Software / API Bindings / C/C++ for Microcontrollers / API Reference and Examples / Bricklets / IMU Bricklet 3.0

C/C++ for Microcontrollers - IMU Bricklet 3.0¶

This is the description of the C/C++ for Microcontrollers API bindings for the IMU Bricklet 3.0. General information and technical specifications for the IMU Bricklet 3.0 are summarized in its hardware description.

An installation guide for the C/C++ for Microcontrollers API bindings is part of their general description.

Examples¶

The example code below is Public Domain (CC0 1.0).

Simple¶

Download (example_simple.c)

// This example is not self-contained.
// It requires usage of the example driver specific to your platform.
// See the HAL documentation.

#include "src/bindings/hal_common.h"
#include "src/bindings/bricklet_imu_v3.h"

void check(int rc, const char *msg);
void example_setup(TF_HAL *hal);
void example_loop(TF_HAL *hal);

static TF_IMUV3 imu;

void example_setup(TF_HAL *hal) {
    // Create device object
    check(tf_imu_v3_create(&imu, NULL, hal), "create device object");

    // Get current quaternion
    int16_t w, x, y, z;
    check(tf_imu_v3_get_quaternion(&imu, &w, &x, &y, &z), "get quaternion");

    tf_hal_printf("Quaternion [W]: %d 1/%d\n", w, 16383);
    tf_hal_printf("Quaternion [X]: %d 1/%d\n", x, 16383);
    tf_hal_printf("Quaternion [Y]: %d 1/%d\n", y, 16383);
    tf_hal_printf("Quaternion [Z]: %d 1/%d\n", z, 16383);
}

void example_loop(TF_HAL *hal) {
    // Poll for callbacks
    tf_hal_callback_tick(hal, 0);
}

Callback¶

Download (example_callback.c)

// This example is not self-contained.
// It requires usage of the example driver specific to your platform.
// See the HAL documentation.

#include "src/bindings/hal_common.h"
#include "src/bindings/bricklet_imu_v3.h"

void check(int rc, const char *msg);
void example_setup(TF_HAL *hal);
void example_loop(TF_HAL *hal);

// Callback function for quaternion callback
static void quaternion_handler(TF_IMUV3 *device, int16_t w, int16_t x, int16_t y,
                               int16_t z, void *user_data) {
    (void)device; (void)user_data; // avoid unused parameter warning

    tf_hal_printf("Quaternion [W]: %d 1/%d\n", w, 16383);
    tf_hal_printf("Quaternion [X]: %d 1/%d\n", x, 16383);
    tf_hal_printf("Quaternion [Y]: %d 1/%d\n", y, 16383);
    tf_hal_printf("Quaternion [Z]: %d 1/%d\n", z, 16383);
    tf_hal_printf("\n");
}

static TF_IMUV3 imu;

void example_setup(TF_HAL *hal) {
    // Create device object
    check(tf_imu_v3_create(&imu, NULL, hal), "create device object");

    // Register quaternion callback to function quaternion_handler
    tf_imu_v3_register_quaternion_callback(&imu,
                                           quaternion_handler,
                                           NULL);

    // Set period for quaternion callback to 0.1s (100ms)
    tf_imu_v3_set_quaternion_callback_configuration(&imu, 100, false);
}

void example_loop(TF_HAL *hal) {
    // Poll for callbacks
    tf_hal_callback_tick(hal, 0);
}

All Data¶

Download (example_all_data.c)

// This example is not self-contained.
// It requires usage of the example driver specific to your platform.
// See the HAL documentation.

#include "src/bindings/hal_common.h"
#include "src/bindings/bricklet_imu_v3.h"

void check(int rc, const char *msg);
void example_setup(TF_HAL *hal);
void example_loop(TF_HAL *hal);

// Callback function for all data callback
static void all_data_handler(TF_IMUV3 *device, int16_t acceleration[3],
                             int16_t magnetic_field[3], int16_t angular_velocity[3],
                             int16_t euler_angle[3], int16_t quaternion[4],
                             int16_t linear_acceleration[3], int16_t gravity_vector[3],
                             int8_t temperature, uint8_t calibration_status,
                             void *user_data) {
    (void)device; (void)user_data; // avoid unused parameter warning

    tf_hal_printf("Acceleration [X]: %d 1/%d m/s²\n", acceleration[0], 100);
    tf_hal_printf("Acceleration [Y]: %d 1/%d m/s²\n", acceleration[1], 100);
    tf_hal_printf("Acceleration [Z]: %d 1/%d m/s²\n", acceleration[2], 100);
    tf_hal_printf("Magnetic Field [X]: %d 1/%d µT\n", magnetic_field[0], 16);
    tf_hal_printf("Magnetic Field [Y]: %d 1/%d µT\n", magnetic_field[1], 16);
    tf_hal_printf("Magnetic Field [Z]: %d 1/%d µT\n", magnetic_field[2], 16);
    tf_hal_printf("Angular Velocity [X]: %d 1/%d °/s\n", angular_velocity[0], 16);
    tf_hal_printf("Angular Velocity [Y]: %d 1/%d °/s\n", angular_velocity[1], 16);
    tf_hal_printf("Angular Velocity [Z]: %d 1/%d °/s\n", angular_velocity[2], 16);
    tf_hal_printf("Euler Angle [Heading]: %d 1/%d °\n", euler_angle[0], 16);
    tf_hal_printf("Euler Angle [Roll]: %d 1/%d °\n", euler_angle[1], 16);
    tf_hal_printf("Euler Angle [Pitch]: %d 1/%d °\n", euler_angle[2], 16);
    tf_hal_printf("Quaternion [W]: %d 1/%d\n", quaternion[0], 16383);
    tf_hal_printf("Quaternion [X]: %d 1/%d\n", quaternion[1], 16383);
    tf_hal_printf("Quaternion [Y]: %d 1/%d\n", quaternion[2], 16383);
    tf_hal_printf("Quaternion [Z]: %d 1/%d\n", quaternion[3], 16383);
    tf_hal_printf("Linear Acceleration [X]: %d 1/%d m/s²\n", linear_acceleration[0], 100);
    tf_hal_printf("Linear Acceleration [Y]: %d 1/%d m/s²\n", linear_acceleration[1], 100);
    tf_hal_printf("Linear Acceleration [Z]: %d 1/%d m/s²\n", linear_acceleration[2], 100);
    tf_hal_printf("Gravity Vector [X]: %d 1/%d m/s²\n", gravity_vector[0], 100);
    tf_hal_printf("Gravity Vector [Y]: %d 1/%d m/s²\n", gravity_vector[1], 100);
    tf_hal_printf("Gravity Vector [Z]: %d 1/%d m/s²\n", gravity_vector[2], 100);
    tf_hal_printf("Temperature: %I8d °C\n", temperature);
    tf_hal_printf("Calibration Status: %I8u\n", calibration_status);
    tf_hal_printf("\n");
}

static TF_IMUV3 imu;

void example_setup(TF_HAL *hal) {
    // Create device object
    check(tf_imu_v3_create(&imu, NULL, hal), "create device object");

    // Register all data callback to function all_data_handler
    tf_imu_v3_register_all_data_callback(&imu,
                                         all_data_handler,
                                         NULL);

    // Set period for all data callback to 0.1s (100ms)
    tf_imu_v3_set_all_data_callback_configuration(&imu, 100, false);
}

void example_loop(TF_HAL *hal) {
    // Poll for callbacks
    tf_hal_callback_tick(hal, 0);
}

API¶

Most functions of the C/C++ bindings for microcontrollers return an error code (e_code).

Possible error codes are:

TF_E_OK = 0
TF_E_TIMEOUT = -1
TF_E_INVALID_PARAMETER = -2
TF_E_NOT_SUPPORTED = -3
TF_E_UNKNOWN_ERROR_CODE = -4
TF_E_STREAM_OUT_OF_SYNC = -5
TF_E_INVALID_CHAR_IN_UID = -6
TF_E_UID_TOO_LONG = -7
TF_E_UID_OVERFLOW = -8
TF_E_TOO_MANY_DEVICES = -9
TF_E_DEVICE_NOT_FOUND = -10
TF_E_WRONG_DEVICE_TYPE = -11
TF_E_LOCKED = -12
TF_E_PORT_NOT_FOUND = -13

(as defined in errors.h) as well as the errors returned from the hardware abstraction layer (HAL) that is used.

Use :cpp:func`tf_hal_strerror` (defined in the HAL's header file) to get an error string for an error code.

Data returned from the device, when a getter is called, is handled via output parameters. These parameters are labeled with the ret_ prefix. The bindings will not write to an output parameter if NULL or nullptr is passed. This can be used to ignore outputs that you are not interested in.

None of the functions listed below are thread-safe. See the API bindings description for details.

Basic Functions¶

int tf_imu_v3_create(TF_IMUV3 *imu_v3, const char *uid_or_port_name, TF_HAL *hal)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * uid – Type: const char * hal – Type: TF_HAL *
Returns:	e_code – Type: int

Creates the device object imu_v3 with the optional unique device ID or port name uid_or_port_name and adds it to the HAL hal:

TF_IMUV3 imu_v3;
tf_imu_v3_create(&imu_v3, NULL, &hal);

Normally uid_or_port_name can stay NULL. For more details about this see section UID or Port Name.

int tf_imu_v3_destroy(TF_IMUV3 *imu_v3)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Returns:	e_code – Type: int

Removes the device object imu_v3 from its HAL and destroys it. The device object cannot be used anymore afterwards.

int tf_imu_v3_get_orientation(TF_IMUV3 *imu_v3, int16_t *ret_heading, int16_t *ret_roll, int16_t *ret_pitch)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_heading – Type: int16_t, Unit: 1/16 °, Range: [0 to 5760] ret_roll – Type: int16_t, Unit: 1/16 °, Range: [-1440 to 1440] ret_pitch – Type: int16_t, Unit: 1/16 °, Range: [-2880 to 2880]
Returns:	e_code – Type: int

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 Orientation callback and set the period with tf_imu_v3_set_orientation_callback_configuration().

int tf_imu_v3_get_linear_acceleration(TF_IMUV3 *imu_v3, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_x – Type: int16_t, Unit: 1 cm/s², Range: ? ret_y – Type: int16_t, Unit: 1 cm/s², Range: ? ret_z – Type: int16_t, Unit: 1 cm/s², Range: ?
Returns:	e_code – Type: int

Returns the linear acceleration of the IMU Brick for the x, y and z axis. The acceleration is in the range configured with tf_imu_v3_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 tf_imu_v3_get_gravity_vector().

If you want to get the linear acceleration periodically, it is recommended to use the Linear Acceleration callback and set the period with tf_imu_v3_set_linear_acceleration_callback_configuration().

int tf_imu_v3_get_gravity_vector(TF_IMUV3 *imu_v3, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_x – Type: int16_t, Unit: 1 cm/s², Range: [-981 to 981] ret_y – Type: int16_t, Unit: 1 cm/s², Range: [-981 to 981] ret_z – Type: int16_t, Unit: 1 cm/s², Range: [-981 to 981]
Returns:	e_code – Type: int

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 tf_imu_v3_get_linear_acceleration().

If you want to get the gravity vector periodically, it is recommended to use the Gravity Vector callback and set the period with tf_imu_v3_set_gravity_vector_callback_configuration().

int tf_imu_v3_get_quaternion(TF_IMUV3 *imu_v3, int16_t *ret_w, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_w – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] ret_x – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] ret_y – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] ret_z – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]
Returns:	e_code – Type: int

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 Quaternion callback and set the period with tf_imu_v3_set_quaternion_callback_configuration().

int tf_imu_v3_get_all_data(TF_IMUV3 *imu_v3, int16_t ret_acceleration[3], int16_t ret_magnetic_field[3], int16_t ret_angular_velocity[3], int16_t ret_euler_angle[3], int16_t ret_quaternion[4], int16_t ret_linear_acceleration[3], int16_t ret_gravity_vector[3], int8_t *ret_temperature, uint8_t *ret_calibration_status)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_acceleration – Type: int16_t[3] 0: x – Type: int16_t, Unit: 1 cm/s², Range: ? 1: y – Type: int16_t, Unit: 1 cm/s², Range: ? 2: z – Type: int16_t, Unit: 1 cm/s², Range: ? ret_magnetic_field – Type: int16_t[3] 0: x – Type: int16_t, Unit: 1/16 µT, Range: [-20800 to 20800] 1: y – Type: int16_t, Unit: 1/16 µT, Range: [-20800 to 20800] 2: z – Type: int16_t, Unit: 1/16 µT, Range: [-40000 to 40000] ret_angular_velocity – Type: int16_t[3] 0: x – Type: int16_t, Unit: 1/16 °/s, Range: ? 1: y – Type: int16_t, Unit: 1/16 °/s, Range: ? 2: z – Type: int16_t, Unit: 1/16 °/s, Range: ? ret_euler_angle – Type: int16_t[3] 0: heading – Type: int16_t, Unit: 1/16 °, Range: [0 to 5760] 1: roll – Type: int16_t, Unit: 1/16 °, Range: [-1440 to 1440] 2: pitch – Type: int16_t, Unit: 1/16 °, Range: [-2880 to 2880] ret_quaternion – Type: int16_t[4] 0: w – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] 1: x – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] 2: y – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] 3: z – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] ret_linear_acceleration – Type: int16_t[3] 0: x – Type: int16_t, Unit: 1 cm/s², Range: ? 1: y – Type: int16_t, Unit: 1 cm/s², Range: ? 2: z – Type: int16_t, Unit: 1 cm/s², Range: ? ret_gravity_vector – Type: int16_t[3] 0: x – Type: int16_t, Unit: 1 cm/s², Range: [-981 to 981] 1: y – Type: int16_t, Unit: 1 cm/s², Range: [-981 to 981] 2: z – Type: int16_t, Unit: 1 cm/s², Range: [-981 to 981] ret_temperature – Type: int8_t, Unit: 1 °C, Range: [-128 to 127] ret_calibration_status – Type: uint8_t, Range: [0 to 255]
Returns:	e_code – Type: int

Return all of the available data of the IMU Brick.

acceleration (see tf_imu_v3_get_acceleration())
magnetic field (see tf_imu_v3_get_magnetic_field())
angular velocity (see tf_imu_v3_get_angular_velocity())
Euler angles (see tf_imu_v3_get_orientation())
quaternion (see tf_imu_v3_get_quaternion())
linear acceleration (see tf_imu_v3_get_linear_acceleration())
gravity vector (see tf_imu_v3_get_gravity_vector())
temperature (see tf_imu_v3_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 All Data callback and set the period with tf_imu_v3_set_all_data_callback_configuration().

Advanced Functions¶

int tf_imu_v3_get_acceleration(TF_IMUV3 *imu_v3, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_x – Type: int16_t, Unit: 1 cm/s², Range: ? ret_y – Type: int16_t, Unit: 1 cm/s², Range: ? ret_z – Type: int16_t, Unit: 1 cm/s², Range: ?
Returns:	e_code – Type: int

Returns the calibrated acceleration from the accelerometer for the x, y and z axis. The acceleration is in the range configured with tf_imu_v3_set_sensor_configuration().

If you want to get the acceleration periodically, it is recommended to use the Acceleration callback and set the period with tf_imu_v3_set_acceleration_callback_configuration().

int tf_imu_v3_get_magnetic_field(TF_IMUV3 *imu_v3, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_x – Type: int16_t, Unit: 1/16 µT, Range: [-20800 to 20800] ret_y – Type: int16_t, Unit: 1/16 µT, Range: [-20800 to 20800] ret_z – Type: int16_t, Unit: 1/16 µT, Range: [-40000 to 40000]
Returns:	e_code – Type: int

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 Magnetic Field callback and set the period with tf_imu_v3_set_magnetic_field_callback_configuration().

int tf_imu_v3_get_angular_velocity(TF_IMUV3 *imu_v3, int16_t *ret_x, int16_t *ret_y, int16_t *ret_z)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_x – Type: int16_t, Unit: 1/16 °/s, Range: ? ret_y – Type: int16_t, Unit: 1/16 °/s, Range: ? ret_z – Type: int16_t, Unit: 1/16 °/s, Range: ?
Returns:	e_code – Type: int

Returns the calibrated angular velocity from the gyroscope for the x, y and z axis. The angular velocity is in the range configured with tf_imu_v3_set_sensor_configuration().

If you want to get the angular velocity periodically, it is recommended to use the Angular Velocity acallback nd set the period with tf_imu_v3_set_angular_velocity_callback_configuration().

int tf_imu_v3_get_temperature(TF_IMUV3 *imu_v3, int8_t *ret_temperature)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_temperature – Type: int8_t, Unit: 1 °C, Range: [-128 to 127]
Returns:	e_code – Type: int

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

int tf_imu_v3_save_calibration(TF_IMUV3 *imu_v3, bool *ret_calibration_done)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_calibration_done – Type: bool
Returns:	e_code – Type: int

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.

int tf_imu_v3_set_sensor_configuration(TF_IMUV3 *imu_v3, uint8_t magnetometer_rate, uint8_t gyroscope_range, uint8_t gyroscope_bandwidth, uint8_t accelerometer_range, uint8_t accelerometer_bandwidth)¶

Parameters:

Parameters:	imu_v3 – Type: TF_IMUV3 * magnetometer_rate – Type: uint8_t, Range: See constants, Default: 5 gyroscope_range – Type: uint8_t, Range: See constants, Default: 0 gyroscope_bandwidth – Type: uint8_t, Range: See constants, Default: 7 accelerometer_range – Type: uint8_t, Range: See constants, Default: 1 accelerometer_bandwidth – Type: uint8_t, Range: See constants, Default: 3
Returns:	e_code – Type: int

imu_v3 – Type: TF_IMUV3 *
magnetometer_rate – Type: uint8_t, Range: See constants, Default: 5
gyroscope_range – Type: uint8_t, Range: See constants, Default: 0
gyroscope_bandwidth – Type: uint8_t, Range: See constants, Default: 7
accelerometer_range – Type: uint8_t, Range: See constants, Default: 1
accelerometer_bandwidth – Type: uint8_t, Range: See constants, Default: 3

Returns:

e_code – Type: int

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:

TF_IMU_V3_MAGNETOMETER_RATE_2HZ = 0
TF_IMU_V3_MAGNETOMETER_RATE_6HZ = 1
TF_IMU_V3_MAGNETOMETER_RATE_8HZ = 2
TF_IMU_V3_MAGNETOMETER_RATE_10HZ = 3
TF_IMU_V3_MAGNETOMETER_RATE_15HZ = 4
TF_IMU_V3_MAGNETOMETER_RATE_20HZ = 5
TF_IMU_V3_MAGNETOMETER_RATE_25HZ = 6
TF_IMU_V3_MAGNETOMETER_RATE_30HZ = 7

For gyroscope_range:

TF_IMU_V3_GYROSCOPE_RANGE_2000DPS = 0
TF_IMU_V3_GYROSCOPE_RANGE_1000DPS = 1
TF_IMU_V3_GYROSCOPE_RANGE_500DPS = 2
TF_IMU_V3_GYROSCOPE_RANGE_250DPS = 3
TF_IMU_V3_GYROSCOPE_RANGE_125DPS = 4

For gyroscope_bandwidth:

TF_IMU_V3_GYROSCOPE_BANDWIDTH_523HZ = 0
TF_IMU_V3_GYROSCOPE_BANDWIDTH_230HZ = 1
TF_IMU_V3_GYROSCOPE_BANDWIDTH_116HZ = 2
TF_IMU_V3_GYROSCOPE_BANDWIDTH_47HZ = 3
TF_IMU_V3_GYROSCOPE_BANDWIDTH_23HZ = 4
TF_IMU_V3_GYROSCOPE_BANDWIDTH_12HZ = 5
TF_IMU_V3_GYROSCOPE_BANDWIDTH_64HZ = 6
TF_IMU_V3_GYROSCOPE_BANDWIDTH_32HZ = 7

For accelerometer_range:

TF_IMU_V3_ACCELEROMETER_RANGE_2G = 0
TF_IMU_V3_ACCELEROMETER_RANGE_4G = 1
TF_IMU_V3_ACCELEROMETER_RANGE_8G = 2
TF_IMU_V3_ACCELEROMETER_RANGE_16G = 3

For accelerometer_bandwidth:

TF_IMU_V3_ACCELEROMETER_BANDWIDTH_7_81HZ = 0
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_15_63HZ = 1
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_31_25HZ = 2
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_62_5HZ = 3
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_125HZ = 4
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_250HZ = 5
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_500HZ = 6
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_1000HZ = 7

int tf_imu_v3_get_sensor_configuration(TF_IMUV3 *imu_v3, uint8_t *ret_magnetometer_rate, uint8_t *ret_gyroscope_range, uint8_t *ret_gyroscope_bandwidth, uint8_t *ret_accelerometer_range, uint8_t *ret_accelerometer_bandwidth)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_magnetometer_rate – Type: uint8_t, Range: See constants, Default: 5 ret_gyroscope_range – Type: uint8_t, Range: See constants, Default: 0 ret_gyroscope_bandwidth – Type: uint8_t, Range: See constants, Default: 7 ret_accelerometer_range – Type: uint8_t, Range: See constants, Default: 1 ret_accelerometer_bandwidth – Type: uint8_t, Range: See constants, Default: 3
Returns:	e_code – Type: int

Returns the sensor configuration as set by tf_imu_v3_set_sensor_configuration().

The following constants are available for this function:

For ret_magnetometer_rate:

TF_IMU_V3_MAGNETOMETER_RATE_2HZ = 0
TF_IMU_V3_MAGNETOMETER_RATE_6HZ = 1
TF_IMU_V3_MAGNETOMETER_RATE_8HZ = 2
TF_IMU_V3_MAGNETOMETER_RATE_10HZ = 3
TF_IMU_V3_MAGNETOMETER_RATE_15HZ = 4
TF_IMU_V3_MAGNETOMETER_RATE_20HZ = 5
TF_IMU_V3_MAGNETOMETER_RATE_25HZ = 6
TF_IMU_V3_MAGNETOMETER_RATE_30HZ = 7

For ret_gyroscope_range:

TF_IMU_V3_GYROSCOPE_RANGE_2000DPS = 0
TF_IMU_V3_GYROSCOPE_RANGE_1000DPS = 1
TF_IMU_V3_GYROSCOPE_RANGE_500DPS = 2
TF_IMU_V3_GYROSCOPE_RANGE_250DPS = 3
TF_IMU_V3_GYROSCOPE_RANGE_125DPS = 4

For ret_gyroscope_bandwidth:

TF_IMU_V3_GYROSCOPE_BANDWIDTH_523HZ = 0
TF_IMU_V3_GYROSCOPE_BANDWIDTH_230HZ = 1
TF_IMU_V3_GYROSCOPE_BANDWIDTH_116HZ = 2
TF_IMU_V3_GYROSCOPE_BANDWIDTH_47HZ = 3
TF_IMU_V3_GYROSCOPE_BANDWIDTH_23HZ = 4
TF_IMU_V3_GYROSCOPE_BANDWIDTH_12HZ = 5
TF_IMU_V3_GYROSCOPE_BANDWIDTH_64HZ = 6
TF_IMU_V3_GYROSCOPE_BANDWIDTH_32HZ = 7

For ret_accelerometer_range:

TF_IMU_V3_ACCELEROMETER_RANGE_2G = 0
TF_IMU_V3_ACCELEROMETER_RANGE_4G = 1
TF_IMU_V3_ACCELEROMETER_RANGE_8G = 2
TF_IMU_V3_ACCELEROMETER_RANGE_16G = 3

For ret_accelerometer_bandwidth:

TF_IMU_V3_ACCELEROMETER_BANDWIDTH_7_81HZ = 0
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_15_63HZ = 1
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_31_25HZ = 2
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_62_5HZ = 3
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_125HZ = 4
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_250HZ = 5
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_500HZ = 6
TF_IMU_V3_ACCELEROMETER_BANDWIDTH_1000HZ = 7

int tf_imu_v3_set_sensor_fusion_mode(TF_IMUV3 *imu_v3, uint8_t mode)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * mode – Type: uint8_t, Range: See constants, Default: 1
Returns:	e_code – Type: int

If the fusion mode is turned off, the functions tf_imu_v3_get_acceleration(), tf_imu_v3_get_magnetic_field() and tf_imu_v3_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:

TF_IMU_V3_SENSOR_FUSION_OFF = 0
TF_IMU_V3_SENSOR_FUSION_ON = 1
TF_IMU_V3_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
TF_IMU_V3_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3

int tf_imu_v3_get_sensor_fusion_mode(TF_IMUV3 *imu_v3, uint8_t *ret_mode)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_mode – Type: uint8_t, Range: See constants, Default: 1
Returns:	e_code – Type: int

Returns the sensor fusion mode as set by tf_imu_v3_set_sensor_fusion_mode().

The following constants are available for this function:

For ret_mode:

TF_IMU_V3_SENSOR_FUSION_OFF = 0
TF_IMU_V3_SENSOR_FUSION_ON = 1
TF_IMU_V3_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
TF_IMU_V3_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3

int tf_imu_v3_get_spitfp_error_count(TF_IMUV3 *imu_v3, uint32_t *ret_error_count_ack_checksum, uint32_t *ret_error_count_message_checksum, uint32_t *ret_error_count_frame, uint32_t *ret_error_count_overflow)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_error_count_ack_checksum – Type: uint32_t, Range: [0 to 2³² - 1] ret_error_count_message_checksum – Type: uint32_t, Range: [0 to 2³² - 1] ret_error_count_frame – Type: uint32_t, Range: [0 to 2³² - 1] ret_error_count_overflow – Type: uint32_t, Range: [0 to 2³² - 1]
Returns:	e_code – Type: int

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.

int tf_imu_v3_set_status_led_config(TF_IMUV3 *imu_v3, uint8_t config)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * config – Type: uint8_t, Range: See constants, Default: 3
Returns:	e_code – Type: int

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:

TF_IMU_V3_STATUS_LED_CONFIG_OFF = 0
TF_IMU_V3_STATUS_LED_CONFIG_ON = 1
TF_IMU_V3_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
TF_IMU_V3_STATUS_LED_CONFIG_SHOW_STATUS = 3

int tf_imu_v3_get_status_led_config(TF_IMUV3 *imu_v3, uint8_t *ret_config)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_config – Type: uint8_t, Range: See constants, Default: 3
Returns:	e_code – Type: int

Returns the configuration as set by tf_imu_v3_set_status_led_config()

The following constants are available for this function:

For ret_config:

TF_IMU_V3_STATUS_LED_CONFIG_OFF = 0
TF_IMU_V3_STATUS_LED_CONFIG_ON = 1
TF_IMU_V3_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
TF_IMU_V3_STATUS_LED_CONFIG_SHOW_STATUS = 3

int tf_imu_v3_get_chip_temperature(TF_IMUV3 *imu_v3, int16_t *ret_temperature)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_temperature – Type: int16_t, Unit: 1 °C, Range: [-2¹⁵ to 2¹⁵ - 1]
Returns:	e_code – Type: int

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.

int tf_imu_v3_reset(TF_IMUV3 *imu_v3)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Returns:	e_code – Type: int

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!

int tf_imu_v3_get_identity(TF_IMUV3 *imu_v3, char ret_uid[8], char ret_connected_uid[8], char *ret_position, uint8_t ret_hardware_version[3], uint8_t ret_firmware_version[3], uint16_t *ret_device_identifier)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_uid – Type: char[8] ret_connected_uid – Type: char[8] ret_position – Type: char, Range: ['a' to 'h', 'z'] ret_hardware_version – Type: uint8_t[3] 0: major – Type: uint8_t, Range: [0 to 255] 1: minor – Type: uint8_t, Range: [0 to 255] 2: revision – Type: uint8_t, Range: [0 to 255] ret_firmware_version – Type: uint8_t[3] 0: major – Type: uint8_t, Range: [0 to 255] 1: minor – Type: uint8_t, Range: [0 to 255] 2: revision – Type: uint8_t, Range: [0 to 255] ret_device_identifier – Type: uint16_t, Range: [0 to 2¹⁶ - 1]
Returns:	e_code – Type: int

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¶

int tf_imu_v3_set_acceleration_callback_configuration(TF_IMUV3 *imu_v3, uint32_t period, bool value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

The period is the period with which the 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.

int tf_imu_v3_get_acceleration_callback_configuration(TF_IMUV3 *imu_v3, uint32_t *ret_period, bool *ret_value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 ret_value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

Returns the callback configuration as set by tf_imu_v3_set_acceleration_callback_configuration().

int tf_imu_v3_set_magnetic_field_callback_configuration(TF_IMUV3 *imu_v3, uint32_t period, bool value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

The period is the period with which the 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.

int tf_imu_v3_get_magnetic_field_callback_configuration(TF_IMUV3 *imu_v3, uint32_t *ret_period, bool *ret_value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 ret_value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

Returns the callback configuration as set by tf_imu_v3_set_magnetic_field_callback_configuration().

int tf_imu_v3_set_angular_velocity_callback_configuration(TF_IMUV3 *imu_v3, uint32_t period, bool value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

The period is the period with which the 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.

int tf_imu_v3_get_angular_velocity_callback_configuration(TF_IMUV3 *imu_v3, uint32_t *ret_period, bool *ret_value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 ret_value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

Returns the callback configuration as set by tf_imu_v3_set_angular_velocity_callback_configuration().

int tf_imu_v3_set_temperature_callback_configuration(TF_IMUV3 *imu_v3, uint32_t period, bool value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

The period is the period with which the 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.

int tf_imu_v3_get_temperature_callback_configuration(TF_IMUV3 *imu_v3, uint32_t *ret_period, bool *ret_value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 ret_value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

Returns the callback configuration as set by tf_imu_v3_set_temperature_callback_configuration().

int tf_imu_v3_set_orientation_callback_configuration(TF_IMUV3 *imu_v3, uint32_t period, bool value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

The period is the period with which the 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.

int tf_imu_v3_get_orientation_callback_configuration(TF_IMUV3 *imu_v3, uint32_t *ret_period, bool *ret_value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 ret_value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

Returns the callback configuration as set by tf_imu_v3_set_orientation_callback_configuration().

int tf_imu_v3_set_linear_acceleration_callback_configuration(TF_IMUV3 *imu_v3, uint32_t period, bool value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

The period is the period with which the 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.

int tf_imu_v3_get_linear_acceleration_callback_configuration(TF_IMUV3 *imu_v3, uint32_t *ret_period, bool *ret_value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 ret_value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

Returns the callback configuration as set by tf_imu_v3_set_linear_acceleration_callback_configuration().

int tf_imu_v3_set_gravity_vector_callback_configuration(TF_IMUV3 *imu_v3, uint32_t period, bool value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

The period is the period with which the 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.

int tf_imu_v3_get_gravity_vector_callback_configuration(TF_IMUV3 *imu_v3, uint32_t *ret_period, bool *ret_value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 ret_value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

Returns the callback configuration as set by tf_imu_v3_set_gravity_vector_callback_configuration().

int tf_imu_v3_set_quaternion_callback_configuration(TF_IMUV3 *imu_v3, uint32_t period, bool value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

The period is the period with which the 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.

int tf_imu_v3_get_quaternion_callback_configuration(TF_IMUV3 *imu_v3, uint32_t *ret_period, bool *ret_value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 ret_value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

Returns the callback configuration as set by tf_imu_v3_set_quaternion_callback_configuration().

int tf_imu_v3_set_all_data_callback_configuration(TF_IMUV3 *imu_v3, uint32_t period, bool value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

The period is the period with which the 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.

int tf_imu_v3_get_all_data_callback_configuration(TF_IMUV3 *imu_v3, uint32_t *ret_period, bool *ret_value_has_to_change)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 ret_value_has_to_change – Type: bool, Default: false
Returns:	e_code – Type: int

Returns the callback configuration as set by tf_imu_v3_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 tf_imu_v3_register_*_callback function. The user_data passed to the registration function as well as the device that triggered the callback are passed to the registered callback handler.

Only one handler can be registered to a callback at the same time. To deregister a callback, call the tf_imu_v3_register_*_callback function with NULL as handler.

Note

Using callbacks for recurring events is preferred compared to using getters. Polling for a callback requires writing one byte only. See here Optimizing Performance.

Warning

Calling bindings function from inside a callback handler is not allowed. See here Thread safety.

int tf_imu_v3_register_acceleration_callback(TF_IMUV3 *imu_v3, TF_IMUV3_AccelerationHandler handler, void *user_data)¶

void handler(TF_IMUV3 *imu_v3, int16_t x, int16_t y, int16_t z, void *user_data)

Callback Parameters:	imu_v3 – Type: TF_IMUV3 * x – Type: int16_t, Unit: 1 cm/s², Range: ? y – Type: int16_t, Unit: 1 cm/s², Range: ? z – Type: int16_t, Unit: 1 cm/s², Range: ? user_data – Type: void *

This callback is triggered periodically with the period that is set by tf_imu_v3_set_acceleration_callback_configuration(). The parameters are the acceleration for the x, y and z axis.

int tf_imu_v3_register_magnetic_field_callback(TF_IMUV3 *imu_v3, TF_IMUV3_MagneticFieldHandler handler, void *user_data)¶

void handler(TF_IMUV3 *imu_v3, int16_t x, int16_t y, int16_t z, void *user_data)

Callback Parameters:	imu_v3 – Type: TF_IMUV3 * x – Type: int16_t, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: int16_t, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: int16_t, Unit: 1/16 µT, Range: [-40000 to 40000] user_data – Type: void *

This callback is triggered periodically with the period that is set by tf_imu_v3_set_magnetic_field_callback_configuration(). The parameters are the magnetic field for the x, y and z axis.

int tf_imu_v3_register_angular_velocity_callback(TF_IMUV3 *imu_v3, TF_IMUV3_AngularVelocityHandler handler, void *user_data)¶

void handler(TF_IMUV3 *imu_v3, int16_t x, int16_t y, int16_t z, void *user_data)

Callback Parameters:	imu_v3 – Type: TF_IMUV3 * x – Type: int16_t, Unit: 1/16 °/s, Range: ? y – Type: int16_t, Unit: 1/16 °/s, Range: ? z – Type: int16_t, Unit: 1/16 °/s, Range: ? user_data – Type: void *

This callback is triggered periodically with the period that is set by tf_imu_v3_set_angular_velocity_callback_configuration(). The parameters are the angular velocity for the x, y and z axis.

int tf_imu_v3_register_temperature_callback(TF_IMUV3 *imu_v3, TF_IMUV3_TemperatureHandler handler, void *user_data)¶

void handler(TF_IMUV3 *imu_v3, int8_t temperature, void *user_data)

Callback Parameters:	imu_v3 – Type: TF_IMUV3 * temperature – Type: int8_t, Unit: 1 °C, Range: [-128 to 127] user_data – Type: void *

This callback is triggered periodically with the period that is set by tf_imu_v3_set_temperature_callback_configuration(). The parameter is the temperature.

int tf_imu_v3_register_linear_acceleration_callback(TF_IMUV3 *imu_v3, TF_IMUV3_LinearAccelerationHandler handler, void *user_data)¶

void handler(TF_IMUV3 *imu_v3, int16_t x, int16_t y, int16_t z, void *user_data)

Callback Parameters:	imu_v3 – Type: TF_IMUV3 * x – Type: int16_t, Unit: 1 cm/s², Range: ? y – Type: int16_t, Unit: 1 cm/s², Range: ? z – Type: int16_t, Unit: 1 cm/s², Range: ? user_data – Type: void *

This callback is triggered periodically with the period that is set by tf_imu_v3_set_linear_acceleration_callback_configuration(). The parameters are the linear acceleration for the x, y and z axis.

int tf_imu_v3_register_gravity_vector_callback(TF_IMUV3 *imu_v3, TF_IMUV3_GravityVectorHandler handler, void *user_data)¶

void handler(TF_IMUV3 *imu_v3, int16_t x, int16_t y, int16_t z, void *user_data)

Callback Parameters:	imu_v3 – Type: TF_IMUV3 * x – Type: int16_t, Unit: 1 cm/s², Range: [-981 to 981] y – Type: int16_t, Unit: 1 cm/s², Range: [-981 to 981] z – Type: int16_t, Unit: 1 cm/s², Range: [-981 to 981] user_data – Type: void *

This callback is triggered periodically with the period that is set by tf_imu_v3_set_gravity_vector_callback_configuration(). The parameters gravity vector for the x, y and z axis.

int tf_imu_v3_register_orientation_callback(TF_IMUV3 *imu_v3, TF_IMUV3_OrientationHandler handler, void *user_data)¶

void handler(TF_IMUV3 *imu_v3, int16_t heading, int16_t roll, int16_t pitch, void *user_data)

Callback Parameters:	imu_v3 – Type: TF_IMUV3 * heading – Type: int16_t, Unit: 1/16 °, Range: [0 to 5760] roll – Type: int16_t, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: int16_t, Unit: 1/16 °, Range: [-2880 to 2880] user_data – Type: void *

This callback is triggered periodically with the period that is set by tf_imu_v3_set_orientation_callback_configuration(). The parameters are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See tf_imu_v3_get_orientation() for details.

int tf_imu_v3_register_quaternion_callback(TF_IMUV3 *imu_v3, TF_IMUV3_QuaternionHandler handler, void *user_data)¶

void handler(TF_IMUV3 *imu_v3, int16_t w, int16_t x, int16_t y, int16_t z, void *user_data)

Callback Parameters:	imu_v3 – Type: TF_IMUV3 * w – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] x – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] y – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] z – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] user_data – Type: void *

This callback is triggered periodically with the period that is set by tf_imu_v3_set_quaternion_callback_configuration(). The parameters are the orientation (w, x, y, z) of the IMU Brick in quaternions. See tf_imu_v3_get_quaternion() for details.

int tf_imu_v3_register_all_data_callback(TF_IMUV3 *imu_v3, TF_IMUV3_AllDataHandler handler, void *user_data)¶

void handler(TF_IMUV3 *imu_v3, int16_t acceleration[3], int16_t magnetic_field[3], int16_t angular_velocity[3], int16_t euler_angle[3], int16_t quaternion[4], int16_t linear_acceleration[3], int16_t gravity_vector[3], int8_t temperature, uint8_t calibration_status, void *user_data)

Callback Parameters:

imu_v3 – Type: TF_IMUV3 *
acceleration – Type: int16_t[3]

0: x – Type: int16_t, Unit: 1 cm/s², Range: ?
1: y – Type: int16_t, Unit: 1 cm/s², Range: ?
2: z – Type: int16_t, Unit: 1 cm/s², Range: ?

magnetic_field – Type: int16_t[3]

0: x – Type: int16_t, Unit: 1/16 µT, Range: [-20800 to 20800]
1: y – Type: int16_t, Unit: 1/16 µT, Range: [-20800 to 20800]
2: z – Type: int16_t, Unit: 1/16 µT, Range: [-40000 to 40000]

angular_velocity – Type: int16_t[3]

0: x – Type: int16_t, Unit: 1/16 °/s, Range: ?
1: y – Type: int16_t, Unit: 1/16 °/s, Range: ?
2: z – Type: int16_t, Unit: 1/16 °/s, Range: ?

euler_angle – Type: int16_t[3]

0: heading – Type: int16_t, Unit: 1/16 °, Range: [0 to 5760]
1: roll – Type: int16_t, Unit: 1/16 °, Range: [-1440 to 1440]
2: pitch – Type: int16_t, Unit: 1/16 °, Range: [-2880 to 2880]

quaternion – Type: int16_t[4]

0: w – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]
1: x – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]
2: y – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]
3: z – Type: int16_t, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]

linear_acceleration – Type: int16_t[3]

0: x – Type: int16_t, Unit: 1 cm/s², Range: ?
1: y – Type: int16_t, Unit: 1 cm/s², Range: ?
2: z – Type: int16_t, Unit: 1 cm/s², Range: ?

gravity_vector – Type: int16_t[3]

0: x – Type: int16_t, Unit: 1 cm/s², Range: ?
1: y – Type: int16_t, Unit: 1 cm/s², Range: ?
2: z – Type: int16_t, Unit: 1 cm/s², Range: ?

temperature – Type: int8_t, Unit: 1 °C, Range: [-128 to 127]
calibration_status – Type: uint8_t, Range: [0 to 255]
user_data – Type: void *

This callback is triggered periodically with the period that is set by tf_imu_v3_set_all_data_callback_configuration(). The parameters are as for tf_imu_v3_get_all_data().

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object.

int tf_imu_v3_get_response_expected(TF_IMUV3 *imu_v3, uint8_t function_id, bool *ret_response_expected)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * function_id – Type: uint8_t, Range: See constants
Output Parameters:	ret_response_expected – Type: bool
Returns:	e_code – Type: int

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 tf_imu_v3_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:

TF_IMU_V3_FUNCTION_SET_SENSOR_CONFIGURATION = 11
TF_IMU_V3_FUNCTION_SET_SENSOR_FUSION_MODE = 13
TF_IMU_V3_FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION = 15
TF_IMU_V3_FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION = 17
TF_IMU_V3_FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION = 19
TF_IMU_V3_FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION = 21
TF_IMU_V3_FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION = 23
TF_IMU_V3_FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION = 25
TF_IMU_V3_FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION = 27
TF_IMU_V3_FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION = 29
TF_IMU_V3_FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION = 31
TF_IMU_V3_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
TF_IMU_V3_FUNCTION_SET_STATUS_LED_CONFIG = 239
TF_IMU_V3_FUNCTION_RESET = 243
TF_IMU_V3_FUNCTION_WRITE_UID = 248

int tf_imu_v3_set_response_expected(TF_IMUV3 *imu_v3, uint8_t function_id, bool response_expected)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * function_id – Type: uint8_t, Range: See constants response_expected – Type: bool
Returns:	e_code – Type: int

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.

The following constants are available for this function:

For function_id:

TF_IMU_V3_FUNCTION_SET_SENSOR_CONFIGURATION = 11
TF_IMU_V3_FUNCTION_SET_SENSOR_FUSION_MODE = 13
TF_IMU_V3_FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION = 15
TF_IMU_V3_FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION = 17
TF_IMU_V3_FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION = 19
TF_IMU_V3_FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION = 21
TF_IMU_V3_FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION = 23
TF_IMU_V3_FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION = 25
TF_IMU_V3_FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION = 27
TF_IMU_V3_FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION = 29
TF_IMU_V3_FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION = 31
TF_IMU_V3_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
TF_IMU_V3_FUNCTION_SET_STATUS_LED_CONFIG = 239
TF_IMU_V3_FUNCTION_RESET = 243
TF_IMU_V3_FUNCTION_WRITE_UID = 248

int tf_imu_v3_set_response_expected_all(TF_IMUV3 *imu_v3, bool response_expected)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * response_expected – Type: bool
Returns:	e_code – Type: int

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.

int tf_imu_v3_set_bootloader_mode(TF_IMUV3 *imu_v3, uint8_t mode, uint8_t *ret_status)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * mode – Type: uint8_t, Range: See constants
Output Parameters:	ret_status – Type: uint8_t, Range: See constants
Returns:	e_code – Type: int

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:

TF_IMU_V3_BOOTLOADER_MODE_BOOTLOADER = 0
TF_IMU_V3_BOOTLOADER_MODE_FIRMWARE = 1
TF_IMU_V3_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
TF_IMU_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
TF_IMU_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For ret_status:

TF_IMU_V3_BOOTLOADER_STATUS_OK = 0
TF_IMU_V3_BOOTLOADER_STATUS_INVALID_MODE = 1
TF_IMU_V3_BOOTLOADER_STATUS_NO_CHANGE = 2
TF_IMU_V3_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
TF_IMU_V3_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
TF_IMU_V3_BOOTLOADER_STATUS_CRC_MISMATCH = 5

int tf_imu_v3_get_bootloader_mode(TF_IMUV3 *imu_v3, uint8_t *ret_mode)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_mode – Type: uint8_t, Range: See constants
Returns:	e_code – Type: int

Returns the current bootloader mode, see tf_imu_v3_set_bootloader_mode().

The following constants are available for this function:

For ret_mode:

TF_IMU_V3_BOOTLOADER_MODE_BOOTLOADER = 0
TF_IMU_V3_BOOTLOADER_MODE_FIRMWARE = 1
TF_IMU_V3_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
TF_IMU_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
TF_IMU_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

int tf_imu_v3_set_write_firmware_pointer(TF_IMUV3 *imu_v3, uint32_t pointer)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * pointer – Type: uint32_t, Unit: 1 B, Range: [0 to 2³² - 1]
Returns:	e_code – Type: int

Sets the firmware pointer for tf_imu_v3_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.

int tf_imu_v3_write_firmware(TF_IMUV3 *imu_v3, const uint8_t data[64], uint8_t *ret_status)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * data – Type: const uint8_t[64], Range: [0 to 255]
Output Parameters:	ret_status – Type: uint8_t, Range: [0 to 255]
Returns:	e_code – Type: int

Writes 64 Bytes of firmware at the position as written by tf_imu_v3_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.

int tf_imu_v3_write_uid(TF_IMUV3 *imu_v3, uint32_t uid)¶

Parameters:	imu_v3 – Type: TF_IMUV3 * uid – Type: uint32_t, Range: [0 to 2³² - 1]
Returns:	e_code – Type: int

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.

int tf_imu_v3_read_uid(TF_IMUV3 *imu_v3, uint32_t *ret_uid)¶

Parameters:	imu_v3 – Type: TF_IMUV3 *
Output Parameters:	ret_uid – Type: uint32_t, Range: [0 to 2³² - 1]
Returns:	e_code – Type: int

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

Constants¶

TF_IMU_V3_DEVICE_IDENTIFIER¶

This constant is used to identify a IMU Bricklet 3.0.

The functions tf_imu_v3_get_identity() and tf_hal_get_device_info() have a device_identifier output parameter to specify the Brick's or Bricklet's type.

TF_IMU_V3_DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a IMU Bricklet 3.0.