternion [X]: %f', [x/16383.0]));
  WriteLn(Format('Quaternion [Y]: %f', [y/16383.0]));
  WriteLn(Format('Quaternion [Z]: %f', [z/16383.0]));
  WriteLn('');
end;

procedure TExample.Execute;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  imu := TBrickletIMUV3.Create(UID, ipcon);

  { Connect to brickd }
  ipcon.Connect(HOST, PORT);
  { Don't use device before ipcon is connected }

  { Register quaternion callback to procedure QuaternionCB }
  imu.OnQuaternion := {$ifdef FPC}@{$endif}QuaternionCB;

  { Set period for quaternion callback to 0.1s (100ms) }
  imu.SetQuaternionCallbackConfiguration(100, false);

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

All Data¶

Download (ExampleAllData.pas)

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program ExampleAllData;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletIMUV3;

type
  TExample = class
  private
    ipcon: TIPConnection;
    imu: TBrickletIMUV3;
  public
    procedure AllDataCB(sender: TBrickletIMUV3; const acceleration: TArray0To2OfInt16;
                        const magneticField: TArray0To2OfInt16;
                        const angularVelocity: TArray0To2OfInt16;
                        const eulerAngle: TArray0To2OfInt16;
                        const quaternion: TArray0To3OfInt16;
                        const linearAcceleration: TArray0To2OfInt16;
                        const gravityVector: TArray0To2OfInt16;
                        const temperature: shortint; const calibrationStatus: byte);
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your IMU Bricklet 3.0 }

var
  e: TExample;

{ Callback procedure for all data callback }
procedure TExample.AllDataCB(sender: TBrickletIMUV3;
                             const acceleration: TArray0To2OfInt16;
                             const magneticField: TArray0To2OfInt16;
                             const angularVelocity: TArray0To2OfInt16;
                             const eulerAngle: TArray0To2OfInt16;
                             const quaternion: TArray0To3OfInt16;
                             const linearAcceleration: TArray0To2OfInt16;
                             const gravityVector: TArray0To2OfInt16;
                             const temperature: shortint; const calibrationStatus: byte);
begin
  WriteLn(Format('Acceleration [X]: %f m/s²', [acceleration[0]/100.0]));
  WriteLn(Format('Acceleration [Y]: %f m/s²', [acceleration[1]/100.0]));
  WriteLn(Format('Acceleration [Z]: %f m/s²', [acceleration[2]/100.0]));
  WriteLn(Format('Magnetic Field [X]: %f µT', [magneticField[0]/16.0]));
  WriteLn(Format('Magnetic Field [Y]: %f µT', [magneticField[1]/16.0]));
  WriteLn(Format('Magnetic Field [Z]: %f µT', [magneticField[2]/16.0]));
  WriteLn(Format('Angular Velocity [X]: %f °/s', [angularVelocity[0]/16.0]));
  WriteLn(Format('Angular Velocity [Y]: %f °/s', [angularVelocity[1]/16.0]));
  WriteLn(Format('Angular Velocity [Z]: %f °/s', [angularVelocity[2]/16.0]));
  WriteLn(Format('Euler Angle [Heading]: %f °', [eulerAngle[0]/16.0]));
  WriteLn(Format('Euler Angle [Roll]: %f °', [eulerAngle[1]/16.0]));
  WriteLn(Format('Euler Angle [Pitch]: %f °', [eulerAngle[2]/16.0]));
  WriteLn(Format('Quaternion [W]: %f', [quaternion[0]/16383.0]));
  WriteLn(Format('Quaternion [X]: %f', [quaternion[1]/16383.0]));
  WriteLn(Format('Quaternion [Y]: %f', [quaternion[2]/16383.0]));
  WriteLn(Format('Quaternion [Z]: %f', [quaternion[3]/16383.0]));
  WriteLn(Format('Linear Acceleration [X]: %f m/s²', [linearAcceleration[0]/100.0]));
  WriteLn(Format('Linear Acceleration [Y]: %f m/s²', [linearAcceleration[1]/100.0]));
  WriteLn(Format('Linear Acceleration [Z]: %f m/s²', [linearAcceleration[2]/100.0]));
  WriteLn(Format('Gravity Vector [X]: %f m/s²', [gravityVector[0]/100.0]));
  WriteLn(Format('Gravity Vector [Y]: %f m/s²', [gravityVector[1]/100.0]));
  WriteLn(Format('Gravity Vector [Z]: %f m/s²', [gravityVector[2]/100.0]));
  WriteLn(Format('Temperature: %d °C', [temperature]));
  WriteLn(Format('Calibration Status: %d', [calibrationStatus]));
  WriteLn('');
end;

procedure TExample.Execute;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  imu := TBrickletIMUV3.Create(UID, ipcon);

  { Connect to brickd }
  ipcon.Connect(HOST, PORT);
  { Don't use device before ipcon is connected }

  { Register all data callback to procedure AllDataCB }
  imu.OnAllData := {$ifdef FPC}@{$endif}AllDataCB;

  { Set period for all data callback to 0.1s (100ms) }
  imu.SetAllDataCallbackConfiguration(100, false);

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

Basic Functions¶

constructor TBrickletIMUV3.Create(const uid: string; ipcon: TIPConnection)¶

Parameters:	uid – Type: string ipcon – Type: TIPConnection
Returns:	imuV3 – Type: TBrickletIMUV3

Creates an object with the unique device ID uid:

imuV3 := TBrickletIMUV3.Create('YOUR_DEVICE_UID', ipcon);

This object can then be used after the IP Connection is connected.

procedure TBrickletIMUV3.GetOrientation(out heading: smallint; out roll: smallint; out pitch: smallint)¶

Output Parameters:	heading – Type: smallint, Unit: 1/16 °, Range: [0 to 5760] roll – Type: smallint, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: smallint, Unit: 1/16 °, Range: [-2880 to 2880]

Returns the current orientation (heading, roll, pitch) of the IMU Brick as independent Euler angles. Note that Euler angles always experience a gimbal lock. We recommend that you use quaternions instead, if you need the absolute orientation.

If you want to get the orientation periodically, it is recommended to use the OnOrientation callback and set the period with SetOrientationCallbackConfiguration.

procedure TBrickletIMUV3.GetLinearAcceleration(out x: smallint; out y: smallint; out z: smallint)¶

Output Parameters:	x – Type: smallint, Unit: 1 cm/s², Range: ? y – Type: smallint, Unit: 1 cm/s², Range: ? z – Type: smallint, Unit: 1 cm/s², Range: ?

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

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 GetGravityVector.

If you want to get the linear acceleration periodically, it is recommended to use the OnLinearAcceleration callback and set the period with SetLinearAccelerationCallbackConfiguration.

procedure TBrickletIMUV3.GetGravityVector(out x: smallint; out y: smallint; out z: smallint)¶

Output Parameters:	x – Type: smallint, Unit: 1 cm/s², Range: [-981 to 981] y – Type: smallint, Unit: 1 cm/s², Range: [-981 to 981] z – Type: smallint, Unit: 1 cm/s², Range: [-981 to 981]

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 GetLinearAcceleration.

If you want to get the gravity vector periodically, it is recommended to use the OnGravityVector callback and set the period with SetGravityVectorCallbackConfiguration.

procedure TBrickletIMUV3.GetQuaternion(out w: smallint; out x: smallint; out y: smallint; out z: smallint)¶

Output Parameters:	w – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] x – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] y – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] z – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]

Returns the current orientation (w, x, y, z) of the IMU Brick as quaternions.

You have to divide the return values by 16383 (14 bit) to get the usual range of -1.0 to +1.0 for quaternions.

If you want to get the quaternions periodically, it is recommended to use the OnQuaternion callback and set the period with SetQuaternionCallbackConfiguration.

procedure TBrickletIMUV3.GetAllData(out acceleration: array [0..2] of smallint; out magneticField: array [0..2] of smallint; out angularVelocity: array [0..2] of smallint; out eulerAngle: array [0..2] of smallint; out quaternion: array [0..3] of smallint; out linearAcceleration: array [0..2] of smallint; out gravityVector: array [0..2] of smallint; out temperature: shortint; out calibrationStatus: byte)¶

Output Parameters:

acceleration – Type: array [0..2] of smallint 0: x – Type: smallint, Unit: 1 cm/s², Range: ? 1: y – Type: smallint, Unit: 1 cm/s², Range: ? 2: z – Type: smallint, Unit: 1 cm/s², Range: ? magneticField – Type: array [0..2] of smallint 0: x – Type: smallint, Unit: 1/16 µT, Range: [-20800 to 20800] 1: y – Type: smallint, Unit: 1/16 µT, Range: [-20800 to 20800] 2: z – Type: smallint, Unit: 1/16 µT, Range: [-40000 to 40000] angularVelocity – Type: array [0..2] of smallint 0: x – Type: smallint, Unit: 1/16 °/s, Range: ? 1: y – Type: smallint, Unit: 1/16 °/s, Range: ? 2: z – Type: smallint, Unit: 1/16 °/s, Range: ? eulerAngle – Type: array [0..2] of smallint 0: heading – Type: smallint, Unit: 1/16 °, Range: [0 to 5760] 1: roll – Type: smallint, Unit: 1/16 °, Range: [-1440 to 1440] 2: pitch – Type: smallint, Unit: 1/16 °, Range: [-2880 to 2880] quaternion – Type: array [0..3] of smallint 0: w – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 1: x – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 2: y – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 3: z – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] linearAcceleration – Type: array [0..2] of smallint 0: x – Type: smallint, Unit: 1 cm/s², Range: ? 1: y – Type: smallint, Unit: 1 cm/s², Range: ? 2: z – Type: smallint, Unit: 1 cm/s², Range: ? gravityVector – Type: array [0..2] of smallint 0: x – Type: smallint, Unit: 1 cm/s², Range: [-981 to 981] 1: y – Type: smallint, Unit: 1 cm/s², Range: [-981 to 981] 2: z – Type: smallint, Unit: 1 cm/s², Range: [-981 to 981] temperature – Type: shortint, Unit: 1 °C, Range: [-128 to 127] calibrationStatus – Type: byte, Range: [0 to 255]

Return all of the available data of the IMU Brick.

• acceleration (see GetAcceleration)
• magnetic field (see GetMagneticField)
• angular velocity (see GetAngularVelocity)
• Euler angles (see GetOrientation)
• quaternion (see GetQuaternion)
• linear acceleration (see GetLinearAcceleration)
• gravity vector (see GetGravityVector)
• temperature (see GetTemperature)
• 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 OnAllData callback and set the period with SetAllDataCallbackConfiguration.

Advanced Functions¶

procedure TBrickletIMUV3.GetAcceleration(out x: smallint; out y: smallint; out z: smallint)¶

Output Parameters:	x – Type: smallint, Unit: 1 cm/s², Range: ? y – Type: smallint, Unit: 1 cm/s², Range: ? z – Type: smallint, Unit: 1 cm/s², Range: ?

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

If you want to get the acceleration periodically, it is recommended to use the OnAcceleration callback and set the period with SetAccelerationCallbackConfiguration.

procedure TBrickletIMUV3.GetMagneticField(out x: smallint; out y: smallint; out z: smallint)¶

Output Parameters:	x – Type: smallint, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: smallint, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: smallint, Unit: 1/16 µT, Range: [-40000 to 40000]

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 OnMagneticField callback and set the period with SetMagneticFieldCallbackConfiguration.

procedure TBrickletIMUV3.GetAngularVelocity(out x: smallint; out y: smallint; out z: smallint)¶

Output Parameters:	x – Type: smallint, Unit: 1/16 °/s, Range: ? y – Type: smallint, Unit: 1/16 °/s, Range: ? z – Type: smallint, Unit: 1/16 °/s, Range: ?

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

If you want to get the angular velocity periodically, it is recommended to use the OnAngularVelocity acallback nd set the period with SetAngularVelocityCallbackConfiguration.

function TBrickletIMUV3.GetTemperature: shortint¶

Returns:	temperature – Type: shortint, Unit: 1 °C, Range: [-128 to 127]

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

function TBrickletIMUV3.SaveCalibration: boolean¶

Returns:	calibrationDone – Type: boolean

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.

procedure TBrickletIMUV3.SetSensorConfiguration(const magnetometerRate: byte; const gyroscopeRange: byte; const gyroscopeBandwidth: byte; const accelerometerRange: byte; const accelerometerBandwidth: byte)¶

Parameters:	magnetometerRate – Type: byte, Range: See constants, Default: 5 gyroscopeRange – Type: byte, Range: See constants, Default: 0 gyroscopeBandwidth – Type: byte, Range: See constants, Default: 7 accelerometerRange – Type: byte, Range: See constants, Default: 1 accelerometerBandwidth – Type: byte, Range: See constants, Default: 3

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.

The following constants are available for this function:

For magnetometerRate:

• BRICKLET_IMU_V3_MAGNETOMETER_RATE_2HZ = 0
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_6HZ = 1
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_8HZ = 2
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_10HZ = 3
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_15HZ = 4
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_20HZ = 5
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_25HZ = 6
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_30HZ = 7

For gyroscopeRange:

• BRICKLET_IMU_V3_GYROSCOPE_RANGE_2000DPS = 0
• BRICKLET_IMU_V3_GYROSCOPE_RANGE_1000DPS = 1
• BRICKLET_IMU_V3_GYROSCOPE_RANGE_500DPS = 2
• BRICKLET_IMU_V3_GYROSCOPE_RANGE_250DPS = 3
• BRICKLET_IMU_V3_GYROSCOPE_RANGE_125DPS = 4

For gyroscopeBandwidth:

• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_523HZ = 0
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_230HZ = 1
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_116HZ = 2
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_47HZ = 3
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_23HZ = 4
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_12HZ = 5
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_64HZ = 6
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_32HZ = 7

For accelerometerRange:

• BRICKLET_IMU_V3_ACCELEROMETER_RANGE_2G = 0
• BRICKLET_IMU_V3_ACCELEROMETER_RANGE_4G = 1
• BRICKLET_IMU_V3_ACCELEROMETER_RANGE_8G = 2
• BRICKLET_IMU_V3_ACCELEROMETER_RANGE_16G = 3

For accelerometerBandwidth:

• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_7_81HZ = 0
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_15_63HZ = 1
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_31_25HZ = 2
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_62_5HZ = 3
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_125HZ = 4
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_250HZ = 5
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_500HZ = 6
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_1000HZ = 7

procedure TBrickletIMUV3.GetSensorConfiguration(out magnetometerRate: byte; out gyroscopeRange: byte; out gyroscopeBandwidth: byte; out accelerometerRange: byte; out accelerometerBandwidth: byte)¶

Output Parameters:	magnetometerRate – Type: byte, Range: See constants, Default: 5 gyroscopeRange – Type: byte, Range: See constants, Default: 0 gyroscopeBandwidth – Type: byte, Range: See constants, Default: 7 accelerometerRange – Type: byte, Range: See constants, Default: 1 accelerometerBandwidth – Type: byte, Range: See constants, Default: 3

Returns the sensor configuration as set by SetSensorConfiguration.

The following constants are available for this function:

For magnetometerRate:

• BRICKLET_IMU_V3_MAGNETOMETER_RATE_2HZ = 0
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_6HZ = 1
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_8HZ = 2
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_10HZ = 3
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_15HZ = 4
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_20HZ = 5
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_25HZ = 6
• BRICKLET_IMU_V3_MAGNETOMETER_RATE_30HZ = 7

For gyroscopeRange:

• BRICKLET_IMU_V3_GYROSCOPE_RANGE_2000DPS = 0
• BRICKLET_IMU_V3_GYROSCOPE_RANGE_1000DPS = 1
• BRICKLET_IMU_V3_GYROSCOPE_RANGE_500DPS = 2
• BRICKLET_IMU_V3_GYROSCOPE_RANGE_250DPS = 3
• BRICKLET_IMU_V3_GYROSCOPE_RANGE_125DPS = 4

For gyroscopeBandwidth:

• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_523HZ = 0
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_230HZ = 1
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_116HZ = 2
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_47HZ = 3
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_23HZ = 4
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_12HZ = 5
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_64HZ = 6
• BRICKLET_IMU_V3_GYROSCOPE_BANDWIDTH_32HZ = 7

For accelerometerRange:

• BRICKLET_IMU_V3_ACCELEROMETER_RANGE_2G = 0
• BRICKLET_IMU_V3_ACCELEROMETER_RANGE_4G = 1
• BRICKLET_IMU_V3_ACCELEROMETER_RANGE_8G = 2
• BRICKLET_IMU_V3_ACCELEROMETER_RANGE_16G = 3

For accelerometerBandwidth:

• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_7_81HZ = 0
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_15_63HZ = 1
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_31_25HZ = 2
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_62_5HZ = 3
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_125HZ = 4
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_250HZ = 5
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_500HZ = 6
• BRICKLET_IMU_V3_ACCELEROMETER_BANDWIDTH_1000HZ = 7

procedure TBrickletIMUV3.SetSensorFusionMode(const mode: byte)¶

Parameters:	mode – Type: byte, Range: See constants, Default: 1

If the fusion mode is turned off, the functions GetAcceleration, GetMagneticField and GetAngularVelocity 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.

The following constants are available for this function:

For mode:

• BRICKLET_IMU_V3_SENSOR_FUSION_OFF = 0
• BRICKLET_IMU_V3_SENSOR_FUSION_ON = 1
• BRICKLET_IMU_V3_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
• BRICKLET_IMU_V3_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3

function TBrickletIMUV3.GetSensorFusionMode: byte¶

Returns:	mode – Type: byte, Range: See constants, Default: 1

Returns the sensor fusion mode as set by SetSensorFusionMode.

The following constants are available for this function:

For mode:

• BRICKLET_IMU_V3_SENSOR_FUSION_OFF = 0
• BRICKLET_IMU_V3_SENSOR_FUSION_ON = 1
• BRICKLET_IMU_V3_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
• BRICKLET_IMU_V3_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3

procedure TBrickletIMUV3.GetSPITFPErrorCount(out errorCountAckChecksum: longword; out errorCountMessageChecksum: longword; out errorCountFrame: longword; out errorCountOverflow: longword)¶

Output Parameters:	errorCountAckChecksum – Type: longword, Range: [0 to 232 - 1] errorCountMessageChecksum – Type: longword, Range: [0 to 232 - 1] errorCountFrame – Type: longword, Range: [0 to 232 - 1] errorCountOverflow – Type: longword, Range: [0 to 232 - 1]

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.

procedure TBrickletIMUV3.SetStatusLEDConfig(const config: byte)¶

Parameters:	config – Type: byte, Range: See constants, Default: 3

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.

The following constants are available for this function:

For config:

• BRICKLET_IMU_V3_STATUS_LED_CONFIG_OFF = 0
• BRICKLET_IMU_V3_STATUS_LED_CONFIG_ON = 1
• BRICKLET_IMU_V3_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BRICKLET_IMU_V3_STATUS_LED_CONFIG_SHOW_STATUS = 3

function TBrickletIMUV3.GetStatusLEDConfig: byte¶

Returns:	config – Type: byte, Range: See constants, Default: 3

Returns the configuration as set by SetStatusLEDConfig

The following constants are available for this function:

For config:

• BRICKLET_IMU_V3_STATUS_LED_CONFIG_OFF = 0
• BRICKLET_IMU_V3_STATUS_LED_CONFIG_ON = 1
• BRICKLET_IMU_V3_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BRICKLET_IMU_V3_STATUS_LED_CONFIG_SHOW_STATUS = 3

function TBrickletIMUV3.GetChipTemperature: smallint¶

Returns:	temperature – Type: smallint, Unit: 1 °C, Range: [-215 to 215 - 1]

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.

procedure TBrickletIMUV3.Reset¶

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!

procedure TBrickletIMUV3.GetIdentity(out uid: string; out connectedUid: string; out position: char; out hardwareVersion: array [0..2] of byte; out firmwareVersion: array [0..2] of byte; out deviceIdentifier: word)¶

Output Parameters:

uid – Type: string, Length: up to 8 connectedUid – Type: string, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] firmwareVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] deviceIdentifier – Type: word, Range: [0 to 216 - 1]

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 Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

procedure TBrickletIMUV3.SetAccelerationCallbackConfiguration(const period: longword; const valueHasToChange: boolean)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

The period is the period with which the OnAcceleration 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.

procedure TBrickletIMUV3.GetAccelerationCallbackConfiguration(out period: longword; out valueHasToChange: boolean)¶

Output Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

Returns the callback configuration as set by SetAccelerationCallbackConfiguration.

procedure TBrickletIMUV3.SetMagneticFieldCallbackConfiguration(const period: longword; const valueHasToChange: boolean)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

The period is the period with which the OnMagneticField 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.

procedure TBrickletIMUV3.GetMagneticFieldCallbackConfiguration(out period: longword; out valueHasToChange: boolean)¶

Output Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

Returns the callback configuration as set by SetMagneticFieldCallbackConfiguration.

procedure TBrickletIMUV3.SetAngularVelocityCallbackConfiguration(const period: longword; const valueHasToChange: boolean)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

The period is the period with which the OnAngularVelocity 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.

procedure TBrickletIMUV3.GetAngularVelocityCallbackConfiguration(out period: longword; out valueHasToChange: boolean)¶

Output Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

Returns the callback configuration as set by SetAngularVelocityCallbackConfiguration.

procedure TBrickletIMUV3.SetTemperatureCallbackConfiguration(const period: longword; const valueHasToChange: boolean)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

The period is the period with which the OnTemperature 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.

procedure TBrickletIMUV3.GetTemperatureCallbackConfiguration(out period: longword; out valueHasToChange: boolean)¶

Output Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

Returns the callback configuration as set by SetTemperatureCallbackConfiguration.

procedure TBrickletIMUV3.SetOrientationCallbackConfiguration(const period: longword; const valueHasToChange: boolean)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

The period is the period with which the OnOrientation 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.

procedure TBrickletIMUV3.GetOrientationCallbackConfiguration(out period: longword; out valueHasToChange: boolean)¶

Output Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

Returns the callback configuration as set by SetOrientationCallbackConfiguration.

procedure TBrickletIMUV3.SetLinearAccelerationCallbackConfiguration(const period: longword; const valueHasToChange: boolean)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

The period is the period with which the OnLinearAcceleration 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.

procedure TBrickletIMUV3.GetLinearAccelerationCallbackConfiguration(out period: longword; out valueHasToChange: boolean)¶

Output Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

Returns the callback configuration as set by SetLinearAccelerationCallbackConfiguration.

procedure TBrickletIMUV3.SetGravityVectorCallbackConfiguration(const period: longword; const valueHasToChange: boolean)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

The period is the period with which the OnGravityVector 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.

procedure TBrickletIMUV3.GetGravityVectorCallbackConfiguration(out period: longword; out valueHasToChange: boolean)¶

Output Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

Returns the callback configuration as set by SetGravityVectorCallbackConfiguration.

procedure TBrickletIMUV3.SetQuaternionCallbackConfiguration(const period: longword; const valueHasToChange: boolean)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

The period is the period with which the OnQuaternion 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.

procedure TBrickletIMUV3.GetQuaternionCallbackConfiguration(out period: longword; out valueHasToChange: boolean)¶

Output Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

Returns the callback configuration as set by SetQuaternionCallbackConfiguration.

procedure TBrickletIMUV3.SetAllDataCallbackConfiguration(const period: longword; const valueHasToChange: boolean)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

The period is the period with which the OnAllData 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.

procedure TBrickletIMUV3.GetAllDataCallbackConfiguration(out period: longword; out valueHasToChange: boolean)¶

Output Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false

Returns the callback configuration as set by SetAllDataCallbackConfiguration.

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a procedure to an callback property of the device object:

procedure TExample.MyCallback(sender: TBrickletIMUV3; const value: longint);
begin
  WriteLn(Format('Value: %d', [value]));
end;

imuV3.OnExample := {$ifdef FPC}@{$endif}example.MyCallback;

The available callback properties and their parameter types are described below.

property TBrickletIMUV3.OnAcceleration¶

procedure(sender: TBrickletIMUV3; const x: smallint; const y: smallint; const z: smallint) of object;

Callback Parameters:	sender – Type: TBrickletIMUV3 x – Type: smallint, Unit: 1 cm/s², Range: ? y – Type: smallint, Unit: 1 cm/s², Range: ? z – Type: smallint, Unit: 1 cm/s², Range: ?

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

property TBrickletIMUV3.OnMagneticField¶

procedure(sender: TBrickletIMUV3; const x: smallint; const y: smallint; const z: smallint) of object;

Callback Parameters:	sender – Type: TBrickletIMUV3 x – Type: smallint, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: smallint, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: smallint, Unit: 1/16 µT, Range: [-40000 to 40000]

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

property TBrickletIMUV3.OnAngularVelocity¶

procedure(sender: TBrickletIMUV3; const x: smallint; const y: smallint; const z: smallint) of object;

Callback Parameters:	sender – Type: TBrickletIMUV3 x – Type: smallint, Unit: 1/16 °/s, Range: ? y – Type: smallint, Unit: 1/16 °/s, Range: ? z – Type: smallint, Unit: 1/16 °/s, Range: ?

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

property TBrickletIMUV3.OnTemperature¶

procedure(sender: TBrickletIMUV3; const temperature: shortint) of object;

Callback Parameters:	sender – Type: TBrickletIMUV3 temperature – Type: shortint, Unit: 1 °C, Range: [-128 to 127]

This callback is triggered periodically with the period that is set by SetTemperatureCallbackConfiguration. The parameter is the temperature.

property TBrickletIMUV3.OnLinearAcceleration¶

procedure(sender: TBrickletIMUV3; const x: smallint; const y: smallint; const z: smallint) of object;

Callback Parameters:	sender – Type: TBrickletIMUV3 x – Type: smallint, Unit: 1 cm/s², Range: ? y – Type: smallint, Unit: 1 cm/s², Range: ? z – Type: smallint, Unit: 1 cm/s², Range: ?

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

property TBrickletIMUV3.OnGravityVector¶

procedure(sender: TBrickletIMUV3; const x: smallint; const y: smallint; const z: smallint) of object;

Callback Parameters:	sender – Type: TBrickletIMUV3 x – Type: smallint, Unit: 1 cm/s², Range: [-981 to 981] y – Type: smallint, Unit: 1 cm/s², Range: [-981 to 981] z – Type: smallint, Unit: 1 cm/s², Range: [-981 to 981]

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

property TBrickletIMUV3.OnOrientation¶

procedure(sender: TBrickletIMUV3; const heading: smallint; const roll: smallint; const pitch: smallint) of object;

Callback Parameters:	sender – Type: TBrickletIMUV3 heading – Type: smallint, Unit: 1/16 °, Range: [0 to 5760] roll – Type: smallint, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: smallint, Unit: 1/16 °, Range: [-2880 to 2880]

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

property TBrickletIMUV3.OnQuaternion¶

procedure(sender: TBrickletIMUV3; const w: smallint; const x: smallint; const y: smallint; const z: smallint) of object;

Callback Parameters:	sender – Type: TBrickletIMUV3 w – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] x – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] y – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] z – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]

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

property TBrickletIMUV3.OnAllData¶

procedure(sender: TBrickletIMUV3; const acceleration: array [0..2] of smallint; const magneticField: array [0..2] of smallint; const angularVelocity: array [0..2] of smallint; const eulerAngle: array [0..2] of smallint; const quaternion: array [0..3] of smallint; const linearAcceleration: array [0..2] of smallint; const gravityVector: array [0..2] of smallint; const temperature: shortint; const calibrationStatus: byte) of object;

Callback Parameters:

sender – Type: TBrickletIMUV3 acceleration – Type: array [0..2] of smallint 0: x – Type: smallint, Unit: 1 cm/s², Range: ? 1: y – Type: smallint, Unit: 1 cm/s², Range: ? 2: z – Type: smallint, Unit: 1 cm/s², Range: ? magneticField – Type: array [0..2] of smallint 0: x – Type: smallint, Unit: 1/16 µT, Range: [-20800 to 20800] 1: y – Type: smallint, Unit: 1/16 µT, Range: [-20800 to 20800] 2: z – Type: smallint, Unit: 1/16 µT, Range: [-40000 to 40000] angularVelocity – Type: array [0..2] of smallint 0: x – Type: smallint, Unit: 1/16 °/s, Range: ? 1: y – Type: smallint, Unit: 1/16 °/s, Range: ? 2: z – Type: smallint, Unit: 1/16 °/s, Range: ? eulerAngle – Type: array [0..2] of smallint 0: heading – Type: smallint, Unit: 1/16 °, Range: [0 to 5760] 1: roll – Type: smallint, Unit: 1/16 °, Range: [-1440 to 1440] 2: pitch – Type: smallint, Unit: 1/16 °, Range: [-2880 to 2880] quaternion – Type: array [0..3] of smallint 0: w – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 1: x – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 2: y – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 3: z – Type: smallint, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] linearAcceleration – Type: array [0..2] of smallint 0: x – Type: smallint, Unit: 1 cm/s², Range: ? 1: y – Type: smallint, Unit: 1 cm/s², Range: ? 2: z – Type: smallint, Unit: 1 cm/s², Range: ? gravityVector – Type: array [0..2] of smallint 0: x – Type: smallint, Unit: 1 cm/s², Range: ? 1: y – Type: smallint, Unit: 1 cm/s², Range: ? 2: z – Type: smallint, Unit: 1 cm/s², Range: ? temperature – Type: shortint, Unit: 1 °C, Range: [-128 to 127] calibrationStatus – Type: byte, Range: [0 to 255]

This callback is triggered periodically with the period that is set by SetAllDataCallbackConfiguration. The parameters are as for GetAllData.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

function TBrickletIMUV3.GetAPIVersion: array [0..2] of byte¶

Output Parameters:	apiVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

function TBrickletIMUV3.GetResponseExpected(const functionId: byte): boolean¶

Parameters:	functionId – Type: byte, Range: See constants
Returns:	responseExpected – Type: boolean

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BRICKLET_IMU_V3_FUNCTION_SET_SENSOR_CONFIGURATION = 11
• BRICKLET_IMU_V3_FUNCTION_SET_SENSOR_FUSION_MODE = 13
• BRICKLET_IMU_V3_FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION = 15
• BRICKLET_IMU_V3_FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION = 17
• BRICKLET_IMU_V3_FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION = 19
• BRICKLET_IMU_V3_FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION = 21
• BRICKLET_IMU_V3_FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION = 23
• BRICKLET_IMU_V3_FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION = 25
• BRICKLET_IMU_V3_FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION = 27
• BRICKLET_IMU_V3_FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION = 29
• BRICKLET_IMU_V3_FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION = 31
• BRICKLET_IMU_V3_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BRICKLET_IMU_V3_FUNCTION_SET_STATUS_LED_CONFIG = 239
• BRICKLET_IMU_V3_FUNCTION_RESET = 243
• BRICKLET_IMU_V3_FUNCTION_WRITE_UID = 248

procedure TBrickletIMUV3.SetResponseExpected(const functionId: byte; const responseExpected: boolean)¶

Parameters:	functionId – Type: byte, Range: See constants responseExpected – Type: boolean

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BRICKLET_IMU_V3_FUNCTION_SET_SENSOR_CONFIGURATION = 11
• BRICKLET_IMU_V3_FUNCTION_SET_SENSOR_FUSION_MODE = 13
• BRICKLET_IMU_V3_FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION = 15
• BRICKLET_IMU_V3_FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION = 17
• BRICKLET_IMU_V3_FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION = 19
• BRICKLET_IMU_V3_FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION = 21
• BRICKLET_IMU_V3_FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION = 23
• BRICKLET_IMU_V3_FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION = 25
• BRICKLET_IMU_V3_FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION = 27
• BRICKLET_IMU_V3_FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION = 29
• BRICKLET_IMU_V3_FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION = 31
• BRICKLET_IMU_V3_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BRICKLET_IMU_V3_FUNCTION_SET_STATUS_LED_CONFIG = 239
• BRICKLET_IMU_V3_FUNCTION_RESET = 243
• BRICKLET_IMU_V3_FUNCTION_WRITE_UID = 248

procedure TBrickletIMUV3.SetResponseExpectedAll(const responseExpected: boolean)¶

Parameters:	responseExpected – Type: boolean

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

function TBrickletIMUV3.SetBootloaderMode(const mode: byte): byte¶

Parameters:	mode – Type: byte, Range: See constants
Returns:	status – Type: byte, Range: See constants

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.

The following constants are available for this function:

For mode:

• BRICKLET_IMU_V3_BOOTLOADER_MODE_BOOTLOADER = 0
• BRICKLET_IMU_V3_BOOTLOADER_MODE_FIRMWARE = 1
• BRICKLET_IMU_V3_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BRICKLET_IMU_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BRICKLET_IMU_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• BRICKLET_IMU_V3_BOOTLOADER_STATUS_OK = 0
• BRICKLET_IMU_V3_BOOTLOADER_STATUS_INVALID_MODE = 1
• BRICKLET_IMU_V3_BOOTLOADER_STATUS_NO_CHANGE = 2
• BRICKLET_IMU_V3_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• BRICKLET_IMU_V3_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• BRICKLET_IMU_V3_BOOTLOADER_STATUS_CRC_MISMATCH = 5

function TBrickletIMUV3.GetBootloaderMode: byte¶

Returns:	mode – Type: byte, Range: See constants

Returns the current bootloader mode, see SetBootloaderMode.

The following constants are available for this function:

For mode:

• BRICKLET_IMU_V3_BOOTLOADER_MODE_BOOTLOADER = 0
• BRICKLET_IMU_V3_BOOTLOADER_MODE_FIRMWARE = 1
• BRICKLET_IMU_V3_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BRICKLET_IMU_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BRICKLET_IMU_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

procedure TBrickletIMUV3.SetWriteFirmwarePointer(const pointer: longword)¶

Parameters:	pointer – Type: longword, Unit: 1 B, Range: [0 to 232 - 1]

Sets the firmware pointer for WriteFirmware. 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.

function TBrickletIMUV3.WriteFirmware(const data: array [0..63] of byte): byte¶

Parameters:	data – Type: array [0..63] of byte, Range: [0 to 255]
Returns:	status – Type: byte, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer 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.

procedure TBrickletIMUV3.WriteUID(const uid: longword)¶

Parameters:	uid – Type: longword, Range: [0 to 232 - 1]

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.

function TBrickletIMUV3.ReadUID: longword¶

Returns:	uid – Type: longword, Range: [0 to 232 - 1]

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

Constants¶

const BRICKLET_IMU_V3_DEVICE_IDENTIFIER¶

This constant is used to identify a IMU Bricklet 3.0.

The GetIdentity function and the TIPConnection.OnEnumerate callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

const BRICKLET_IMU_V3_DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a IMU Bricklet 3.0.