MQTT - IMU Bricklet 3.0¶

Simple¶

Download (example-simple.txt)

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# Change XYZ to the UID of your IMU Bricklet 3.0

setup:
    # Get current quaternion
    subscribe to tinkerforge/response/imu_v3_bricklet/XYZ/get_quaternion
    publish '' to tinkerforge/request/imu_v3_bricklet/XYZ/get_quaternion

All Data¶

Download (example-all-data.txt)

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# Change XYZ to the UID of your IMU Bricklet 3.0

setup:
    # Handle incoming all data callbacks
    subscribe to tinkerforge/callback/imu_v3_bricklet/XYZ/all_data
    publish '{"register": true}' to tinkerforge/register/imu_v3_bricklet/XYZ/all_data # Register all_data callback

    # Set period for all data callback to 0.1s (100ms)
    publish '{"period": 100, "value_has_to_change": false}' to tinkerforge/request/imu_v3_bricklet/XYZ/set_all_data_callback_configuration

Callback¶

Download (example-callback.txt)

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# Change XYZ to the UID of your IMU Bricklet 3.0

setup:
    # Handle incoming quaternion callbacks
    subscribe to tinkerforge/callback/imu_v3_bricklet/XYZ/quaternion
    publish '{"register": true}' to tinkerforge/register/imu_v3_bricklet/XYZ/quaternion # Register quaternion callback

    # Set period for quaternion callback to 0.1s (100ms)
    publish '{"period": 100, "value_has_to_change": false}' to tinkerforge/request/imu_v3_bricklet/XYZ/set_quaternion_callback_configuration

Basic Functions¶

request/imu_v3_bricklet/<UID>/get_orientation¶

Request:	empty payload
Response:	heading – Type: int, Unit: 1/16 °, Range: [0 to 5760] roll – Type: int, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: int, 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 register/imu_v3_bricklet/<UID>/orientation callback and set the period with request/imu_v3_bricklet/<UID>/set_orientation_callback_configuration.

request/imu_v3_bricklet/<UID>/get_linear_acceleration¶

Request:	empty payload
Response:	x – Type: int, Unit: 1 cm/s², Range: ? y – Type: int, Unit: 1 cm/s², Range: ? z – Type: int, 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 request/imu_v3_bricklet/<UID>/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 request/imu_v3_bricklet/<UID>/get_gravity_vector.

If you want to get the linear acceleration periodically, it is recommended to use the register/imu_v3_bricklet/<UID>/linear_acceleration callback and set the period with request/imu_v3_bricklet/<UID>/set_linear_acceleration_callback_configuration.

request/imu_v3_bricklet/<UID>/get_gravity_vector¶

Request:	empty payload
Response:	x – Type: int, Unit: 1 cm/s², Range: [-981 to 981] y – Type: int, Unit: 1 cm/s², Range: [-981 to 981] z – Type: int, 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 request/imu_v3_bricklet/<UID>/get_linear_acceleration.

If you want to get the gravity vector periodically, it is recommended to use the register/imu_v3_bricklet/<UID>/gravity_vector callback and set the period with request/imu_v3_bricklet/<UID>/set_gravity_vector_callback_configuration.

request/imu_v3_bricklet/<UID>/get_quaternion¶

Request:	empty payload
Response:	w – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] x – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] y – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] z – Type: int, 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 register/imu_v3_bricklet/<UID>/quaternion callback and set the period with request/imu_v3_bricklet/<UID>/set_quaternion_callback_configuration.

request/imu_v3_bricklet/<UID>/get_all_data¶

Request:

empty payload

Response:

acceleration – Type: [int, ...], Length: 3 0: x – Type: int, Unit: 1 cm/s², Range: ? 1: y – Type: int, Unit: 1 cm/s², Range: ? 2: z – Type: int, Unit: 1 cm/s², Range: ? magnetic_field – Type: [int, ...], Length: 3 0: x – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800] 1: y – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800] 2: z – Type: int, Unit: 1/16 µT, Range: [-40000 to 40000] angular_velocity – Type: [int, ...], Length: 3 0: x – Type: int, Unit: 1/16 °/s, Range: ? 1: y – Type: int, Unit: 1/16 °/s, Range: ? 2: z – Type: int, Unit: 1/16 °/s, Range: ? euler_angle – Type: [int, ...], Length: 3 0: heading – Type: int, Unit: 1/16 °, Range: [0 to 5760] 1: roll – Type: int, Unit: 1/16 °, Range: [-1440 to 1440] 2: pitch – Type: int, Unit: 1/16 °, Range: [-2880 to 2880] quaternion – Type: [int, ...], Length: 4 0: w – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 1: x – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 2: y – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 3: z – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] linear_acceleration – Type: [int, ...], Length: 3 0: x – Type: int, Unit: 1 cm/s², Range: ? 1: y – Type: int, Unit: 1 cm/s², Range: ? 2: z – Type: int, Unit: 1 cm/s², Range: ? gravity_vector – Type: [int, ...], Length: 3 0: x – Type: int, Unit: 1 cm/s², Range: [-981 to 981] 1: y – Type: int, Unit: 1 cm/s², Range: [-981 to 981] 2: z – Type: int, Unit: 1 cm/s², Range: [-981 to 981] temperature – Type: int, Unit: 1 °C, Range: [-128 to 127] calibration_status – Type: int, Range: [0 to 255]

Return all of the available data of the IMU Brick.

• acceleration (see request/imu_v3_bricklet/<UID>/get_acceleration)
• magnetic field (see request/imu_v3_bricklet/<UID>/get_magnetic_field)
• angular velocity (see request/imu_v3_bricklet/<UID>/get_angular_velocity)
• Euler angles (see request/imu_v3_bricklet/<UID>/get_orientation)
• quaternion (see request/imu_v3_bricklet/<UID>/get_quaternion)
• linear acceleration (see request/imu_v3_bricklet/<UID>/get_linear_acceleration)
• gravity vector (see request/imu_v3_bricklet/<UID>/get_gravity_vector)
• temperature (see request/imu_v3_bricklet/<UID>/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 register/imu_v3_bricklet/<UID>/all_data callback and set the period with request/imu_v3_bricklet/<UID>/set_all_data_callback_configuration.

Advanced Functions¶

request/imu_v3_bricklet/<UID>/get_acceleration¶

Request:	empty payload
Response:	x – Type: int, Unit: 1 cm/s², Range: ? y – Type: int, Unit: 1 cm/s², Range: ? z – Type: int, 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 request/imu_v3_bricklet/<UID>/set_sensor_configuration.

If you want to get the acceleration periodically, it is recommended to use the register/imu_v3_bricklet/<UID>/acceleration callback and set the period with request/imu_v3_bricklet/<UID>/set_acceleration_callback_configuration.

request/imu_v3_bricklet/<UID>/get_magnetic_field¶

Request:	empty payload
Response:	x – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: int, 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 register/imu_v3_bricklet/<UID>/magnetic_field callback and set the period with request/imu_v3_bricklet/<UID>/set_magnetic_field_callback_configuration.

request/imu_v3_bricklet/<UID>/get_angular_velocity¶

Request:	empty payload
Response:	x – Type: int, Unit: 1/16 °/s, Range: ? y – Type: int, Unit: 1/16 °/s, Range: ? z – Type: int, 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 request/imu_v3_bricklet/<UID>/set_sensor_configuration.

If you want to get the angular velocity periodically, it is recommended to use the register/imu_v3_bricklet/<UID>/angular_velocity acallback nd set the period with request/imu_v3_bricklet/<UID>/set_angular_velocity_callback_configuration.

request/imu_v3_bricklet/<UID>/get_temperature¶

Request:	empty payload
Response:	temperature – Type: int, 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

request/imu_v3_bricklet/<UID>/save_calibration¶

Request:	empty payload
Response:	calibration_done – Type: bool

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.

request/imu_v3_bricklet/<UID>/set_sensor_configuration¶

Request:	magnetometer_rate – Type: int, Range: See symbols, Default: 5 gyroscope_range – Type: int, Range: See symbols, Default: 0 gyroscope_bandwidth – Type: int, Range: See symbols, Default: 7 accelerometer_range – Type: int, Range: See symbols, Default: 1 accelerometer_bandwidth – Type: int, Range: See symbols, Default: 3
Response:	no response

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 symbols are available for this function:

For magnetometer_rate:

• "2hz" = 0
• "6hz" = 1
• "8hz" = 2
• "10hz" = 3
• "15hz" = 4
• "20hz" = 5
• "25hz" = 6
• "30hz" = 7

For gyroscope_range:

• "2000dps" = 0
• "1000dps" = 1
• "500dps" = 2
• "250dps" = 3
• "125dps" = 4

For gyroscope_bandwidth:

• "523hz" = 0
• "230hz" = 1
• "116hz" = 2
• "47hz" = 3
• "23hz" = 4
• "12hz" = 5
• "64hz" = 6
• "32hz" = 7

For accelerometer_range:

• "2g" = 0
• "4g" = 1
• "8g" = 2
• "16g" = 3

For accelerometer_bandwidth:

• "7_81hz" = 0
• "15_63hz" = 1
• "31_25hz" = 2
• "62_5hz" = 3
• "125hz" = 4
• "250hz" = 5
• "500hz" = 6
• "1000hz" = 7

request/imu_v3_bricklet/<UID>/get_sensor_configuration¶

Request:	empty payload
Response:	magnetometer_rate – Type: int, Range: See symbols, Default: 5 gyroscope_range – Type: int, Range: See symbols, Default: 0 gyroscope_bandwidth – Type: int, Range: See symbols, Default: 7 accelerometer_range – Type: int, Range: See symbols, Default: 1 accelerometer_bandwidth – Type: int, Range: See symbols, Default: 3

Returns the sensor configuration as set by request/imu_v3_bricklet/<UID>/set_sensor_configuration.

The following symbols are available for this function:

For magnetometer_rate:

• "2hz" = 0
• "6hz" = 1
• "8hz" = 2
• "10hz" = 3
• "15hz" = 4
• "20hz" = 5
• "25hz" = 6
• "30hz" = 7

For gyroscope_range:

• "2000dps" = 0
• "1000dps" = 1
• "500dps" = 2
• "250dps" = 3
• "125dps" = 4

For gyroscope_bandwidth:

• "523hz" = 0
• "230hz" = 1
• "116hz" = 2
• "47hz" = 3
• "23hz" = 4
• "12hz" = 5
• "64hz" = 6
• "32hz" = 7

For accelerometer_range:

• "2g" = 0
• "4g" = 1
• "8g" = 2
• "16g" = 3

For accelerometer_bandwidth:

• "7_81hz" = 0
• "15_63hz" = 1
• "31_25hz" = 2
• "62_5hz" = 3
• "125hz" = 4
• "250hz" = 5
• "500hz" = 6
• "1000hz" = 7

request/imu_v3_bricklet/<UID>/set_sensor_fusion_mode¶

Request:	mode – Type: int, Range: See symbols, Default: 1
Response:	no response

If the fusion mode is turned off, the functions request/imu_v3_bricklet/<UID>/get_acceleration, request/imu_v3_bricklet/<UID>/get_magnetic_field and request/imu_v3_bricklet/<UID>/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.

The following symbols are available for this function:

For mode:

• "off" = 0
• "on" = 1
• "on_without_magnetometer" = 2
• "on_without_fast_magnetometer_calibration" = 3

request/imu_v3_bricklet/<UID>/get_sensor_fusion_mode¶

Request:	empty payload
Response:	mode – Type: int, Range: See symbols, Default: 1

Returns the sensor fusion mode as set by request/imu_v3_bricklet/<UID>/set_sensor_fusion_mode.

The following symbols are available for this function:

For mode:

• "off" = 0
• "on" = 1
• "on_without_magnetometer" = 2
• "on_without_fast_magnetometer_calibration" = 3

request/imu_v3_bricklet/<UID>/get_spitfp_error_count¶

Request:	empty payload
Response:	error_count_ack_checksum – Type: int, Range: [0 to 232 - 1] error_count_message_checksum – Type: int, Range: [0 to 232 - 1] error_count_frame – Type: int, Range: [0 to 232 - 1] error_count_overflow – Type: int, 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.

request/imu_v3_bricklet/<UID>/set_status_led_config¶

Request:	config – Type: int, Range: See symbols, Default: 3
Response:	no response

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 symbols are available for this function:

For config:

• "off" = 0
• "on" = 1
• "show_heartbeat" = 2
• "show_status" = 3

request/imu_v3_bricklet/<UID>/get_status_led_config¶

Request:	empty payload
Response:	config – Type: int, Range: See symbols, Default: 3

Returns the configuration as set by request/imu_v3_bricklet/<UID>/set_status_led_config

The following symbols are available for this function:

For config:

• "off" = 0
• "on" = 1
• "show_heartbeat" = 2
• "show_status" = 3

request/imu_v3_bricklet/<UID>/get_chip_temperature¶

Request:	empty payload
Response:	temperature – Type: int, 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.

request/imu_v3_bricklet/<UID>/reset¶

Request:	empty payload
Response:	no response

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!

request/imu_v3_bricklet/<UID>/get_identity¶

Request:

empty payload

Response:

uid – Type: string, Length: up to 8 connected_uid – Type: string, Length: up to 8 position – Type: char, Range: ["a" to "h", "z"] hardware_version – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255] firmware_version – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255] device_identifier – Type: int, Range: [0 to 216 - 1] _display_name – Type: string

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. If symbolic output is not disabled, the device identifier is mapped to the corresponding name in the format used in topics.

The display name contains the IMU 3.0's name in a human readable form.

Callback Configuration Functions¶

request/imu_v3_bricklet/<UID>/set_acceleration_callback_configuration¶

Request:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Response:	no response

The period is the period with which the register/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/get_acceleration_callback_configuration¶

Request:	empty payload
Response:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

Returns the callback configuration as set by request/imu_v3_bricklet/<UID>/set_acceleration_callback_configuration.

request/imu_v3_bricklet/<UID>/set_magnetic_field_callback_configuration¶

Request:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Response:	no response

The period is the period with which the register/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/get_magnetic_field_callback_configuration¶

Request:	empty payload
Response:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

Returns the callback configuration as set by request/imu_v3_bricklet/<UID>/set_magnetic_field_callback_configuration.

request/imu_v3_bricklet/<UID>/set_angular_velocity_callback_configuration¶

Request:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Response:	no response

The period is the period with which the register/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/get_angular_velocity_callback_configuration¶

Request:	empty payload
Response:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

Returns the callback configuration as set by request/imu_v3_bricklet/<UID>/set_angular_velocity_callback_configuration.

request/imu_v3_bricklet/<UID>/set_temperature_callback_configuration¶

Request:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Response:	no response

The period is the period with which the register/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/get_temperature_callback_configuration¶

Request:	empty payload
Response:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

Returns the callback configuration as set by request/imu_v3_bricklet/<UID>/set_temperature_callback_configuration.

request/imu_v3_bricklet/<UID>/set_orientation_callback_configuration¶

Request:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Response:	no response

The period is the period with which the register/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/get_orientation_callback_configuration¶

Request:	empty payload
Response:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

Returns the callback configuration as set by request/imu_v3_bricklet/<UID>/set_orientation_callback_configuration.

request/imu_v3_bricklet/<UID>/set_linear_acceleration_callback_configuration¶

Request:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Response:	no response

The period is the period with which the register/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/get_linear_acceleration_callback_configuration¶

Request:	empty payload
Response:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

Returns the callback configuration as set by request/imu_v3_bricklet/<UID>/set_linear_acceleration_callback_configuration.

request/imu_v3_bricklet/<UID>/set_gravity_vector_callback_configuration¶

Request:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Response:	no response

The period is the period with which the register/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/get_gravity_vector_callback_configuration¶

Request:	empty payload
Response:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

Returns the callback configuration as set by request/imu_v3_bricklet/<UID>/set_gravity_vector_callback_configuration.

request/imu_v3_bricklet/<UID>/set_quaternion_callback_configuration¶

Request:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Response:	no response

The period is the period with which the register/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/get_quaternion_callback_configuration¶

Request:	empty payload
Response:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

Returns the callback configuration as set by request/imu_v3_bricklet/<UID>/set_quaternion_callback_configuration.

request/imu_v3_bricklet/<UID>/set_all_data_callback_configuration¶

Request:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Response:	no response

The period is the period with which the register/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/get_all_data_callback_configuration¶

Request:	empty payload
Response:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

Returns the callback configuration as set by request/imu_v3_bricklet/<UID>/set_all_data_callback_configuration.

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding .../register/... topic and an optional suffix. This suffix can be used to deregister the callback later.

register/imu_v3_bricklet/<UID>/acceleration¶

Register Request:	register – Type: bool
Callback Response:	x – Type: int, Unit: 1 cm/s², Range: ? y – Type: int, Unit: 1 cm/s², Range: ? z – Type: int, Unit: 1 cm/s², Range: ?

A callback can be registered for this event by publishing to the .../register/imu_v3_bricklet/<UID>/acceleration[/<SUFFIX>] topic with the payload "true". An added callback can be removed by publishing to the same topic with the payload "false". To support multiple (de)registrations, e.g. for message filtering, an optional suffix can be used.

If the callback is triggered, a message with it's payload is published under the corresponding .../callback/imu_v3_bricklet/<UID>/acceleration[/<SUFFIX>] topic for each registered suffix.

This callback is triggered periodically with the period that is set by request/imu_v3_bricklet/<UID>/set_acceleration_callback_configuration. The callback payload members are the acceleration for the x, y and z axis.

register/imu_v3_bricklet/<UID>/magnetic_field¶

Register Request:	register – Type: bool
Callback Response:	x – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: int, Unit: 1/16 µT, Range: [-40000 to 40000]

A callback can be registered for this event by publishing to the .../register/imu_v3_bricklet/<UID>/magnetic_field[/<SUFFIX>] topic with the payload "true". An added callback can be removed by publishing to the same topic with the payload "false". To support multiple (de)registrations, e.g. for message filtering, an optional suffix can be used.

If the callback is triggered, a message with it's payload is published under the corresponding .../callback/imu_v3_bricklet/<UID>/magnetic_field[/<SUFFIX>] topic for each registered suffix.

This callback is triggered periodically with the period that is set by request/imu_v3_bricklet/<UID>/set_magnetic_field_callback_configuration. The callback payload members are the magnetic field for the x, y and z axis.

register/imu_v3_bricklet/<UID>/angular_velocity¶

Register Request:	register – Type: bool
Callback Response:	x – Type: int, Unit: 1/16 °/s, Range: ? y – Type: int, Unit: 1/16 °/s, Range: ? z – Type: int, Unit: 1/16 °/s, Range: ?

A callback can be registered for this event by publishing to the .../register/imu_v3_bricklet/<UID>/angular_velocity[/<SUFFIX>] topic with the payload "true". An added callback can be removed by publishing to the same topic with the payload "false". To support multiple (de)registrations, e.g. for message filtering, an optional suffix can be used.

If the callback is triggered, a message with it's payload is published under the corresponding .../callback/imu_v3_bricklet/<UID>/angular_velocity[/<SUFFIX>] topic for each registered suffix.

This callback is triggered periodically with the period that is set by request/imu_v3_bricklet/<UID>/set_angular_velocity_callback_configuration. The callback payload members are the angular velocity for the x, y and z axis.

register/imu_v3_bricklet/<UID>/temperature¶

Register Request:	register – Type: bool
Callback Response:	temperature – Type: int, Unit: 1 °C, Range: [-128 to 127]

A callback can be registered for this event by publishing to the .../register/imu_v3_bricklet/<UID>/temperature[/<SUFFIX>] topic with the payload "true". An added callback can be removed by publishing to the same topic with the payload "false". To support multiple (de)registrations, e.g. for message filtering, an optional suffix can be used.

If the callback is triggered, a message with it's payload is published under the corresponding .../callback/imu_v3_bricklet/<UID>/temperature[/<SUFFIX>] topic for each registered suffix.

This callback is triggered periodically with the period that is set by request/imu_v3_bricklet/<UID>/set_temperature_callback_configuration. The callback payload is the temperature.

register/imu_v3_bricklet/<UID>/linear_acceleration¶

Register Request:	register – Type: bool
Callback Response:	x – Type: int, Unit: 1 cm/s², Range: ? y – Type: int, Unit: 1 cm/s², Range: ? z – Type: int, Unit: 1 cm/s², Range: ?

A callback can be registered for this event by publishing to the .../register/imu_v3_bricklet/<UID>/linear_acceleration[/<SUFFIX>] topic with the payload "true". An added callback can be removed by publishing to the same topic with the payload "false". To support multiple (de)registrations, e.g. for message filtering, an optional suffix can be used.

If the callback is triggered, a message with it's payload is published under the corresponding .../callback/imu_v3_bricklet/<UID>/linear_acceleration[/<SUFFIX>] topic for each registered suffix.

This callback is triggered periodically with the period that is set by request/imu_v3_bricklet/<UID>/set_linear_acceleration_callback_configuration. The callback payload members are the linear acceleration for the x, y and z axis.

register/imu_v3_bricklet/<UID>/gravity_vector¶

Register Request:	register – Type: bool
Callback Response:	x – Type: int, Unit: 1 cm/s², Range: [-981 to 981] y – Type: int, Unit: 1 cm/s², Range: [-981 to 981] z – Type: int, Unit: 1 cm/s², Range: [-981 to 981]

A callback can be registered for this event by publishing to the .../register/imu_v3_bricklet/<UID>/gravity_vector[/<SUFFIX>] topic with the payload "true". An added callback can be removed by publishing to the same topic with the payload "false". To support multiple (de)registrations, e.g. for message filtering, an optional suffix can be used.

If the callback is triggered, a message with it's payload is published under the corresponding .../callback/imu_v3_bricklet/<UID>/gravity_vector[/<SUFFIX>] topic for each registered suffix.

This callback is triggered periodically with the period that is set by request/imu_v3_bricklet/<UID>/set_gravity_vector_callback_configuration. The callback payload members gravity vector for the x, y and z axis.

register/imu_v3_bricklet/<UID>/orientation¶

Register Request:	register – Type: bool
Callback Response:	heading – Type: int, Unit: 1/16 °, Range: [0 to 5760] roll – Type: int, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: int, Unit: 1/16 °, Range: [-2880 to 2880]

A callback can be registered for this event by publishing to the .../register/imu_v3_bricklet/<UID>/orientation[/<SUFFIX>] topic with the payload "true". An added callback can be removed by publishing to the same topic with the payload "false". To support multiple (de)registrations, e.g. for message filtering, an optional suffix can be used.

If the callback is triggered, a message with it's payload is published under the corresponding .../callback/imu_v3_bricklet/<UID>/orientation[/<SUFFIX>] topic for each registered suffix.

This callback is triggered periodically with the period that is set by request/imu_v3_bricklet/<UID>/set_orientation_callback_configuration. The callback payload members are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See request/imu_v3_bricklet/<UID>/get_orientation for details.

register/imu_v3_bricklet/<UID>/quaternion¶

Register Request:	register – Type: bool
Callback Response:	w – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] x – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] y – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] z – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]

A callback can be registered for this event by publishing to the .../register/imu_v3_bricklet/<UID>/quaternion[/<SUFFIX>] topic with the payload "true". An added callback can be removed by publishing to the same topic with the payload "false". To support multiple (de)registrations, e.g. for message filtering, an optional suffix can be used.

If the callback is triggered, a message with it's payload is published under the corresponding .../callback/imu_v3_bricklet/<UID>/quaternion[/<SUFFIX>] topic for each registered suffix.

This callback is triggered periodically with the period that is set by request/imu_v3_bricklet/<UID>/set_quaternion_callback_configuration. The callback payload members are the orientation (w, x, y, z) of the IMU Brick in quaternions. See request/imu_v3_bricklet/<UID>/get_quaternion for details.

register/imu_v3_bricklet/<UID>/all_data¶

Register Request:

register – Type: bool

Callback Response:

acceleration – Type: [int, ...], Length: 3 0: x – Type: int, Unit: 1 cm/s², Range: ? 1: y – Type: int, Unit: 1 cm/s², Range: ? 2: z – Type: int, Unit: 1 cm/s², Range: ? magnetic_field – Type: [int, ...], Length: 3 0: x – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800] 1: y – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800] 2: z – Type: int, Unit: 1/16 µT, Range: [-40000 to 40000] angular_velocity – Type: [int, ...], Length: 3 0: x – Type: int, Unit: 1/16 °/s, Range: ? 1: y – Type: int, Unit: 1/16 °/s, Range: ? 2: z – Type: int, Unit: 1/16 °/s, Range: ? euler_angle – Type: [int, ...], Length: 3 0: heading – Type: int, Unit: 1/16 °, Range: [0 to 5760] 1: roll – Type: int, Unit: 1/16 °, Range: [-1440 to 1440] 2: pitch – Type: int, Unit: 1/16 °, Range: [-2880 to 2880] quaternion – Type: [int, ...], Length: 4 0: w – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 1: x – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 2: y – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 3: z – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] linear_acceleration – Type: [int, ...], Length: 3 0: x – Type: int, Unit: 1 cm/s², Range: ? 1: y – Type: int, Unit: 1 cm/s², Range: ? 2: z – Type: int, Unit: 1 cm/s², Range: ? gravity_vector – Type: [int, ...], Length: 3 0: x – Type: int, Unit: 1 cm/s², Range: ? 1: y – Type: int, Unit: 1 cm/s², Range: ? 2: z – Type: int, Unit: 1 cm/s², Range: ? temperature – Type: int, Unit: 1 °C, Range: [-128 to 127] calibration_status – Type: int, Range: [0 to 255]

A callback can be registered for this event by publishing to the .../register/imu_v3_bricklet/<UID>/all_data[/<SUFFIX>] topic with the payload "true". An added callback can be removed by publishing to the same topic with the payload "false". To support multiple (de)registrations, e.g. for message filtering, an optional suffix can be used.

If the callback is triggered, a message with it's payload is published under the corresponding .../callback/imu_v3_bricklet/<UID>/all_data[/<SUFFIX>] topic for each registered suffix.

This callback is triggered periodically with the period that is set by request/imu_v3_bricklet/<UID>/set_all_data_callback_configuration. The callback payload members are as for request/imu_v3_bricklet/<UID>/get_all_data.

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.

request/imu_v3_bricklet/<UID>/set_bootloader_mode¶

Request:	mode – Type: int, Range: See symbols
Response:	status – Type: int, Range: See symbols

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 symbols are available for this function:

For mode:

• "bootloader" = 0
• "firmware" = 1
• "bootloader_wait_for_reboot" = 2
• "firmware_wait_for_reboot" = 3
• "firmware_wait_for_erase_and_reboot" = 4

For status:

• "ok" = 0
• "invalid_mode" = 1
• "no_change" = 2
• "entry_function_not_present" = 3
• "device_identifier_incorrect" = 4
• "crc_mismatch" = 5

request/imu_v3_bricklet/<UID>/get_bootloader_mode¶

Request:	empty payload
Response:	mode – Type: int, Range: See symbols

Returns the current bootloader mode, see request/imu_v3_bricklet/<UID>/set_bootloader_mode.

The following symbols are available for this function:

For mode:

• "bootloader" = 0
• "firmware" = 1
• "bootloader_wait_for_reboot" = 2
• "firmware_wait_for_reboot" = 3
• "firmware_wait_for_erase_and_reboot" = 4

request/imu_v3_bricklet/<UID>/set_write_firmware_pointer¶

Request:	pointer – Type: int, Unit: 1 B, Range: [0 to 232 - 1]
Response:	no response

Sets the firmware pointer for request/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/write_firmware¶

Request:	data – Type: [int, ...], Length: 64, Range: [0 to 255]
Response:	status – Type: int, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by request/imu_v3_bricklet/<UID>/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.

request/imu_v3_bricklet/<UID>/write_uid¶

Request:	uid – Type: int, Range: [0 to 232 - 1]
Response:	no response

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.

request/imu_v3_bricklet/<UID>/read_uid¶

Request:	empty payload
Response:	uid – Type: int, Range: [0 to 232 - 1]

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