Rust - IMU Bricklet 3.0¶

Simple¶

Download (example_simple.rs)

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use std::{error::Error, io};

use tinkerforge::{imu_v3_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your IMU Bricklet 3.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let imu = ImuV3Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    // Get current quaternion.
    let quaternion = imu.get_quaternion().recv()?;

    println!("Quaternion [W]: {}", quaternion.w as f32 / 16383.0);
    println!("Quaternion [X]: {}", quaternion.x as f32 / 16383.0);
    println!("Quaternion [Y]: {}", quaternion.y as f32 / 16383.0);
    println!("Quaternion [Z]: {}", quaternion.z as f32 / 16383.0);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Callback¶

Download (example_callback.rs)

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use std::{error::Error, io, thread};
use tinkerforge::{imu_v3_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your IMU Bricklet 3.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let imu = ImuV3Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    let quaternion_receiver = imu.get_quaternion_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `imu` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for quaternion in quaternion_receiver {
            println!("Quaternion [W]: {}", quaternion.w as f32 / 16383.0);
            println!("Quaternion [X]: {}", quaternion.x as f32 / 16383.0);
            println!("Quaternion [Y]: {}", quaternion.y as f32 / 16383.0);
            println!("Quaternion [Z]: {}", quaternion.z as f32 / 16383.0);
            println!();
        }
    });

    // Set period for quaternion callback to 0.1s (100ms).
    imu.set_quaternion_callback_configuration(100, false);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

All Data¶

Download (example_all_data.rs)

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use std::{error::Error, io, thread};
use tinkerforge::{imu_v3_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your IMU Bricklet 3.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let imu = ImuV3Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    let all_data_receiver = imu.get_all_data_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `imu` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for all_data in all_data_receiver {
            println!("Acceleration [X]: {} m/s²", all_data.acceleration[0] as f32 / 100.0);
            println!("Acceleration [Y]: {} m/s²", all_data.acceleration[1] as f32 / 100.0);
            println!("Acceleration [Z]: {} m/s²", all_data.acceleration[2] as f32 / 100.0);
            println!("Magnetic Field [X]: {} µT", all_data.magnetic_field[0] as f32 / 16.0);
            println!("Magnetic Field [Y]: {} µT", all_data.magnetic_field[1] as f32 / 16.0);
            println!("Magnetic Field [Z]: {} µT", all_data.magnetic_field[2] as f32 / 16.0);
            println!("Angular Velocity [X]: {} °/s", all_data.angular_velocity[0] as f32 / 16.0);
            println!("Angular Velocity [Y]: {} °/s", all_data.angular_velocity[1] as f32 / 16.0);
            println!("Angular Velocity [Z]: {} °/s", all_data.angular_velocity[2] as f32 / 16.0);
            println!("Euler Angle [Heading]: {} °", all_data.euler_angle[0] as f32 / 16.0);
            println!("Euler Angle [Roll]: {} °", all_data.euler_angle[1] as f32 / 16.0);
            println!("Euler Angle [Pitch]: {} °", all_data.euler_angle[2] as f32 / 16.0);
            println!("Quaternion [W]: {}", all_data.quaternion[0] as f32 / 16383.0);
            println!("Quaternion [X]: {}", all_data.quaternion[1] as f32 / 16383.0);
            println!("Quaternion [Y]: {}", all_data.quaternion[2] as f32 / 16383.0);
            println!("Quaternion [Z]: {}", all_data.quaternion[3] as f32 / 16383.0);
            println!("Linear Acceleration [X]: {} m/s²", all_data.linear_acceleration[0] as f32 / 100.0);
            println!("Linear Acceleration [Y]: {} m/s²", all_data.linear_acceleration[1] as f32 / 100.0);
            println!("Linear Acceleration [Z]: {} m/s²", all_data.linear_acceleration[2] as f32 / 100.0);
            println!("Gravity Vector [X]: {} m/s²", all_data.gravity_vector[0] as f32 / 100.0);
            println!("Gravity Vector [Y]: {} m/s²", all_data.gravity_vector[1] as f32 / 100.0);
            println!("Gravity Vector [Z]: {} m/s²", all_data.gravity_vector[2] as f32 / 100.0);
            println!("Temperature: {} °C", all_data.temperature);
            println!("Calibration Status: {:b}", all_data.calibration_status);
            println!();
        }
    });

    // Set period for all data callback to 0.1s (100ms).
    imu.set_all_data_callback_configuration(100, false);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Basic Functions¶

pub fn ImuV3Bricklet::new(uid: &str, ip_connection: &IpConnection) → ImuV3Bricklet¶

Parameters:	uid – Type: &str ip_connection – Type: &IPConnection
Returns:	imu_v3 – Type: ImuV3Bricklet

Creates a new ImuV3Bricklet object with the unique device ID uid and adds it to the IPConnection ip_connection:

let imu_v3 = ImuV3Bricklet::new("YOUR_DEVICE_UID", &ip_connection);

This device object can be used after the IP connection has been connected.

pub fn ImuV3Bricklet::get_orientation(&self) → ConvertingReceiver<Orientation>¶

Return Object:	heading – Type: i16, Unit: 1/16 °, Range: [0 to 5760] roll – Type: i16, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: i16, 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 ImuV3Bricklet::get_orientation_callback_receiver callback and set the period with ImuV3Bricklet::set_orientation_callback_configuration.

pub fn ImuV3Bricklet::get_linear_acceleration(&self) → ConvertingReceiver<LinearAcceleration>¶

Return Object:	x – Type: i16, Unit: 1 cm/s², Range: ? y – Type: i16, Unit: 1 cm/s², Range: ? z – Type: i16, 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 ImuV3Bricklet::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 ImuV3Bricklet::get_gravity_vector.

If you want to get the linear acceleration periodically, it is recommended to use the ImuV3Bricklet::get_linear_acceleration_callback_receiver callback and set the period with ImuV3Bricklet::set_linear_acceleration_callback_configuration.

pub fn ImuV3Bricklet::get_gravity_vector(&self) → ConvertingReceiver<GravityVector>¶

Return Object:	x – Type: i16, Unit: 1 cm/s², Range: [-981 to 981] y – Type: i16, Unit: 1 cm/s², Range: [-981 to 981] z – Type: i16, 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 ImuV3Bricklet::get_linear_acceleration.

If you want to get the gravity vector periodically, it is recommended to use the ImuV3Bricklet::get_gravity_vector_callback_receiver callback and set the period with ImuV3Bricklet::set_gravity_vector_callback_configuration.

pub fn ImuV3Bricklet::get_quaternion(&self) → ConvertingReceiver<Quaternion>¶

Return Object:	w – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] x – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] y – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] z – Type: i16, 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 ImuV3Bricklet::get_quaternion_callback_receiver callback and set the period with ImuV3Bricklet::set_quaternion_callback_configuration.

pub fn ImuV3Bricklet::get_all_data(&self) → ConvertingReceiver<AllData>¶

Return Object:

acceleration – Type: [i16; 3] 0: x – Type: i16, Unit: 1 cm/s², Range: ? 1: y – Type: i16, Unit: 1 cm/s², Range: ? 2: z – Type: i16, Unit: 1 cm/s², Range: ? magnetic_field – Type: [i16; 3] 0: x – Type: i16, Unit: 1/16 µT, Range: [-20800 to 20800] 1: y – Type: i16, Unit: 1/16 µT, Range: [-20800 to 20800] 2: z – Type: i16, Unit: 1/16 µT, Range: [-40000 to 40000] angular_velocity – Type: [i16; 3] 0: x – Type: i16, Unit: 1/16 °/s, Range: ? 1: y – Type: i16, Unit: 1/16 °/s, Range: ? 2: z – Type: i16, Unit: 1/16 °/s, Range: ? euler_angle – Type: [i16; 3] 0: heading – Type: i16, Unit: 1/16 °, Range: [0 to 5760] 1: roll – Type: i16, Unit: 1/16 °, Range: [-1440 to 1440] 2: pitch – Type: i16, Unit: 1/16 °, Range: [-2880 to 2880] quaternion – Type: [i16; 4] 0: w – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 1: x – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 2: y – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 3: z – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] linear_acceleration – Type: [i16; 3] 0: x – Type: i16, Unit: 1 cm/s², Range: ? 1: y – Type: i16, Unit: 1 cm/s², Range: ? 2: z – Type: i16, Unit: 1 cm/s², Range: ? gravity_vector – Type: [i16; 3] 0: x – Type: i16, Unit: 1 cm/s², Range: [-981 to 981] 1: y – Type: i16, Unit: 1 cm/s², Range: [-981 to 981] 2: z – Type: i16, Unit: 1 cm/s², Range: [-981 to 981] temperature – Type: i8, Unit: 1 °C, Range: [-128 to 127] calibration_status – Type: u8, Range: [0 to 255]

Return all of the available data of the IMU Brick.

• acceleration (see ImuV3Bricklet::get_acceleration)
• magnetic field (see ImuV3Bricklet::get_magnetic_field)
• angular velocity (see ImuV3Bricklet::get_angular_velocity)
• Euler angles (see ImuV3Bricklet::get_orientation)
• quaternion (see ImuV3Bricklet::get_quaternion)
• linear acceleration (see ImuV3Bricklet::get_linear_acceleration)
• gravity vector (see ImuV3Bricklet::get_gravity_vector)
• temperature (see ImuV3Bricklet::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 ImuV3Bricklet::get_all_data_callback_receiver callback and set the period with ImuV3Bricklet::set_all_data_callback_configuration.

Advanced Functions¶

pub fn ImuV3Bricklet::get_acceleration(&self) → ConvertingReceiver<Acceleration>¶

Return Object:	x – Type: i16, Unit: 1 cm/s², Range: ? y – Type: i16, Unit: 1 cm/s², Range: ? z – Type: i16, 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 ImuV3Bricklet::set_sensor_configuration.

If you want to get the acceleration periodically, it is recommended to use the ImuV3Bricklet::get_acceleration_callback_receiver callback and set the period with ImuV3Bricklet::set_acceleration_callback_configuration.

pub fn ImuV3Bricklet::get_magnetic_field(&self) → ConvertingReceiver<MagneticField>¶

Return Object:	x – Type: i16, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: i16, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: i16, 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 ImuV3Bricklet::get_magnetic_field_callback_receiver callback and set the period with ImuV3Bricklet::set_magnetic_field_callback_configuration.

pub fn ImuV3Bricklet::get_angular_velocity(&self) → ConvertingReceiver<AngularVelocity>¶

Return Object:	x – Type: i16, Unit: 1/16 °/s, Range: ? y – Type: i16, Unit: 1/16 °/s, Range: ? z – Type: i16, 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 ImuV3Bricklet::set_sensor_configuration.

If you want to get the angular velocity periodically, it is recommended to use the ImuV3Bricklet::get_angular_velocity_callback_receiver acallback nd set the period with ImuV3Bricklet::set_angular_velocity_callback_configuration.

pub fn ImuV3Bricklet::get_temperature(&self) → ConvertingReceiver<i8>¶

Returns:	temperature – Type: i8, 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

pub fn ImuV3Bricklet::save_calibration(&self) → ConvertingReceiver<bool>¶

Returns:	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.

pub fn ImuV3Bricklet::set_sensor_configuration(&self, magnetometer_rate: u8, gyroscope_range: u8, gyroscope_bandwidth: u8, accelerometer_range: u8, accelerometer_bandwidth: u8) → ConvertingReceiver<()>¶

Parameters:	magnetometer_rate – Type: u8, Range: See constants, Default: 5 gyroscope_range – Type: u8, Range: See constants, Default: 0 gyroscope_bandwidth – Type: u8, Range: See constants, Default: 7 accelerometer_range – Type: u8, Range: See constants, Default: 1 accelerometer_bandwidth – Type: u8, 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 magnetometer_rate:

• IMU_V3_BRICKLET_MAGNETOMETER_RATE_2HZ = 0
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_6HZ = 1
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_8HZ = 2
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_10HZ = 3
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_15HZ = 4
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_20HZ = 5
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_25HZ = 6
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_30HZ = 7

For gyroscope_range:

• IMU_V3_BRICKLET_GYROSCOPE_RANGE_2000DPS = 0
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_1000DPS = 1
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_500DPS = 2
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_250DPS = 3
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_125DPS = 4

For gyroscope_bandwidth:

• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_523HZ = 0
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_230HZ = 1
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_116HZ = 2
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_47HZ = 3
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_23HZ = 4
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_12HZ = 5
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_64HZ = 6
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_32HZ = 7

For accelerometer_range:

• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_2G = 0
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_4G = 1
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_8G = 2
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_16G = 3

For accelerometer_bandwidth:

• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_7_81HZ = 0
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_15_63HZ = 1
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_31_25HZ = 2
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_62_5HZ = 3
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_125HZ = 4
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_250HZ = 5
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_500HZ = 6
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_1000HZ = 7

pub fn ImuV3Bricklet::get_sensor_configuration(&self) → ConvertingReceiver<SensorConfiguration>¶

Return Object:	magnetometer_rate – Type: u8, Range: See constants, Default: 5 gyroscope_range – Type: u8, Range: See constants, Default: 0 gyroscope_bandwidth – Type: u8, Range: See constants, Default: 7 accelerometer_range – Type: u8, Range: See constants, Default: 1 accelerometer_bandwidth – Type: u8, Range: See constants, Default: 3

Returns the sensor configuration as set by ImuV3Bricklet::set_sensor_configuration.

The following constants are available for this function:

For magnetometer_rate:

• IMU_V3_BRICKLET_MAGNETOMETER_RATE_2HZ = 0
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_6HZ = 1
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_8HZ = 2
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_10HZ = 3
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_15HZ = 4
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_20HZ = 5
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_25HZ = 6
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_30HZ = 7

For gyroscope_range:

• IMU_V3_BRICKLET_GYROSCOPE_RANGE_2000DPS = 0
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_1000DPS = 1
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_500DPS = 2
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_250DPS = 3
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_125DPS = 4

For gyroscope_bandwidth:

• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_523HZ = 0
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_230HZ = 1
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_116HZ = 2
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_47HZ = 3
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_23HZ = 4
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_12HZ = 5
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_64HZ = 6
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_32HZ = 7

For accelerometer_range:

• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_2G = 0
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_4G = 1
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_8G = 2
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_16G = 3

For accelerometer_bandwidth:

• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_7_81HZ = 0
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_15_63HZ = 1
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_31_25HZ = 2
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_62_5HZ = 3
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_125HZ = 4
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_250HZ = 5
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_500HZ = 6
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_1000HZ = 7

pub fn ImuV3Bricklet::set_sensor_fusion_mode(&self, mode: u8) → ConvertingReceiver<()>¶

Parameters:	mode – Type: u8, Range: See constants, Default: 1

If the fusion mode is turned off, the functions ImuV3Bricklet::get_acceleration, ImuV3Bricklet::get_magnetic_field and ImuV3Bricklet::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 constants are available for this function:

For mode:

• IMU_V3_BRICKLET_SENSOR_FUSION_OFF = 0
• IMU_V3_BRICKLET_SENSOR_FUSION_ON = 1
• IMU_V3_BRICKLET_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
• IMU_V3_BRICKLET_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3

pub fn ImuV3Bricklet::get_sensor_fusion_mode(&self) → ConvertingReceiver<u8>¶

Returns:	mode – Type: u8, Range: See constants, Default: 1

Returns the sensor fusion mode as set by ImuV3Bricklet::set_sensor_fusion_mode.

The following constants are available for this function:

For mode:

• IMU_V3_BRICKLET_SENSOR_FUSION_OFF = 0
• IMU_V3_BRICKLET_SENSOR_FUSION_ON = 1
• IMU_V3_BRICKLET_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
• IMU_V3_BRICKLET_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3

pub fn ImuV3Bricklet::get_spitfp_error_count(&self) → ConvertingReceiver<SpitfpErrorCount>¶

Return Object:	error_count_ack_checksum – Type: u32, Range: [0 to 232 - 1] error_count_message_checksum – Type: u32, Range: [0 to 232 - 1] error_count_frame – Type: u32, Range: [0 to 232 - 1] error_count_overflow – Type: u32, 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.

pub fn ImuV3Bricklet::set_status_led_config(&self, config: u8) → ConvertingReceiver<()>¶

Parameters:	config – Type: u8, 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:

• IMU_V3_BRICKLET_STATUS_LED_CONFIG_OFF = 0
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_ON = 1
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3

pub fn ImuV3Bricklet::get_status_led_config(&self) → ConvertingReceiver<u8>¶

Returns:	config – Type: u8, Range: See constants, Default: 3

Returns the configuration as set by ImuV3Bricklet::set_status_led_config

The following constants are available for this function:

For config:

• IMU_V3_BRICKLET_STATUS_LED_CONFIG_OFF = 0
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_ON = 1
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3

pub fn ImuV3Bricklet::get_chip_temperature(&self) → ConvertingReceiver<i16>¶

Returns:	temperature – Type: i16, 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.

pub fn ImuV3Bricklet::reset(&self) → ConvertingReceiver<()>¶

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!

pub fn ImuV3Bricklet::get_identity(&self) → ConvertingReceiver<Identity>¶

Return Object:

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: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255] firmware_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255] device_identifier – Type: u16, 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¶

pub fn ImuV3Bricklet::set_acceleration_callback_configuration(&self, period: u32, value_has_to_change: bool) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

The period is the period with which the ImuV3Bricklet::get_acceleration_callback_receiver 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.

pub fn ImuV3Bricklet::get_acceleration_callback_configuration(&self) → ConvertingReceiver<AccelerationCallbackConfiguration>¶

Return Object:	period – Type: u32, 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 ImuV3Bricklet::set_acceleration_callback_configuration.

pub fn ImuV3Bricklet::set_magnetic_field_callback_configuration(&self, period: u32, value_has_to_change: bool) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

The period is the period with which the ImuV3Bricklet::get_magnetic_field_callback_receiver 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.

pub fn ImuV3Bricklet::get_magnetic_field_callback_configuration(&self) → ConvertingReceiver<MagneticFieldCallbackConfiguration>¶

Return Object:	period – Type: u32, 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 ImuV3Bricklet::set_magnetic_field_callback_configuration.

pub fn ImuV3Bricklet::set_angular_velocity_callback_configuration(&self, period: u32, value_has_to_change: bool) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

The period is the period with which the ImuV3Bricklet::get_angular_velocity_callback_receiver 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.

pub fn ImuV3Bricklet::get_angular_velocity_callback_configuration(&self) → ConvertingReceiver<AngularVelocityCallbackConfiguration>¶

Return Object:	period – Type: u32, 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 ImuV3Bricklet::set_angular_velocity_callback_configuration.

pub fn ImuV3Bricklet::set_temperature_callback_configuration(&self, period: u32, value_has_to_change: bool) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

The period is the period with which the ImuV3Bricklet::get_temperature_callback_receiver 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.

pub fn ImuV3Bricklet::get_temperature_callback_configuration(&self) → ConvertingReceiver<TemperatureCallbackConfiguration>¶

Return Object:	period – Type: u32, 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 ImuV3Bricklet::set_temperature_callback_configuration.

pub fn ImuV3Bricklet::set_orientation_callback_configuration(&self, period: u32, value_has_to_change: bool) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

The period is the period with which the ImuV3Bricklet::get_orientation_callback_receiver 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.

pub fn ImuV3Bricklet::get_orientation_callback_configuration(&self) → ConvertingReceiver<OrientationCallbackConfiguration>¶

Return Object:	period – Type: u32, 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 ImuV3Bricklet::set_orientation_callback_configuration.

pub fn ImuV3Bricklet::set_linear_acceleration_callback_configuration(&self, period: u32, value_has_to_change: bool) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

The period is the period with which the ImuV3Bricklet::get_linear_acceleration_callback_receiver 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.

pub fn ImuV3Bricklet::get_linear_acceleration_callback_configuration(&self) → ConvertingReceiver<LinearAccelerationCallbackConfiguration>¶

Return Object:	period – Type: u32, 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 ImuV3Bricklet::set_linear_acceleration_callback_configuration.

pub fn ImuV3Bricklet::set_gravity_vector_callback_configuration(&self, period: u32, value_has_to_change: bool) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

The period is the period with which the ImuV3Bricklet::get_gravity_vector_callback_receiver 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.

pub fn ImuV3Bricklet::get_gravity_vector_callback_configuration(&self) → ConvertingReceiver<GravityVectorCallbackConfiguration>¶

Return Object:	period – Type: u32, 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 ImuV3Bricklet::set_gravity_vector_callback_configuration.

pub fn ImuV3Bricklet::set_quaternion_callback_configuration(&self, period: u32, value_has_to_change: bool) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

The period is the period with which the ImuV3Bricklet::get_quaternion_callback_receiver 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.

pub fn ImuV3Bricklet::get_quaternion_callback_configuration(&self) → ConvertingReceiver<QuaternionCallbackConfiguration>¶

Return Object:	period – Type: u32, 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 ImuV3Bricklet::set_quaternion_callback_configuration.

pub fn ImuV3Bricklet::set_all_data_callback_configuration(&self, period: u32, value_has_to_change: bool) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false

The period is the period with which the ImuV3Bricklet::get_all_data_callback_receiver 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.

pub fn ImuV3Bricklet::get_all_data_callback_configuration(&self) → ConvertingReceiver<AllDataCallbackConfiguration>¶

Return Object:	period – Type: u32, 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 ImuV3Bricklet::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 get_*_callback_receiver function, which returns a receiver for callback events.

pub fn ImuV3Bricklet::get_acceleration_callback_receiver(&self) → ConvertingCallbackReceiver<AccelerationEvent>¶

Event Object:	x – Type: i16, Unit: 1 cm/s², Range: ? y – Type: i16, Unit: 1 cm/s², Range: ? z – Type: i16, Unit: 1 cm/s², Range: ?

Receivers created with this function receive Acceleration events.

This callback is triggered periodically with the period that is set by ImuV3Bricklet::set_acceleration_callback_configuration. The members of the received struct are the acceleration for the x, y and z axis.

pub fn ImuV3Bricklet::get_magnetic_field_callback_receiver(&self) → ConvertingCallbackReceiver<MagneticFieldEvent>¶

Event Object:	x – Type: i16, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: i16, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: i16, Unit: 1/16 µT, Range: [-40000 to 40000]

Receivers created with this function receive Magnetic Field events.

This callback is triggered periodically with the period that is set by ImuV3Bricklet::set_magnetic_field_callback_configuration. The members of the received struct are the magnetic field for the x, y and z axis.

pub fn ImuV3Bricklet::get_angular_velocity_callback_receiver(&self) → ConvertingCallbackReceiver<AngularVelocityEvent>¶

Event Object:	x – Type: i16, Unit: 1/16 °/s, Range: ? y – Type: i16, Unit: 1/16 °/s, Range: ? z – Type: i16, Unit: 1/16 °/s, Range: ?

Receivers created with this function receive Angular Velocity events.

This callback is triggered periodically with the period that is set by ImuV3Bricklet::set_angular_velocity_callback_configuration. The members of the received struct are the angular velocity for the x, y and z axis.

pub fn ImuV3Bricklet::get_temperature_callback_receiver(&self) → ConvertingCallbackReceiver<i8>¶

Event:	temperature – Type: i8, Unit: 1 °C, Range: [-128 to 127]

Receivers created with this function receive Temperature events.

This callback is triggered periodically with the period that is set by ImuV3Bricklet::set_temperature_callback_configuration. The received variable is the temperature.

pub fn ImuV3Bricklet::get_linear_acceleration_callback_receiver(&self) → ConvertingCallbackReceiver<LinearAccelerationEvent>¶

Event Object:	x – Type: i16, Unit: 1 cm/s², Range: ? y – Type: i16, Unit: 1 cm/s², Range: ? z – Type: i16, Unit: 1 cm/s², Range: ?

Receivers created with this function receive Linear Acceleration events.

This callback is triggered periodically with the period that is set by ImuV3Bricklet::set_linear_acceleration_callback_configuration. The members of the received struct are the linear acceleration for the x, y and z axis.

pub fn ImuV3Bricklet::get_gravity_vector_callback_receiver(&self) → ConvertingCallbackReceiver<GravityVectorEvent>¶

Event Object:	x – Type: i16, Unit: 1 cm/s², Range: [-981 to 981] y – Type: i16, Unit: 1 cm/s², Range: [-981 to 981] z – Type: i16, Unit: 1 cm/s², Range: [-981 to 981]

Receivers created with this function receive Gravity Vector events.

This callback is triggered periodically with the period that is set by ImuV3Bricklet::set_gravity_vector_callback_configuration. The members of the received struct gravity vector for the x, y and z axis.

pub fn ImuV3Bricklet::get_orientation_callback_receiver(&self) → ConvertingCallbackReceiver<OrientationEvent>¶

Event Object:	heading – Type: i16, Unit: 1/16 °, Range: [0 to 5760] roll – Type: i16, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: i16, Unit: 1/16 °, Range: [-2880 to 2880]

Receivers created with this function receive Orientation events.

This callback is triggered periodically with the period that is set by ImuV3Bricklet::set_orientation_callback_configuration. The members of the received struct are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See ImuV3Bricklet::get_orientation for details.

pub fn ImuV3Bricklet::get_quaternion_callback_receiver(&self) → ConvertingCallbackReceiver<QuaternionEvent>¶

Event Object:	w – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] x – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] y – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] z – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]

Receivers created with this function receive Quaternion events.

This callback is triggered periodically with the period that is set by ImuV3Bricklet::set_quaternion_callback_configuration. The members of the received struct are the orientation (w, x, y, z) of the IMU Brick in quaternions. See ImuV3Bricklet::get_quaternion for details.

pub fn ImuV3Bricklet::get_all_data_callback_receiver(&self) → ConvertingCallbackReceiver<AllDataEvent>¶

Event Object:

acceleration – Type: [i16; 3] 0: x – Type: i16, Unit: 1 cm/s², Range: ? 1: y – Type: i16, Unit: 1 cm/s², Range: ? 2: z – Type: i16, Unit: 1 cm/s², Range: ? magnetic_field – Type: [i16; 3] 0: x – Type: i16, Unit: 1/16 µT, Range: [-20800 to 20800] 1: y – Type: i16, Unit: 1/16 µT, Range: [-20800 to 20800] 2: z – Type: i16, Unit: 1/16 µT, Range: [-40000 to 40000] angular_velocity – Type: [i16; 3] 0: x – Type: i16, Unit: 1/16 °/s, Range: ? 1: y – Type: i16, Unit: 1/16 °/s, Range: ? 2: z – Type: i16, Unit: 1/16 °/s, Range: ? euler_angle – Type: [i16; 3] 0: heading – Type: i16, Unit: 1/16 °, Range: [0 to 5760] 1: roll – Type: i16, Unit: 1/16 °, Range: [-1440 to 1440] 2: pitch – Type: i16, Unit: 1/16 °, Range: [-2880 to 2880] quaternion – Type: [i16; 4] 0: w – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 1: x – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 2: y – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] 3: z – Type: i16, Unit: 1/16383, Range: [-214 + 1 to 214 - 1] linear_acceleration – Type: [i16; 3] 0: x – Type: i16, Unit: 1 cm/s², Range: ? 1: y – Type: i16, Unit: 1 cm/s², Range: ? 2: z – Type: i16, Unit: 1 cm/s², Range: ? gravity_vector – Type: [i16; 3] 0: x – Type: i16, Unit: 1 cm/s², Range: ? 1: y – Type: i16, Unit: 1 cm/s², Range: ? 2: z – Type: i16, Unit: 1 cm/s², Range: ? temperature – Type: i8, Unit: 1 °C, Range: [-128 to 127] calibration_status – Type: u8, Range: [0 to 255]

Receivers created with this function receive All Data events.

This callback is triggered periodically with the period that is set by ImuV3Bricklet::set_all_data_callback_configuration. The members of the received struct are as for ImuV3Bricklet::get_all_data.

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.

pub fn ImuV3Bricklet::get_api_version(&self) → [u8; 3]¶

Return Object:	api_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, 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.

pub fn ImuV3Bricklet::get_response_expected(&mut self, function_id: u8) → bool¶

Parameters:	function_id – Type: u8, Range: See constants
Returns:	response_expected – Type: bool

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 ImuV3Bricklet::set_response_expected. 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 function_id:

• IMU_V3_BRICKLET_FUNCTION_SET_SENSOR_CONFIGURATION = 11
• IMU_V3_BRICKLET_FUNCTION_SET_SENSOR_FUSION_MODE = 13
• IMU_V3_BRICKLET_FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION = 15
• IMU_V3_BRICKLET_FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION = 17
• IMU_V3_BRICKLET_FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION = 19
• IMU_V3_BRICKLET_FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION = 21
• IMU_V3_BRICKLET_FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION = 23
• IMU_V3_BRICKLET_FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION = 25
• IMU_V3_BRICKLET_FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION = 27
• IMU_V3_BRICKLET_FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION = 29
• IMU_V3_BRICKLET_FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION = 31
• IMU_V3_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• IMU_V3_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
• IMU_V3_BRICKLET_FUNCTION_RESET = 243
• IMU_V3_BRICKLET_FUNCTION_WRITE_UID = 248

pub fn ImuV3Bricklet::set_response_expected(&mut self, function_id: u8, response_expected: bool) → ()¶

Parameters:	function_id – Type: u8, Range: See constants response_expected – Type: bool

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 function_id:

• IMU_V3_BRICKLET_FUNCTION_SET_SENSOR_CONFIGURATION = 11
• IMU_V3_BRICKLET_FUNCTION_SET_SENSOR_FUSION_MODE = 13
• IMU_V3_BRICKLET_FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION = 15
• IMU_V3_BRICKLET_FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION = 17
• IMU_V3_BRICKLET_FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION = 19
• IMU_V3_BRICKLET_FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION = 21
• IMU_V3_BRICKLET_FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION = 23
• IMU_V3_BRICKLET_FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION = 25
• IMU_V3_BRICKLET_FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION = 27
• IMU_V3_BRICKLET_FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION = 29
• IMU_V3_BRICKLET_FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION = 31
• IMU_V3_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• IMU_V3_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
• IMU_V3_BRICKLET_FUNCTION_RESET = 243
• IMU_V3_BRICKLET_FUNCTION_WRITE_UID = 248

pub fn ImuV3Bricklet::set_response_expected_all(&mut self, response_expected: bool) → ()¶

Parameters:	response_expected – Type: bool

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.

pub fn ImuV3Bricklet::set_bootloader_mode(&self, mode: u8) → ConvertingReceiver<u8>¶

Parameters:	mode – Type: u8, Range: See constants
Returns:	status – Type: u8, 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:

• IMU_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
• IMU_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• IMU_V3_BRICKLET_BOOTLOADER_STATUS_OK = 0
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE = 1
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE = 2
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH = 5

pub fn ImuV3Bricklet::get_bootloader_mode(&self) → ConvertingReceiver<u8>¶

Returns:	mode – Type: u8, Range: See constants

Returns the current bootloader mode, see ImuV3Bricklet::set_bootloader_mode.

The following constants are available for this function:

For mode:

• IMU_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
• IMU_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

pub fn ImuV3Bricklet::set_write_firmware_pointer(&self, pointer: u32) → ConvertingReceiver<()>¶

Parameters:	pointer – Type: u32, Unit: 1 B, Range: [0 to 232 - 1]

Sets the firmware pointer for ImuV3Bricklet::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.

pub fn ImuV3Bricklet::write_firmware(&self, data: [u8; 64]) → ConvertingReceiver<u8>¶

Parameters:	data – Type: [u8; 64], Range: [0 to 255]
Returns:	status – Type: u8, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by ImuV3Bricklet::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.

pub fn ImuV3Bricklet::write_uid(&self, uid: u32) → ConvertingReceiver<()>¶

Parameters:	uid – Type: u32, 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.

pub fn ImuV3Bricklet::read_uid(&self) → ConvertingReceiver<u32>¶

Returns:	uid – Type: u32, Range: [0 to 232 - 1]

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

Constants¶

pub const ImuV3Bricklet::DEVICE_IDENTIFIER¶

This constant is used to identify a IMU Bricklet 3.0.

The ImuV3Bricklet::get_identity function and the IpConnection::get_enumerate_callback_receiver callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

pub const ImuV3Bricklet::DEVICE_DISPLAY_NAME¶

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