Specifications / TCP/IP Protocol / API / Bricks and Bricklets / Bricks / IMU Brick 2.0

TCP/IP - IMU Brick 2.0¶

This is the description of the TCP/IP protocol for the IMU Brick 2.0. General information and technical specifications for the IMU Brick 2.0 are summarized in its hardware description.

API¶

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

Basic Functions¶

BrickIMUV2.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_period.

BrickIMUV2.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_period.

BrickIMUV2.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_period.

BrickIMUV2.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_period.

BrickIMUV2.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_period.

BrickIMUV2.leds_on¶

Function ID:	10
Request:	empty payload
Response:	no response

Turns the orientation and direction LEDs of the IMU Brick on.

BrickIMUV2.leds_off¶

Function ID:	11
Request:	empty payload
Response:	no response

Turns the orientation and direction LEDs of the IMU Brick off.

BrickIMUV2.are_leds_on¶

Function ID:	12
Request:	empty payload
Response:	leds – Type: bool, Default: true

Returns true if the orientation and direction LEDs of the IMU Brick are on, false otherwise.

Advanced Functions¶

BrickIMUV2.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_period.

BrickIMUV2.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_period.

BrickIMUV2.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_period.

BrickIMUV2.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

BrickIMUV2.save_calibration¶

Function ID:	13
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.

BrickIMUV2.set_sensor_configuration¶

Function ID:	41
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

New in version 2.0.5 (Firmware).

BrickIMUV2.get_sensor_configuration¶

Function ID:	42
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

New in version 2.0.5 (Firmware).

BrickIMUV2.set_sensor_fusion_mode¶

Function ID:	43
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

New in version 2.0.5 (Firmware).

BrickIMUV2.get_sensor_fusion_mode¶

Function ID:	44
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

New in version 2.0.5 (Firmware).

BrickIMUV2.set_spitfp_baudrate_config¶

Function ID:	231
Request:	enable_dynamic_baudrate – Type: bool, Default: true minimum_dynamic_baudrate – Type: uint32, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000
Response:	no response

The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred.

The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received.

This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.

In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance.

The maximum value of the baudrate can be set per port with the function set_spitfp_baudrate. If the dynamic baudrate is disabled, the baudrate as set by set_spitfp_baudrate will be used statically.

New in version 2.0.10 (Firmware).

BrickIMUV2.get_spitfp_baudrate_config¶

Function ID:	232
Request:	empty payload
Response:	enable_dynamic_baudrate – Type: bool, Default: true minimum_dynamic_baudrate – Type: uint32, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000

Returns the baudrate config, see set_spitfp_baudrate_config.

New in version 2.0.10 (Firmware).

BrickIMUV2.get_send_timeout_count¶

Function ID:	233
Request:	communication_method – Type: uint8, Range: See meanings
Response:	timeout_count – Type: uint32, Range: [0 to 2³² - 1]

Returns the timeout count for the different communication methods.

The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.

This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0.

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

For communication_method:

0 = None
1 = USB
2 = SPI Stack
3 = Chibi
4 = RS485
5 = WIFI
6 = Ethernet
7 = WIFI V2

New in version 2.0.7 (Firmware).

BrickIMUV2.set_spitfp_baudrate¶

Function ID:	234
Request:	bricklet_port – Type: char, Range: ['a' to 'b'] baudrate – Type: uint32, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000
Response:	no response

Sets the baudrate for a specific Bricklet port.

If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see get_spitfp_error_count) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see set_spitfp_baudrate_config).

Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate.

New in version 2.0.5 (Firmware).

BrickIMUV2.get_spitfp_baudrate¶

Function ID:	235
Request:	bricklet_port – Type: char, Range: ['a' to 'b']
Response:	baudrate – Type: uint32, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000

Returns the baudrate for a given Bricklet port, see set_spitfp_baudrate.

New in version 2.0.5 (Firmware).

BrickIMUV2.get_spitfp_error_count¶

Function ID:	237
Request:	bricklet_port – Type: char, Range: ['a' to 'b']
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 Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

New in version 2.0.5 (Firmware).

BrickIMUV2.enable_status_led¶

Function ID:	238
Request:	empty payload
Response:	no response

Enables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

BrickIMUV2.disable_status_led¶

Function ID:	239
Request:	empty payload
Response:	no response

Disables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

BrickIMUV2.is_status_led_enabled¶

Function ID:	240
Request:	empty payload
Response:	enabled – Type: bool, Default: true

Returns true if the status LED is enabled, false otherwise.

BrickIMUV2.get_chip_temperature¶

Function ID:	242
Request:	empty payload
Response:	temperature – Type: int16, Unit: 1/10 °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 an accuracy of ±15%. Practically it is only useful as an indicator for temperature changes.

BrickIMUV2.reset¶

Function ID:	243
Request:	empty payload
Response:	no response

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

BrickIMUV2.get_identity¶

Function ID:	255
Request:	empty payload
Response:	uid – Type: char[8] connected_uid – Type: char[8] position – Type: char, Range: ['0' to '8'] 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 Brick is connected to, the position, the hardware and firmware version as well as the device identifier.

The position is the position in the stack from '0' (bottom) to '8' (top).

The device identifier numbers can be found here.

Callback Configuration Functions¶

BrickIMUV2.set_acceleration_period¶

Function ID:	14
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Response:	no response

Sets the period with which the CALLBACK_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.

BrickIMUV2.get_acceleration_period¶

Function ID:	15
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by set_acceleration_period.

BrickIMUV2.set_magnetic_field_period¶

Function ID:	16
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Response:	no response

Sets the period with which the CALLBACK_MAGNETIC_FIELD callback is triggered periodically. A value of 0 turns the callback off.

BrickIMUV2.get_magnetic_field_period¶

Function ID:	17
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by set_magnetic_field_period.

BrickIMUV2.set_angular_velocity_period¶

Function ID:	18
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Response:	no response

Sets the period with which the CALLBACK_ANGULAR_VELOCITY callback is triggered periodically. A value of 0 turns the callback off.

BrickIMUV2.get_angular_velocity_period¶

Function ID:	19
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by set_angular_velocity_period.

BrickIMUV2.set_temperature_period¶

Function ID:	20
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Response:	no response

Sets the period with which the CALLBACK_TEMPERATURE callback is triggered periodically. A value of 0 turns the callback off.

BrickIMUV2.get_temperature_period¶

Function ID:	21
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by set_temperature_period.

BrickIMUV2.set_orientation_period¶

Function ID:	22
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Response:	no response

Sets the period with which the CALLBACK_ORIENTATION callback is triggered periodically. A value of 0 turns the callback off.

BrickIMUV2.get_orientation_period¶

Function ID:	23
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by set_orientation_period.

BrickIMUV2.set_linear_acceleration_period¶

Function ID:	24
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Response:	no response

Sets the period with which the CALLBACK_LINEAR_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.

BrickIMUV2.get_linear_acceleration_period¶

Function ID:	25
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by set_linear_acceleration_period.

BrickIMUV2.set_gravity_vector_period¶

Function ID:	26
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Response:	no response

Sets the period with which the CALLBACK_GRAVITY_VECTOR callback is triggered periodically. A value of 0 turns the callback off.

BrickIMUV2.get_gravity_vector_period¶

Function ID:	27
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by set_gravity_vector_period.

BrickIMUV2.set_quaternion_period¶

Function ID:	28
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Response:	no response

Sets the period with which the CALLBACK_QUATERNION callback is triggered periodically. A value of 0 turns the callback off.

BrickIMUV2.get_quaternion_period¶

Function ID:	29
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by set_quaternion_period.

BrickIMUV2.set_all_data_period¶

Function ID:	30
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Response:	no response

Sets the period with which the CALLBACK_ALL_DATA callback is triggered periodically. A value of 0 turns the callback off.

BrickIMUV2.get_all_data_period¶

Function ID:	31
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by set_all_data_period.

Callbacks¶

BrickIMUV2.CALLBACK_ACCELERATION¶

Function ID:	32
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_period. The response values are the acceleration for the x, y and z axis.

BrickIMUV2.CALLBACK_MAGNETIC_FIELD¶

Function ID:	33
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_period. The response values are the magnetic field for the x, y and z axis.

BrickIMUV2.CALLBACK_ANGULAR_VELOCITY¶

Function ID:	34
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_period. The response values are the angular velocity for the x, y and z axis.

BrickIMUV2.CALLBACK_TEMPERATURE¶

Function ID:	35
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_period. The response value is the temperature.

BrickIMUV2.CALLBACK_LINEAR_ACCELERATION¶

Function ID:	36
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_period. The response values are the linear acceleration for the x, y and z axis.

BrickIMUV2.CALLBACK_GRAVITY_VECTOR¶

Function ID:	37
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_period. The response values gravity vector for the x, y and z axis.

BrickIMUV2.CALLBACK_ORIENTATION¶

Function ID:	38
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_period. The response values are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See get_orientation for details.

BrickIMUV2.CALLBACK_QUATERNION¶

Function ID:	39
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_period. The response values are the orientation (w, x, y, z) of the IMU Brick in quaternions. See get_quaternion for details.

BrickIMUV2.CALLBACK_ALL_DATA¶

Function ID:

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_period. 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.

BrickIMUV2.get_protocol1_bricklet_name¶

Function ID:	241
Request:	port – Type: char, Range: ['a' to 'b']
Response:	protocol_version – 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] name – Type: char[40]

Returns the firmware and protocol version and the name of the Bricklet for a given port.

This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.

BrickIMUV2.write_bricklet_plugin¶

Function ID:	246
Request:	port – Type: char, Range: ['a' to 'b'] offset – Type: uint8, Range: [0 to 255] chunk – Type: uint8[32], Range: [0 to 255]
Response:	no response

Writes 32 bytes of firmware to the bricklet attached at the given port. The bytes are written to the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

BrickIMUV2.read_bricklet_plugin¶

Function ID:	247
Request:	port – Type: char, Range: ['a' to 'b'] offset – Type: uint8, Range: [0 to 255]
Response:	chunk – Type: uint8[32], Range: [0 to 255]

Reads 32 bytes of firmware from the bricklet attached at the given port. The bytes are read starting at the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.