Specifications / TCP/IP Protocol / API / Bricks and Bricklets / Bricklets / IMU Bricklet 3.0

TCP/IP - IMU Bricklet 3.0¶

This is the description of the TCP/IP protocol for the IMU Bricklet 3.0. General information and technical specifications for the IMU Bricklet 3.0 are summarized in its hardware description.

API¶

A general description of the TCP/IP protocol structure can be found here.

Basic Functions¶

BrickletIMUV3.get_orientation¶

Function ID:	5
Request:	empty payload
Response:	heading – Type: int16, Unit: 1/16 °, Range: [0 to 5760] roll – Type: int16, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: int16, 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 CALLBACK_ORIENTATION callback and set the period with set_orientation_callback_configuration.

BrickletIMUV3.get_linear_acceleration¶

Function ID:	6
Request:	empty payload
Response:	x – Type: int16, Unit: 1 cm/s², Range: ? y – Type: int16, Unit: 1 cm/s², Range: ? z – Type: int16, 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 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 get_gravity_vector.

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

BrickletIMUV3.get_gravity_vector¶

Function ID:	7
Request:	empty payload
Response:	x – Type: int16, Unit: 1 cm/s², Range: [-981 to 981] y – Type: int16, Unit: 1 cm/s², Range: [-981 to 981] z – Type: int16, 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 get_linear_acceleration.

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

BrickletIMUV3.get_quaternion¶

Function ID:	8
Request:	empty payload
Response:	w – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] x – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] y – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] z – Type: int16, 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 CALLBACK_QUATERNION callback and set the period with set_quaternion_callback_configuration.

BrickletIMUV3.get_all_data¶

Function ID:	9
Request:	empty payload
Response:	acceleration – Type: int16[3] 0: x – Type: int16, Unit: 1 cm/s², Range: ? 1: y – Type: int16, Unit: 1 cm/s², Range: ? 2: z – Type: int16, Unit: 1 cm/s², Range: ? magnetic_field – Type: int16[3] 0: x – Type: int16, Unit: 1/16 µT, Range: [-20800 to 20800] 1: y – Type: int16, Unit: 1/16 µT, Range: [-20800 to 20800] 2: z – Type: int16, Unit: 1/16 µT, Range: [-40000 to 40000] angular_velocity – Type: int16[3] 0: x – Type: int16, Unit: 1/16 °/s, Range: ? 1: y – Type: int16, Unit: 1/16 °/s, Range: ? 2: z – Type: int16, Unit: 1/16 °/s, Range: ? euler_angle – Type: int16[3] 0: heading – Type: int16, Unit: 1/16 °, Range: [0 to 5760] 1: roll – Type: int16, Unit: 1/16 °, Range: [-1440 to 1440] 2: pitch – Type: int16, Unit: 1/16 °, Range: [-2880 to 2880] quaternion – Type: int16[4] 0: w – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] 1: x – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] 2: y – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] 3: z – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] linear_acceleration – Type: int16[3] 0: x – Type: int16, Unit: 1 cm/s², Range: ? 1: y – Type: int16, Unit: 1 cm/s², Range: ? 2: z – Type: int16, Unit: 1 cm/s², Range: ? gravity_vector – Type: int16[3] 0: x – Type: int16, Unit: 1 cm/s², Range: [-981 to 981] 1: y – Type: int16, Unit: 1 cm/s², Range: [-981 to 981] 2: z – Type: int16, Unit: 1 cm/s², Range: [-981 to 981] temperature – Type: int8, Unit: 1 °C, Range: [-128 to 127] calibration_status – Type: uint8, Range: [0 to 255]

Return all of the available data of the IMU Brick.

acceleration (see get_acceleration)
magnetic field (see get_magnetic_field)
angular velocity (see get_angular_velocity)
Euler angles (see get_orientation)
quaternion (see get_quaternion)
linear acceleration (see get_linear_acceleration)
gravity vector (see get_gravity_vector)
temperature (see get_temperature)
calibration status (see below)

The calibration status consists of four pairs of two bits. Each pair of bits represents the status of the current calibration.

bit 0-1: Magnetometer
bit 2-3: Accelerometer
bit 4-5: Gyroscope
bit 6-7: System

A value of 0 means for "not calibrated" and a value of 3 means "fully calibrated". In your program you should always be able to ignore the calibration status, it is used by the calibration window of the Brick Viewer and it can be ignored after the first calibration. See the documentation in the calibration window for more information regarding the calibration of the IMU Brick.

If you want to get the data periodically, it is recommended to use the CALLBACK_ALL_DATA callback and set the period with set_all_data_callback_configuration.

Advanced Functions¶

BrickletIMUV3.get_acceleration¶

Function ID:	1
Request:	empty payload
Response:	x – Type: int16, Unit: 1 cm/s², Range: ? y – Type: int16, Unit: 1 cm/s², Range: ? z – Type: int16, 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 set_sensor_configuration.

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

BrickletIMUV3.get_magnetic_field¶

Function ID:	2
Request:	empty payload
Response:	x – Type: int16, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: int16, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: int16, 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 CALLBACK_MAGNETIC_FIELD callback and set the period with set_magnetic_field_callback_configuration.

BrickletIMUV3.get_angular_velocity¶

Function ID:	3
Request:	empty payload
Response:	x – Type: int16, Unit: 1/16 °/s, Range: ? y – Type: int16, Unit: 1/16 °/s, Range: ? z – Type: int16, 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 set_sensor_configuration.

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

BrickletIMUV3.get_temperature¶

Function ID:	4
Request:	empty payload
Response:	temperature – Type: int8, 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

BrickletIMUV3.save_calibration¶

Function ID:	10
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.

BrickletIMUV3.set_sensor_configuration¶

Function ID:	11
Request:	magnetometer_rate – Type: uint8, Range: See meanings, Default: 5 gyroscope_range – Type: uint8, Range: See meanings, Default: 0 gyroscope_bandwidth – Type: uint8, Range: See meanings, Default: 7 accelerometer_range – Type: uint8, Range: See meanings, Default: 1 accelerometer_bandwidth – Type: uint8, Range: See meanings, 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 meanings are defined for the elements of this function:

For magnetometer_rate:

0 = 2Hz
1 = 6Hz
2 = 8Hz
3 = 10Hz
4 = 15Hz
5 = 20Hz
6 = 25Hz
7 = 30Hz

For gyroscope_range:

0 = 2000DPS
1 = 1000DPS
2 = 500DPS
3 = 250DPS
4 = 125DPS

For gyroscope_bandwidth:

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

For accelerometer_range:

0 = 2G
1 = 4G
2 = 8G
3 = 16G

For accelerometer_bandwidth:

0 = 7.81Hz
1 = 15.63Hz
2 = 31.25Hz
3 = 62.5Hz
4 = 125Hz
5 = 250Hz
6 = 500Hz
7 = 1000Hz

BrickletIMUV3.get_sensor_configuration¶

Function ID:	12
Request:	empty payload
Response:	magnetometer_rate – Type: uint8, Range: See meanings, Default: 5 gyroscope_range – Type: uint8, Range: See meanings, Default: 0 gyroscope_bandwidth – Type: uint8, Range: See meanings, Default: 7 accelerometer_range – Type: uint8, Range: See meanings, Default: 1 accelerometer_bandwidth – Type: uint8, Range: See meanings, Default: 3

Returns the sensor configuration as set by set_sensor_configuration.

The following meanings are defined for the elements of this function:

For magnetometer_rate:

0 = 2Hz
1 = 6Hz
2 = 8Hz
3 = 10Hz
4 = 15Hz
5 = 20Hz
6 = 25Hz
7 = 30Hz

For gyroscope_range:

0 = 2000DPS
1 = 1000DPS
2 = 500DPS
3 = 250DPS
4 = 125DPS

For gyroscope_bandwidth:

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

For accelerometer_range:

0 = 2G
1 = 4G
2 = 8G
3 = 16G

For accelerometer_bandwidth:

0 = 7.81Hz
1 = 15.63Hz
2 = 31.25Hz
3 = 62.5Hz
4 = 125Hz
5 = 250Hz
6 = 500Hz
7 = 1000Hz

BrickletIMUV3.set_sensor_fusion_mode¶

Function ID:	13
Request:	mode – Type: uint8, Range: See meanings, Default: 1
Response:	no response

If the fusion mode is turned off, the functions get_acceleration, get_magnetic_field and 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 meanings are defined for the elements of this function:

For mode:

0 = Off
1 = On
2 = On Without Magnetometer
3 = On Without Fast Magnetometer Calibration

BrickletIMUV3.get_sensor_fusion_mode¶

Function ID:	14
Request:	empty payload
Response:	mode – Type: uint8, Range: See meanings, Default: 1

Returns the sensor fusion mode as set by set_sensor_fusion_mode.

The following meanings are defined for the elements of this function:

For mode:

0 = Off
1 = On
2 = On Without Magnetometer
3 = On Without Fast Magnetometer Calibration

BrickletIMUV3.get_spitfp_error_count¶

Function ID:	234
Request:	empty payload
Response:	error_count_ack_checksum – Type: uint32, Range: [0 to 2³² - 1] error_count_message_checksum – Type: uint32, Range: [0 to 2³² - 1] error_count_frame – Type: uint32, Range: [0 to 2³² - 1] error_count_overflow – Type: uint32, 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.

BrickletIMUV3.set_status_led_config¶

Function ID:	239
Request:	config – Type: uint8, Range: See meanings, 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 meanings are defined for the elements of this function:

For config:

0 = Off
1 = On
2 = Show Heartbeat
3 = Show Status

BrickletIMUV3.get_status_led_config¶

Function ID:	240
Request:	empty payload
Response:	config – Type: uint8, Range: See meanings, Default: 3

Returns the configuration as set by set_status_led_config

The following meanings are defined for the elements of this function:

For config:

0 = Off
1 = On
2 = Show Heartbeat
3 = Show Status

BrickletIMUV3.get_chip_temperature¶

Function ID:	242
Request:	empty payload
Response:	temperature – Type: int16, 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.

BrickletIMUV3.reset¶

Function ID:	243
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!

BrickletIMUV3.get_identity¶

Function ID:	255
Request:	empty payload
Response:	uid – Type: char[8] connected_uid – Type: char[8] position – Type: char, Range: ['a' to 'h', 'z'] hardware_version – Type: uint8[3] 0: major – Type: uint8, Range: [0 to 255] 1: minor – Type: uint8, Range: [0 to 255] 2: revision – Type: uint8, Range: [0 to 255] firmware_version – Type: uint8[3] 0: major – Type: uint8, Range: [0 to 255] 1: minor – Type: uint8, Range: [0 to 255] 2: revision – Type: uint8, Range: [0 to 255] device_identifier – Type: uint16, 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.

Callback Configuration Functions¶

BrickletIMUV3.set_acceleration_callback_configuration¶

Function ID:	15
Request:	period – Type: uint32, 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 CALLBACK_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.

If the value has to change-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

BrickletIMUV3.get_acceleration_callback_configuration¶

Function ID:	16
Request:	empty payload
Response:	period – Type: uint32, 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 set_acceleration_callback_configuration.

BrickletIMUV3.set_magnetic_field_callback_configuration¶

Function ID:	17
Request:	period – Type: uint32, 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 CALLBACK_MAGNETIC_FIELD callback is triggered periodically. A value of 0 turns the callback off.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

BrickletIMUV3.get_magnetic_field_callback_configuration¶

Function ID:	18
Request:	empty payload
Response:	period – Type: uint32, 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 set_magnetic_field_callback_configuration.

BrickletIMUV3.set_angular_velocity_callback_configuration¶

Function ID:	19
Request:	period – Type: uint32, 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 CALLBACK_ANGULAR_VELOCITY callback is triggered periodically. A value of 0 turns the callback off.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

BrickletIMUV3.get_angular_velocity_callback_configuration¶

Function ID:	20
Request:	empty payload
Response:	period – Type: uint32, 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 set_angular_velocity_callback_configuration.

BrickletIMUV3.set_temperature_callback_configuration¶

Function ID:	21
Request:	period – Type: uint32, 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 CALLBACK_TEMPERATURE callback is triggered periodically. A value of 0 turns the callback off.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

BrickletIMUV3.get_temperature_callback_configuration¶

Function ID:	22
Request:	empty payload
Response:	period – Type: uint32, 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 set_temperature_callback_configuration.

BrickletIMUV3.set_orientation_callback_configuration¶

Function ID:	23
Request:	period – Type: uint32, 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 CALLBACK_ORIENTATION callback is triggered periodically. A value of 0 turns the callback off.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

BrickletIMUV3.get_orientation_callback_configuration¶

Function ID:	24
Request:	empty payload
Response:	period – Type: uint32, 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 set_orientation_callback_configuration.

BrickletIMUV3.set_linear_acceleration_callback_configuration¶

Function ID:	25
Request:	period – Type: uint32, 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 CALLBACK_LINEAR_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

BrickletIMUV3.get_linear_acceleration_callback_configuration¶

Function ID:	26
Request:	empty payload
Response:	period – Type: uint32, 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 set_linear_acceleration_callback_configuration.

BrickletIMUV3.set_gravity_vector_callback_configuration¶

Function ID:	27
Request:	period – Type: uint32, 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 CALLBACK_GRAVITY_VECTOR callback is triggered periodically. A value of 0 turns the callback off.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

BrickletIMUV3.get_gravity_vector_callback_configuration¶

Function ID:	28
Request:	empty payload
Response:	period – Type: uint32, 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 set_gravity_vector_callback_configuration.

BrickletIMUV3.set_quaternion_callback_configuration¶

Function ID:	29
Request:	period – Type: uint32, 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 CALLBACK_QUATERNION callback is triggered periodically. A value of 0 turns the callback off.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

BrickletIMUV3.get_quaternion_callback_configuration¶

Function ID:	30
Request:	empty payload
Response:	period – Type: uint32, 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 set_quaternion_callback_configuration.

BrickletIMUV3.set_all_data_callback_configuration¶

Function ID:	31
Request:	period – Type: uint32, 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 CALLBACK_ALL_DATA callback is triggered periodically. A value of 0 turns the callback off.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

BrickletIMUV3.get_all_data_callback_configuration¶

Function ID:	32
Request:	empty payload
Response:	period – Type: uint32, 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 set_all_data_callback_configuration.

Callbacks¶

BrickletIMUV3.CALLBACK_ACCELERATION¶

Function ID:	33
Response:	x – Type: int16, Unit: 1 cm/s², Range: ? y – Type: int16, Unit: 1 cm/s², Range: ? z – Type: int16, Unit: 1 cm/s², Range: ?

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

BrickletIMUV3.CALLBACK_MAGNETIC_FIELD¶

Function ID:	34
Response:	x – Type: int16, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: int16, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: int16, Unit: 1/16 µT, Range: [-40000 to 40000]

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

BrickletIMUV3.CALLBACK_ANGULAR_VELOCITY¶

Function ID:	35
Response:	x – Type: int16, Unit: 1/16 °/s, Range: ? y – Type: int16, Unit: 1/16 °/s, Range: ? z – Type: int16, Unit: 1/16 °/s, Range: ?

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

BrickletIMUV3.CALLBACK_TEMPERATURE¶

Function ID:	36
Response:	temperature – Type: int8, Unit: 1 °C, Range: [-128 to 127]

This callback is triggered periodically with the period that is set by set_temperature_callback_configuration. The response value is the temperature.

BrickletIMUV3.CALLBACK_LINEAR_ACCELERATION¶

Function ID:	37
Response:	x – Type: int16, Unit: 1 cm/s², Range: ? y – Type: int16, Unit: 1 cm/s², Range: ? z – Type: int16, Unit: 1 cm/s², Range: ?

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

BrickletIMUV3.CALLBACK_GRAVITY_VECTOR¶

Function ID:	38
Response:	x – Type: int16, Unit: 1 cm/s², Range: [-981 to 981] y – Type: int16, Unit: 1 cm/s², Range: [-981 to 981] z – Type: int16, Unit: 1 cm/s², Range: [-981 to 981]

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

BrickletIMUV3.CALLBACK_ORIENTATION¶

Function ID:	39
Response:	heading – Type: int16, Unit: 1/16 °, Range: [0 to 5760] roll – Type: int16, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: int16, Unit: 1/16 °, Range: [-2880 to 2880]

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

BrickletIMUV3.CALLBACK_QUATERNION¶

Function ID:	40
Response:	w – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] x – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] y – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] z – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]

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

BrickletIMUV3.CALLBACK_ALL_DATA¶

Function ID:

Function ID:	41
Response:	acceleration – Type: int16[3] 0: x – Type: int16, Unit: 1 cm/s², Range: ? 1: y – Type: int16, Unit: 1 cm/s², Range: ? 2: z – Type: int16, Unit: 1 cm/s², Range: ? magnetic_field – Type: int16[3] 0: x – Type: int16, Unit: 1/16 µT, Range: [-20800 to 20800] 1: y – Type: int16, Unit: 1/16 µT, Range: [-20800 to 20800] 2: z – Type: int16, Unit: 1/16 µT, Range: [-40000 to 40000] angular_velocity – Type: int16[3] 0: x – Type: int16, Unit: 1/16 °/s, Range: ? 1: y – Type: int16, Unit: 1/16 °/s, Range: ? 2: z – Type: int16, Unit: 1/16 °/s, Range: ? euler_angle – Type: int16[3] 0: heading – Type: int16, Unit: 1/16 °, Range: [0 to 5760] 1: roll – Type: int16, Unit: 1/16 °, Range: [-1440 to 1440] 2: pitch – Type: int16, Unit: 1/16 °, Range: [-2880 to 2880] quaternion – Type: int16[4] 0: w – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] 1: x – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] 2: y – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] 3: z – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] linear_acceleration – Type: int16[3] 0: x – Type: int16, Unit: 1 cm/s², Range: ? 1: y – Type: int16, Unit: 1 cm/s², Range: ? 2: z – Type: int16, Unit: 1 cm/s², Range: ? gravity_vector – Type: int16[3] 0: x – Type: int16, Unit: 1 cm/s², Range: ? 1: y – Type: int16, Unit: 1 cm/s², Range: ? 2: z – Type: int16, Unit: 1 cm/s², Range: ? temperature – Type: int8, Unit: 1 °C, Range: [-128 to 127] calibration_status – Type: uint8, Range: [0 to 255]

Response:

acceleration – Type: int16[3]

0: x – Type: int16, Unit: 1 cm/s², Range: ?
1: y – Type: int16, Unit: 1 cm/s², Range: ?
2: z – Type: int16, Unit: 1 cm/s², Range: ?

magnetic_field – Type: int16[3]

0: x – Type: int16, Unit: 1/16 µT, Range: [-20800 to 20800]
1: y – Type: int16, Unit: 1/16 µT, Range: [-20800 to 20800]
2: z – Type: int16, Unit: 1/16 µT, Range: [-40000 to 40000]

angular_velocity – Type: int16[3]

0: x – Type: int16, Unit: 1/16 °/s, Range: ?
1: y – Type: int16, Unit: 1/16 °/s, Range: ?
2: z – Type: int16, Unit: 1/16 °/s, Range: ?

euler_angle – Type: int16[3]

0: heading – Type: int16, Unit: 1/16 °, Range: [0 to 5760]
1: roll – Type: int16, Unit: 1/16 °, Range: [-1440 to 1440]
2: pitch – Type: int16, Unit: 1/16 °, Range: [-2880 to 2880]

quaternion – Type: int16[4]

0: w – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]
1: x – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]
2: y – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]
3: z – Type: int16, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]

linear_acceleration – Type: int16[3]

0: x – Type: int16, Unit: 1 cm/s², Range: ?
1: y – Type: int16, Unit: 1 cm/s², Range: ?
2: z – Type: int16, Unit: 1 cm/s², Range: ?

gravity_vector – Type: int16[3]

0: x – Type: int16, Unit: 1 cm/s², Range: ?
1: y – Type: int16, Unit: 1 cm/s², Range: ?
2: z – Type: int16, Unit: 1 cm/s², Range: ?

temperature – Type: int8, Unit: 1 °C, Range: [-128 to 127]
calibration_status – Type: uint8, Range: [0 to 255]

This callback is triggered periodically with the period that is set by set_all_data_callback_configuration. The response values are as for 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.

BrickletIMUV3.set_bootloader_mode¶

Function ID:	235
Request:	mode – Type: uint8, Range: See meanings
Response:	status – Type: uint8, Range: See meanings

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 meanings are defined for the elements of this function:

For mode:

0 = Bootloader
1 = Firmware
2 = Bootloader Wait For Reboot
3 = Firmware Wait For Reboot
4 = Firmware Wait For Erase And Reboot

For status:

0 = OK
1 = Invalid Mode
2 = No Change
3 = Entry Function Not Present
4 = Device Identifier Incorrect
5 = CRC Mismatch

BrickletIMUV3.get_bootloader_mode¶

Function ID:	236
Request:	empty payload
Response:	mode – Type: uint8, Range: See meanings

Returns the current bootloader mode, see set_bootloader_mode.

The following meanings are defined for the elements of this function:

For mode:

0 = Bootloader
1 = Firmware
2 = Bootloader Wait For Reboot
3 = Firmware Wait For Reboot
4 = Firmware Wait For Erase And Reboot

BrickletIMUV3.set_write_firmware_pointer¶

Function ID:	237
Request:	pointer – Type: uint32, Unit: 1 B, Range: [0 to 2³² - 1]
Response:	no response

Sets the firmware pointer for 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.

BrickletIMUV3.write_firmware¶

Function ID:	238
Request:	data – Type: uint8[64], Range: [0 to 255]
Response:	status – Type: uint8, Range: [0 to 255]

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

BrickletIMUV3.write_uid¶

Function ID:	248
Request:	uid – Type: uint32, 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.

BrickletIMUV3.read_uid¶

Function ID:	249
Request:	empty payload
Response:	uid – Type: uint32, Range: [0 to 2³² - 1]

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