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Software / API Bindings / openHAB / API Reference and Examples / Bricklets / IMU Bricklet 3.0

openHAB - IMU Bricklet 3.0

Bemerkung

Die openHAB-Dokumentation ist nur auf Englisch verfügbar.

Warnung

The openHAB bindings are still in beta, but the development was stopped.

This is the description of the openHAB 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 openHAB API bindings is part of their general description.

Thing

UID:
  • tinkerforge:brickletimuv3:[UID]
Required firmware version:
  • 2.0.0
Firmware update supported:
  • yes
Channels:
Actions:
Parameters:
  • Magnetometer Rate – Type: Choice, Default: 20Hz
  • This option is auto-controlled in fusion mode.
  • Options: 2Hz, 6Hz, 8Hz, 10Hz, 15Hz, 20Hz, 25Hz, 30Hz

  • Gyroscope Range – Type: Choice, Default: 2000°/s
  • This option is auto-controlled in fusion mode.
  • Options: 2000°/s, 1000°/s, 500°/s, 250°/s, 125°/s

  • Gyroscope Bandwidth – Type: Choice, Default: 32Hz
  • This option is auto-controlled in fusion mode.
  • Options: 523Hz, 230Hz, 116Hz, 47Hz, 23Hz, 12Hz, 64Hz, 32Hz

  • Accelerometer Range – Type: Choice, Default: ±4G
  • This option is user selectable in all fusion modes.
  • Options: ±2G, ±4G, ±8G, ±16G

  • Accelerometer Bandwidth – Type: Choice, Default: 62.5Hz
  • This option is auto-controlled in fusion mode.
  • Options: 7.81Hz, 15.63Hz, 31.25Hz, 62.5Hz, 125Hz, 250Hz, 500Hz, 1000Hz

  • Sensor Fusion Mode – Type: Choice, Default: On
  • If the fusion mode is turned off, the Acceleration, Magnetic Field and Angular Velocity channels return uncalibrated and uncompensated sensor data. All other sensor channels 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. By default sensor fusion is on.
  • Options: Off, On, On Without Magnetometer, On Without Fast Magnetometer Calibration

  • Acceleration Update Interval – Type: integer, Default: 1000, Unit: ms, Min: 0, Max: 4294967295
  • Specifies the update interval for the acceleration in milliseconds. A value of 0 disables automatic updates.

  • Magnetic Field Update Interval – Type: integer, Default: 1000, Unit: ms, Min: 0, Max: 4294967295
  • Specifies the update interval for the magnetic field in milliseconds. A value of 0 disables automatic updates.

  • Angular Velocity Update Interval – Type: integer, Default: 1000, Unit: ms, Min: 0, Max: 4294967295
  • Specifies the update interval for the angular velocity in milliseconds. A value of 0 disables automatic updates.

  • Orientation Update Interval – Type: integer, Default: 1000, Unit: ms, Min: 0, Max: 4294967295
  • Specifies the update interval for the orientation as euler angles in milliseconds. A value of 0 disables automatic updates.

  • Quaternion Update Interval – Type: integer, Default: 1000, Unit: ms, Min: 0, Max: 4294967295
  • Specifies the update interval for the orientation as quaternion in milliseconds. A value of 0 disables automatic updates.

  • Linear Acceleration Update Interval – Type: integer, Default: 1000, Unit: ms, Min: 0, Max: 4294967295
  • Specifies the update interval for the linear acceleration in milliseconds. A value of 0 disables automatic updates.

  • Gravity Vector Update Interval – Type: integer, Default: 1000, Unit: ms, Min: 0, Max: 4294967295
  • Specifies the update interval for the gravity vector in milliseconds. A value of 0 disables automatic updates.

  • Temperature Update Interval – Type: integer, Default: 1000, Unit: ms, Min: 0, Max: 4294967295
  • Specifies the update interval for the temperature in milliseconds. A value of 0 disables automatic updates.

  • Status LED Configuration – Type: Choice, Default: Show Status
  • 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.
  • Options: Off, On, Show Heartbeat, Show Status

Channels

Acceleration - X

The acceleration from the accelerometer for the x, y and z axis in m/s².

Type:
  • Number:Acceleration
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3AccelerationX
Read only:
  • Yes
Unit:
  • Meter Per Square Second
Acceleration - Y

The acceleration from the accelerometer for the x, y and z axis in m/s².

Type:
  • Number:Acceleration
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3AccelerationY
Read only:
  • Yes
Unit:
  • Meter Per Square Second
Acceleration - Z

The acceleration from the accelerometer for the x, y and z axis in m/s².

Type:
  • Number:Acceleration
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3AccelerationZ
Read only:
  • Yes
Unit:
  • Meter Per Square Second
Magnetic Field - X

The calibrated magnetic field from the magnetometer for the x, y and z axis in Tesla.

Type:
  • Number:MagneticFluxDensity
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3MagneticFieldX
Read only:
  • Yes
Unit:
  • Tesla
Range:
  • -0.0025 Tesla to 0.0025 Tesla (Step 6.25e-08 Tesla)
Magnetic Field - Y

The calibrated magnetic field from the magnetometer for the x, y and z axis in Tesla.

Type:
  • Number:MagneticFluxDensity
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3MagneticFieldY
Read only:
  • Yes
Unit:
  • Tesla
Range:
  • -0.0025 Tesla to 0.0025 Tesla (Step 6.25e-08 Tesla)
Magnetic Field - Z

The calibrated magnetic field from the magnetometer for the x, y and z axis in Tesla.

Type:
  • Number:MagneticFluxDensity
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3MagneticFieldZ
Read only:
  • Yes
Unit:
  • Tesla
Range:
  • -0.0025 Tesla to 0.0025 Tesla (Step 6.25e-08 Tesla)
Angular Velocity - X

The calibrated angular velocity from the gyroscope for the x, y and z axis in °/s.

Type:
  • Number:Dimensionless
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3AngularVelocityX
Read only:
  • Yes
Angular Velocity - Y

The calibrated angular velocity from the gyroscope for the x, y and z axis in °/s.

Type:
  • Number:Dimensionless
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3AngularVelocityY
Read only:
  • Yes
Angular Velocity - Z

The calibrated angular velocity from the gyroscope for the x, y and z axis in °/s.

Type:
  • Number:Dimensionless
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3AngularVelocityZ
Read only:
  • Yes
Orientation - Heading

The current orientation (heading, roll, pitch) of the IMU Brick as independent Euler angles in 1/16 degree. Note that Euler angles always experience a gimbal lock. We recommend that you use quaternions instead, if you need the absolute orientation.

Type:
  • Number:Angle
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3OrientationHeading
Read only:
  • Yes
Unit:
  • Degree Angle
Range:
  • -180 Degree Angle to 360 Degree Angle (Step 0.0625 Degree Angle)
Orientation - Roll

The current orientation (heading, roll, pitch) of the IMU Brick as independent Euler angles in 1/16 degree. Note that Euler angles always experience a gimbal lock. We recommend that you use quaternions instead, if you need the absolute orientation.

Type:
  • Number:Angle
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3OrientationRoll
Read only:
  • Yes
Unit:
  • Degree Angle
Range:
  • -180 Degree Angle to 360 Degree Angle (Step 0.0625 Degree Angle)
Orientation - Pitch

The current orientation (heading, roll, pitch) of the IMU Brick as independent Euler angles in 1/16 degree. Note that Euler angles always experience a gimbal lock. We recommend that you use quaternions instead, if you need the absolute orientation.

Type:
  • Number:Angle
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3OrientationPitch
Read only:
  • Yes
Unit:
  • Degree Angle
Range:
  • -180 Degree Angle to 360 Degree Angle (Step 0.0625 Degree Angle)
Quaternion - W

The current orientation (w, x, y, z) of the IMU Brick as quaternions.

Type:
  • Number:Dimensionless
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3QuaternionW
Read only:
  • Yes
Range:
  • -1 to 1 (Step 6.103888176768602e-05)
Quaternion - X

The current orientation (w, x, y, z) of the IMU Brick as quaternions.

Type:
  • Number:Dimensionless
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3QuaternionX
Read only:
  • Yes
Range:
  • -1 to 1 (Step 6.103888176768602e-05)
Quaternion - Y

The current orientation (w, x, y, z) of the IMU Brick as quaternions.

Type:
  • Number:Dimensionless
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3QuaternionY
Read only:
  • Yes
Range:
  • -1 to 1 (Step 6.103888176768602e-05)
Quaternion - Z

The current orientation (w, x, y, z) of the IMU Brick as quaternions.

Type:
  • Number:Dimensionless
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3QuaternionZ
Read only:
  • Yes
Range:
  • -1 to 1 (Step 6.103888176768602e-05)
Linear Acceleration - X

The linear acceleration from the accelerometer for the x, y and z axis in m/s. The linear acceleration is the acceleration in each of the three axis of the IMU Brick with the influences of gravity removed.

Type:
  • Number:Acceleration
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3LinearAccelerationX
Read only:
  • Yes
Unit:
  • Meter Per Square Second
Linear Acceleration - Y

The linear acceleration from the accelerometer for the x, y and z axis in m/s. The linear acceleration is the acceleration in each of the three axis of the IMU Brick with the influences of gravity removed.

Type:
  • Number:Acceleration
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3LinearAccelerationY
Read only:
  • Yes
Unit:
  • Meter Per Square Second
Linear Acceleration - Z

The linear acceleration from the accelerometer for the x, y and z axis in m/s. The linear acceleration is the acceleration in each of the three axis of the IMU Brick with the influences of gravity removed.

Type:
  • Number:Acceleration
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3LinearAccelerationZ
Read only:
  • Yes
Unit:
  • Meter Per Square Second
Gravity Vector - X

The current gravity vector of the IMU Brick for the x, y and z axis in g (1g = 9.80665m/s²). The gravity vector is the acceleration that occurs due to gravity. Influences of additional linear acceleration are removed.

Type:
  • Number:Acceleration
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3GravityVectorX
Read only:
  • Yes
Unit:
  • Standard Gravity
Range:
  • -1.0003416049313476 Standard Gravity to 1.0003416049313476 Standard Gravity (Step 0.0010197162129779282 Standard Gravity)
Gravity Vector - Y

The current gravity vector of the IMU Brick for the x, y and z axis in g (1g = 9.80665m/s²). The gravity vector is the acceleration that occurs due to gravity. Influences of additional linear acceleration are removed.

Type:
  • Number:Acceleration
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3GravityVectorY
Read only:
  • Yes
Unit:
  • Standard Gravity
Range:
  • -1.0003416049313476 Standard Gravity to 1.0003416049313476 Standard Gravity (Step 0.0010197162129779282 Standard Gravity)
Gravity Vector - Z

The current gravity vector of the IMU Brick for the x, y and z axis in g (1g = 9.80665m/s²). The gravity vector is the acceleration that occurs due to gravity. Influences of additional linear acceleration are removed.

Type:
  • Number:Acceleration
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3GravityVectorZ
Read only:
  • Yes
Unit:
  • Standard Gravity
Range:
  • -1.0003416049313476 Standard Gravity to 1.0003416049313476 Standard Gravity (Step 0.0010197162129779282 Standard Gravity)
Temperature

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

Type:
  • Number:Temperature
UID:
  • tinkerforge:brickletimuv3:[UID]:BrickletIMUV3Temperature
Read only:
  • Yes
Unit:
  • Celsius

Actions

Actions can be used in rules by creating an action object. All actions return a Map<String, Object>. Returned values can be accessed by name, sometimes the type deduction needs some hints, as shown below:

val actions = getActions("tinkerforge", "tinkerforge:brickletimuv3:[UID]")
val hwVersion = actions.brickletIMUV3GetIdentity().get("hardwareVersion") as short[]
logInfo("Example", "Hardware version: " + hwVersion.get(0) + "." + hwVersion.get(1) + "." + hwVersion.get(2))

Basic Actions

brickletIMUV3GetOrientation()
Return Map:
  • heading – Type: int, Unit: 1/16 °, Range: [0 to 5760]
  • roll – Type: int, Unit: 1/16 °, Range: [-1440 to 1440]
  • pitch – Type: int, Unit: 1/16 °, Range: [-2880 to 2880]

Returns the current orientation (heading, roll, pitch) of the IMU Brick as independent Euler angles. Note that Euler angles always experience a gimbal lock. We recommend that you use quaternions instead, if you need the absolute orientation.

If you want to get the orientation periodically, it is recommended to use the Orientation - Heading channel and set the period with the thing configuration.

brickletIMUV3GetLinearAcceleration()
Return Map:
  • x – Type: int, Unit: 1 cm/s², Range: ?
  • y – Type: int, Unit: 1 cm/s², Range: ?
  • z – Type: int, Unit: 1 cm/s², Range: ?

Returns the linear acceleration of the IMU Brick for the x, y and z axis. The acceleration is in the range configured with the thing 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 Gravity Vector - X.

If you want to get the linear acceleration periodically, it is recommended to use the Linear Acceleration - X channel and set the period with the thing configuration.

brickletIMUV3GetGravityVector()
Return Map:
  • x – Type: int, Unit: 1 cm/s², Range: [-981 to 981]
  • y – Type: int, Unit: 1 cm/s², Range: [-981 to 981]
  • z – Type: int, Unit: 1 cm/s², Range: [-981 to 981]

Returns the current gravity vector of the IMU Brick for the x, y and z axis.

The gravity vector is the acceleration that occurs due to gravity. Influences of additional linear acceleration are removed.

It is also possible to get the linear acceleration with the influence of gravity removed, see Linear Acceleration - X.

If you want to get the gravity vector periodically, it is recommended to use the Gravity Vector - X channel and set the period with the thing configuration.

brickletIMUV3GetQuaternion()
Return Map:
  • w – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]
  • x – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]
  • y – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]
  • z – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]

Returns the current orientation (w, x, y, z) of the IMU Brick as quaternions.

You have to divide the return values by 16383 (14 bit) to get the usual range of -1.0 to +1.0 for quaternions.

If you want to get the quaternions periodically, it is recommended to use the Quaternion - W channel and set the period with the thing configuration.

brickletIMUV3GetAllData()
Return Map:
  • acceleration – Type: int[], Length: 3
    • 0: x – Type: int, Unit: 1 cm/s², Range: ?
    • 1: y – Type: int, Unit: 1 cm/s², Range: ?
    • 2: z – Type: int, Unit: 1 cm/s², Range: ?
  • magneticField – Type: int[], Length: 3
    • 0: x – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800]
    • 1: y – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800]
    • 2: z – Type: int, Unit: 1/16 µT, Range: [-40000 to 40000]
  • angularVelocity – Type: int[], Length: 3
    • 0: x – Type: int, Unit: 1/16 °/s, Range: ?
    • 1: y – Type: int, Unit: 1/16 °/s, Range: ?
    • 2: z – Type: int, Unit: 1/16 °/s, Range: ?
  • eulerAngle – Type: int[], Length: 3
    • 0: heading – Type: int, Unit: 1/16 °, Range: [0 to 5760]
    • 1: roll – Type: int, Unit: 1/16 °, Range: [-1440 to 1440]
    • 2: pitch – Type: int, Unit: 1/16 °, Range: [-2880 to 2880]
  • quaternion – Type: int[], Length: 4
    • 0: w – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]
    • 1: x – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]
    • 2: y – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]
    • 3: z – Type: int, Unit: 1/16383, Range: [-214 + 1 to 214 - 1]
  • linearAcceleration – Type: int[], Length: 3
    • 0: x – Type: int, Unit: 1 cm/s², Range: ?
    • 1: y – Type: int, Unit: 1 cm/s², Range: ?
    • 2: z – Type: int, Unit: 1 cm/s², Range: ?
  • gravityVector – Type: int[], Length: 3
    • 0: x – Type: int, Unit: 1 cm/s², Range: [-981 to 981]
    • 1: y – Type: int, Unit: 1 cm/s², Range: [-981 to 981]
    • 2: z – Type: int, Unit: 1 cm/s², Range: [-981 to 981]
  • temperature – Type: int, Unit: 1 °C, Range: [-128 to 127]
  • calibrationStatus – Type: int, Range: [0 to 255]

Return all of the available data of the IMU Brick.

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.

Advanced Actions

brickletIMUV3GetAcceleration()
Return Map:
  • x – Type: int, Unit: 1 cm/s², Range: ?
  • y – Type: int, Unit: 1 cm/s², Range: ?
  • z – Type: int, Unit: 1 cm/s², Range: ?

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

If you want to get the acceleration periodically, it is recommended to use the Acceleration - X channel and set the period with the thing configuration.

brickletIMUV3GetMagneticField()
Return Map:
  • x – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800]
  • y – Type: int, Unit: 1/16 µT, Range: [-20800 to 20800]
  • z – Type: int, Unit: 1/16 µT, Range: [-40000 to 40000]

Returns the calibrated magnetic field from the magnetometer for the x, y and z axis.

If you want to get the magnetic field periodically, it is recommended to use the Magnetic Field - X channel and set the period with the thing configuration.

brickletIMUV3GetAngularVelocity()
Return Map:
  • x – Type: int, Unit: 1/16 °/s, Range: ?
  • y – Type: int, Unit: 1/16 °/s, Range: ?
  • z – Type: int, Unit: 1/16 °/s, Range: ?

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

If you want to get the angular velocity periodically, it is recommended to use the Angular Velocity - X achannel nd set the period with the thing configuration.

brickletIMUV3GetTemperature()
Return Map:
  • temperature – Type: int, Unit: 1 °C, Range: [-128 to 127]

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

brickletIMUV3GetSensorConfiguration()
Return Map:
  • magnetometerRate – Type: int, Range: See constants, Default: 5
  • gyroscopeRange – Type: int, Range: See constants, Default: 0
  • gyroscopeBandwidth – Type: int, Range: See constants, Default: 7
  • accelerometerRange – Type: int, Range: See constants, Default: 1
  • accelerometerBandwidth – Type: int, Range: See constants, Default: 3

Returns the sensor configuration as set by the thing configuration.

The following constants are available for this function:

For magnetometerRate:

  • val MAGNETOMETER_RATE_2HZ = 0
  • val MAGNETOMETER_RATE_6HZ = 1
  • val MAGNETOMETER_RATE_8HZ = 2
  • val MAGNETOMETER_RATE_10HZ = 3
  • val MAGNETOMETER_RATE_15HZ = 4
  • val MAGNETOMETER_RATE_20HZ = 5
  • val MAGNETOMETER_RATE_25HZ = 6
  • val MAGNETOMETER_RATE_30HZ = 7

For gyroscopeRange:

  • val GYROSCOPE_RANGE_2000DPS = 0
  • val GYROSCOPE_RANGE_1000DPS = 1
  • val GYROSCOPE_RANGE_500DPS = 2
  • val GYROSCOPE_RANGE_250DPS = 3
  • val GYROSCOPE_RANGE_125DPS = 4

For gyroscopeBandwidth:

  • val GYROSCOPE_BANDWIDTH_523HZ = 0
  • val GYROSCOPE_BANDWIDTH_230HZ = 1
  • val GYROSCOPE_BANDWIDTH_116HZ = 2
  • val GYROSCOPE_BANDWIDTH_47HZ = 3
  • val GYROSCOPE_BANDWIDTH_23HZ = 4
  • val GYROSCOPE_BANDWIDTH_12HZ = 5
  • val GYROSCOPE_BANDWIDTH_64HZ = 6
  • val GYROSCOPE_BANDWIDTH_32HZ = 7

For accelerometerRange:

  • val ACCELEROMETER_RANGE_2G = 0
  • val ACCELEROMETER_RANGE_4G = 1
  • val ACCELEROMETER_RANGE_8G = 2
  • val ACCELEROMETER_RANGE_16G = 3

For accelerometerBandwidth:

  • val ACCELEROMETER_BANDWIDTH_7_81HZ = 0
  • val ACCELEROMETER_BANDWIDTH_15_63HZ = 1
  • val ACCELEROMETER_BANDWIDTH_31_25HZ = 2
  • val ACCELEROMETER_BANDWIDTH_62_5HZ = 3
  • val ACCELEROMETER_BANDWIDTH_125HZ = 4
  • val ACCELEROMETER_BANDWIDTH_250HZ = 5
  • val ACCELEROMETER_BANDWIDTH_500HZ = 6
  • val ACCELEROMETER_BANDWIDTH_1000HZ = 7
brickletIMUV3GetSensorFusionMode()
Return Map:
  • mode – Type: int, Range: See constants, Default: 1

Returns the sensor fusion mode as set by the thing configuration.

The following constants are available for this function:

For mode:

  • val SENSOR_FUSION_OFF = 0
  • val SENSOR_FUSION_ON = 1
  • val SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
  • val SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3
brickletIMUV3GetChipTemperature()
Return Map:
  • temperature – Type: int, Unit: 1 °C, Range: [-215 to 215 - 1]

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

brickletIMUV3GetStatusLEDConfig()
Return Map:
  • config – Type: int, Range: See constants, Default: 3

Returns the configuration as set by the thing configuration

The following constants are available for this function:

For config:

  • val STATUS_LED_CONFIG_OFF = 0
  • val STATUS_LED_CONFIG_ON = 1
  • val STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • val STATUS_LED_CONFIG_SHOW_STATUS = 3
brickletIMUV3GetSPITFPErrorCount()
Return Map:
  • errorCountAckChecksum – Type: long, Range: [0 to 232 - 1]
  • errorCountMessageChecksum – Type: long, Range: [0 to 232 - 1]
  • errorCountFrame – Type: long, Range: [0 to 232 - 1]
  • errorCountOverflow – Type: long, 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.

brickletIMUV3Reset()

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!

brickletIMUV3GetIdentity()
Return Map:
  • uid – Type: String, Length: up to 8
  • connectedUid – Type: String, Length: up to 8
  • position – Type: char, Range: ['a' to 'h', 'z']
  • hardwareVersion – Type: short[], Length: 3
    • 0: major – Type: short, Range: [0 to 255]
    • 1: minor – Type: short, Range: [0 to 255]
    • 2: revision – Type: short, Range: [0 to 255]
  • firmwareVersion – Type: short[], Length: 3
    • 0: major – Type: short, Range: [0 to 255]
    • 1: minor – Type: short, Range: [0 to 255]
    • 2: revision – Type: short, Range: [0 to 255]
  • deviceIdentifier – Type: int, 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. 

Internal Actions

brickletIMUV3ReadUID()
Return Map:
  • uid – Type: long, Range: [0 to 232 - 1]

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