Ruby - IMU Brick 2.0¶

Simple¶

Download (example_simple.rb)

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#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/brick_imu_v2'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XXYYZZ' # Change XXYYZZ to the UID of your IMU Brick 2.0

ipcon = IPConnection.new # Create IP connection
imu = BrickIMUV2.new UID, ipcon # Create device object

ipcon.connect HOST, PORT # Connect to brickd
# Don't use device before ipcon is connected

# Get current quaternion as [w, x, y, z]
quaternion = imu.get_quaternion

puts "Quaternion [W]: #{quaternion[0]/16383.0}"
puts "Quaternion [X]: #{quaternion[1]/16383.0}"
puts "Quaternion [Y]: #{quaternion[2]/16383.0}"
puts "Quaternion [Z]: #{quaternion[3]/16383.0}"

puts 'Press key to exit'
$stdin.gets
ipcon.disconnect

Callback¶

Download (example_callback.rb)

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#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/brick_imu_v2'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XXYYZZ' # Change XXYYZZ to the UID of your IMU Brick 2.0

ipcon = IPConnection.new # Create IP connection
imu = BrickIMUV2.new UID, ipcon # Create device object

ipcon.connect HOST, PORT # Connect to brickd
# Don't use device before ipcon is connected

# Register quaternion callback
imu.register_callback(BrickIMUV2::CALLBACK_QUATERNION) do |w, x, y, z|
  puts "Quaternion [W]: #{w/16383.0}"
  puts "Quaternion [X]: #{x/16383.0}"
  puts "Quaternion [Y]: #{y/16383.0}"
  puts "Quaternion [Z]: #{z/16383.0}"
  puts ''
end

# Set period for quaternion callback to 0.1s (100ms)
imu.set_quaternion_period 100

puts 'Press key to exit'
$stdin.gets
ipcon.disconnect

All Data¶

Download (example_all_data.rb)

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#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/brick_imu_v2'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XXYYZZ' # Change XXYYZZ to the UID of your IMU Brick 2.0

ipcon = IPConnection.new # Create IP connection
imu = BrickIMUV2.new UID, ipcon # Create device object

ipcon.connect HOST, PORT # Connect to brickd
# Don't use device before ipcon is connected

# Register all data callback
imu.register_callback(BrickIMUV2::CALLBACK_ALL_DATA) do |acceleration, magnetic_field,
                                                         angular_velocity, euler_angle,
                                                         quaternion, linear_acceleration,
                                                         gravity_vector, temperature,
                                                         calibration_status|
  puts "Acceleration [X]: #{acceleration[0]/100.0} m/s²"
  puts "Acceleration [Y]: #{acceleration[1]/100.0} m/s²"
  puts "Acceleration [Z]: #{acceleration[2]/100.0} m/s²"
  puts "Magnetic Field [X]: #{magnetic_field[0]/16.0} µT"
  puts "Magnetic Field [Y]: #{magnetic_field[1]/16.0} µT"
  puts "Magnetic Field [Z]: #{magnetic_field[2]/16.0} µT"
  puts "Angular Velocity [X]: #{angular_velocity[0]/16.0} °/s"
  puts "Angular Velocity [Y]: #{angular_velocity[1]/16.0} °/s"
  puts "Angular Velocity [Z]: #{angular_velocity[2]/16.0} °/s"
  puts "Euler Angle [Heading]: #{euler_angle[0]/16.0} °"
  puts "Euler Angle [Roll]: #{euler_angle[1]/16.0} °"
  puts "Euler Angle [Pitch]: #{euler_angle[2]/16.0} °"
  puts "Quaternion [W]: #{quaternion[0]/16383.0}"
  puts "Quaternion [X]: #{quaternion[1]/16383.0}"
  puts "Quaternion [Y]: #{quaternion[2]/16383.0}"
  puts "Quaternion [Z]: #{quaternion[3]/16383.0}"
  puts "Linear Acceleration [X]: #{linear_acceleration[0]/100.0} m/s²"
  puts "Linear Acceleration [Y]: #{linear_acceleration[1]/100.0} m/s²"
  puts "Linear Acceleration [Z]: #{linear_acceleration[2]/100.0} m/s²"
  puts "Gravity Vector [X]: #{gravity_vector[0]/100.0} m/s²"
  puts "Gravity Vector [Y]: #{gravity_vector[1]/100.0} m/s²"
  puts "Gravity Vector [Z]: #{gravity_vector[2]/100.0} m/s²"
  puts "Temperature: #{temperature} °C"
  puts "Calibration Status: #{'%08b' % calibration_status}"
  puts ''
end

# Set period for all data callback to 0.1s (100ms)
imu.set_all_data_period 100

puts 'Press key to exit'
$stdin.gets
ipcon.disconnect

Basic Functions¶

BrickIMUV2::new(uid, ipcon) → imu_v2¶

Parameters:	uid – Type: str ipcon – Type: IPConnection
Returns:	imu_v2 – Type: BrickIMUV2

Creates an object with the unique device ID uid:

imu_v2 = BrickIMUV2.new 'YOUR_DEVICE_UID', ipcon

This object can then be used after the IP Connection is connected.

BrickIMUV2#get_orientation → [int, int, int]¶

Return Array:	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]

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 → [int, int, int]¶

Return Array:	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: ?

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 → [int, int, int]¶

Return Array:	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]

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 → [int, int, int, int]¶

Return Array:	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]

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 → [[int, ...], [int, ...], [int, ...], [int, ...], [int, ...], [int, ...], [int, ...], int, int]¶

Return Array:

0: 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: ? 1: magnetic_field – 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] 2: angular_velocity – 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: ? 3: euler_angle – 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] 4: 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] 5: linear_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: ? 6: gravity_vector – 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] 7: temperature – Type: int, Unit: 1 °C, Range: [-128 to 127] 8: calibration_status – Type: int, 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 → nil¶

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

BrickIMUV2#leds_off → nil¶

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

BrickIMUV2#are_leds_on → bool¶

Returns:	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 → [int, int, int]¶

Return Array:	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: ?

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 → [int, int, int]¶

Return Array:	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]

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 → [int, int, int]¶

Return Array:	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: ?

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 → int¶

Returns:	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

BrickIMUV2#save_calibration → bool¶

Returns:	calibration_done – Type: bool

A call of this function saves the current calibration to be used as a starting point for the next restart of continuous calibration of the IMU Brick.

A return value of true means that the calibration could be used and false means that it could not be used (this happens if the calibration status is not "fully calibrated").

This function is used by the calibration window of the Brick Viewer, you should not need to call it in your program.

BrickIMUV2#set_sensor_configuration(magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth) → nil¶

Parameters:	magnetometer_rate – Type: int, Range: See constants, Default: 5 gyroscope_range – Type: int, Range: See constants, Default: 0 gyroscope_bandwidth – Type: int, Range: See constants, Default: 7 accelerometer_range – Type: int, Range: See constants, Default: 1 accelerometer_bandwidth – Type: int, Range: See constants, Default: 3

Sets the available sensor configuration for the Magnetometer, Gyroscope and Accelerometer. The Accelerometer Range is user selectable in all fusion modes, all other configurations are auto-controlled in fusion mode.

The following constants are available for this function:

For magnetometer_rate:

• BrickIMUV2::MAGNETOMETER_RATE_2HZ = 0
• BrickIMUV2::MAGNETOMETER_RATE_6HZ = 1
• BrickIMUV2::MAGNETOMETER_RATE_8HZ = 2
• BrickIMUV2::MAGNETOMETER_RATE_10HZ = 3
• BrickIMUV2::MAGNETOMETER_RATE_15HZ = 4
• BrickIMUV2::MAGNETOMETER_RATE_20HZ = 5
• BrickIMUV2::MAGNETOMETER_RATE_25HZ = 6
• BrickIMUV2::MAGNETOMETER_RATE_30HZ = 7

For gyroscope_range:

• BrickIMUV2::GYROSCOPE_RANGE_2000DPS = 0
• BrickIMUV2::GYROSCOPE_RANGE_1000DPS = 1
• BrickIMUV2::GYROSCOPE_RANGE_500DPS = 2
• BrickIMUV2::GYROSCOPE_RANGE_250DPS = 3
• BrickIMUV2::GYROSCOPE_RANGE_125DPS = 4

For gyroscope_bandwidth:

• BrickIMUV2::GYROSCOPE_BANDWIDTH_523HZ = 0
• BrickIMUV2::GYROSCOPE_BANDWIDTH_230HZ = 1
• BrickIMUV2::GYROSCOPE_BANDWIDTH_116HZ = 2
• BrickIMUV2::GYROSCOPE_BANDWIDTH_47HZ = 3
• BrickIMUV2::GYROSCOPE_BANDWIDTH_23HZ = 4
• BrickIMUV2::GYROSCOPE_BANDWIDTH_12HZ = 5
• BrickIMUV2::GYROSCOPE_BANDWIDTH_64HZ = 6
• BrickIMUV2::GYROSCOPE_BANDWIDTH_32HZ = 7

For accelerometer_range:

• BrickIMUV2::ACCELEROMETER_RANGE_2G = 0
• BrickIMUV2::ACCELEROMETER_RANGE_4G = 1
• BrickIMUV2::ACCELEROMETER_RANGE_8G = 2
• BrickIMUV2::ACCELEROMETER_RANGE_16G = 3

For accelerometer_bandwidth:

• BrickIMUV2::ACCELEROMETER_BANDWIDTH_7_81HZ = 0
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_15_63HZ = 1
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_31_25HZ = 2
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_62_5HZ = 3
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_125HZ = 4
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_250HZ = 5
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_500HZ = 6
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_1000HZ = 7

New in version 2.0.5 (Firmware).

BrickIMUV2#get_sensor_configuration → [int, int, int, int, int]¶

Return Array:	0: magnetometer_rate – Type: int, Range: See constants, Default: 5 1: gyroscope_range – Type: int, Range: See constants, Default: 0 2: gyroscope_bandwidth – Type: int, Range: See constants, Default: 7 3: accelerometer_range – Type: int, Range: See constants, Default: 1 4: accelerometer_bandwidth – Type: int, Range: See constants, Default: 3

Returns the sensor configuration as set by #set_sensor_configuration.

The following constants are available for this function:

For magnetometer_rate:

• BrickIMUV2::MAGNETOMETER_RATE_2HZ = 0
• BrickIMUV2::MAGNETOMETER_RATE_6HZ = 1
• BrickIMUV2::MAGNETOMETER_RATE_8HZ = 2
• BrickIMUV2::MAGNETOMETER_RATE_10HZ = 3
• BrickIMUV2::MAGNETOMETER_RATE_15HZ = 4
• BrickIMUV2::MAGNETOMETER_RATE_20HZ = 5
• BrickIMUV2::MAGNETOMETER_RATE_25HZ = 6
• BrickIMUV2::MAGNETOMETER_RATE_30HZ = 7

For gyroscope_range:

• BrickIMUV2::GYROSCOPE_RANGE_2000DPS = 0
• BrickIMUV2::GYROSCOPE_RANGE_1000DPS = 1
• BrickIMUV2::GYROSCOPE_RANGE_500DPS = 2
• BrickIMUV2::GYROSCOPE_RANGE_250DPS = 3
• BrickIMUV2::GYROSCOPE_RANGE_125DPS = 4

For gyroscope_bandwidth:

• BrickIMUV2::GYROSCOPE_BANDWIDTH_523HZ = 0
• BrickIMUV2::GYROSCOPE_BANDWIDTH_230HZ = 1
• BrickIMUV2::GYROSCOPE_BANDWIDTH_116HZ = 2
• BrickIMUV2::GYROSCOPE_BANDWIDTH_47HZ = 3
• BrickIMUV2::GYROSCOPE_BANDWIDTH_23HZ = 4
• BrickIMUV2::GYROSCOPE_BANDWIDTH_12HZ = 5
• BrickIMUV2::GYROSCOPE_BANDWIDTH_64HZ = 6
• BrickIMUV2::GYROSCOPE_BANDWIDTH_32HZ = 7

For accelerometer_range:

• BrickIMUV2::ACCELEROMETER_RANGE_2G = 0
• BrickIMUV2::ACCELEROMETER_RANGE_4G = 1
• BrickIMUV2::ACCELEROMETER_RANGE_8G = 2
• BrickIMUV2::ACCELEROMETER_RANGE_16G = 3

For accelerometer_bandwidth:

• BrickIMUV2::ACCELEROMETER_BANDWIDTH_7_81HZ = 0
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_15_63HZ = 1
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_31_25HZ = 2
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_62_5HZ = 3
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_125HZ = 4
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_250HZ = 5
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_500HZ = 6
• BrickIMUV2::ACCELEROMETER_BANDWIDTH_1000HZ = 7

New in version 2.0.5 (Firmware).

BrickIMUV2#set_sensor_fusion_mode(mode) → nil¶

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

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 constants are available for this function:

For mode:

• BrickIMUV2::SENSOR_FUSION_OFF = 0
• BrickIMUV2::SENSOR_FUSION_ON = 1
• BrickIMUV2::SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
• BrickIMUV2::SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3

New in version 2.0.5 (Firmware).

BrickIMUV2#get_sensor_fusion_mode → int¶

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

Returns the sensor fusion mode as set by #set_sensor_fusion_mode.

The following constants are available for this function:

For mode:

• BrickIMUV2::SENSOR_FUSION_OFF = 0
• BrickIMUV2::SENSOR_FUSION_ON = 1
• BrickIMUV2::SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
• BrickIMUV2::SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3

New in version 2.0.5 (Firmware).

BrickIMUV2#set_spitfp_baudrate_config(enable_dynamic_baudrate, minimum_dynamic_baudrate) → nil¶

Parameters:	enable_dynamic_baudrate – Type: bool, Default: true minimum_dynamic_baudrate – Type: int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000

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 → [bool, int]¶

Return Array:	0: enable_dynamic_baudrate – Type: bool, Default: true 1: minimum_dynamic_baudrate – Type: int, 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(communication_method) → int¶

Parameters:	communication_method – Type: int, Range: See constants
Returns:	timeout_count – Type: int, 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 constants are available for this function:

For communication_method:

• BrickIMUV2::COMMUNICATION_METHOD_NONE = 0
• BrickIMUV2::COMMUNICATION_METHOD_USB = 1
• BrickIMUV2::COMMUNICATION_METHOD_SPI_STACK = 2
• BrickIMUV2::COMMUNICATION_METHOD_CHIBI = 3
• BrickIMUV2::COMMUNICATION_METHOD_RS485 = 4
• BrickIMUV2::COMMUNICATION_METHOD_WIFI = 5
• BrickIMUV2::COMMUNICATION_METHOD_ETHERNET = 6
• BrickIMUV2::COMMUNICATION_METHOD_WIFI_V2 = 7

New in version 2.0.7 (Firmware).

BrickIMUV2#set_spitfp_baudrate(bricklet_port, baudrate) → nil¶

Parameters:	bricklet_port – Type: chr, Range: ['a' to 'b'] baudrate – Type: int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000

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(bricklet_port) → int¶

Parameters:	bricklet_port – Type: chr, Range: ['a' to 'b']
Returns:	baudrate – Type: int, 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(bricklet_port) → [int, int, int, int]¶

Parameters:	bricklet_port – Type: chr, Range: ['a' to 'b']
Return Array:	0: error_count_ack_checksum – Type: int, Range: [0 to 232 - 1] 1: error_count_message_checksum – Type: int, Range: [0 to 232 - 1] 2: error_count_frame – Type: int, Range: [0 to 232 - 1] 3: error_count_overflow – Type: int, 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 → nil¶

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 → nil¶

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 → bool¶

Returns:	enabled – Type: bool, Default: true

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

BrickIMUV2#get_chip_temperature → int¶

Returns:	temperature – Type: int, 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 → nil¶

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 → [str, str, chr, [int, ...], [int, ...], int]¶

Return Array:

0: uid – Type: str, Length: up to 8 1: connected_uid – Type: str, Length: up to 8 2: position – Type: chr, Range: ['0' to '8'] 3: hardware_version – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255] 4: firmware_version – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255] 5: device_identifier – Type: int, 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. There is also a constant for the device identifier of this Brick.

Callback Configuration Functions¶

BrickIMUV2#register_callback(callback_id) { |param [, ...]| block } → nil¶

Parameters:	callback_id – Type: int

Registers the given block with the given callback_id.

The available callback IDs with corresponding function signatures are listed below.

BrickIMUV2#set_acceleration_period(period) → nil¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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

BrickIMUV2#get_acceleration_period → int¶

Returns:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by #set_acceleration_period.

BrickIMUV2#set_magnetic_field_period(period) → nil¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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 → int¶

Returns:	period – Type: int, 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(period) → nil¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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 → int¶

Returns:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by #set_angular_velocity_period.

BrickIMUV2#set_temperature_period(period) → nil¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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

BrickIMUV2#get_temperature_period → int¶

Returns:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by #set_temperature_period.

BrickIMUV2#set_orientation_period(period) → nil¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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

BrickIMUV2#get_orientation_period → int¶

Returns:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by #set_orientation_period.

BrickIMUV2#set_linear_acceleration_period(period) → nil¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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 → int¶

Returns:	period – Type: int, 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(period) → nil¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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 → int¶

Returns:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by #set_gravity_vector_period.

BrickIMUV2#set_quaternion_period(period) → nil¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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

BrickIMUV2#get_quaternion_period → int¶

Returns:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by #set_quaternion_period.

BrickIMUV2#set_all_data_period(period) → nil¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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 → int¶

Returns:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by #set_all_data_period.

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the #register_callback function of the device object. The first parameter is the callback ID and the second parameter is a block:

imu_v2.register_callback BrickIMUV2::CALLBACK_EXAMPLE, do |param|
  puts "#{param}"
end

The available constants with inherent number and type of parameters are described below.

BrickIMUV2::CALLBACK_ACCELERATION¶

Callback Parameters:	x – Type: int, Unit: 1 cm/s², Range: ? y – Type: int, Unit: 1 cm/s², Range: ? z – Type: int, Unit: 1 cm/s², Range: ?

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

BrickIMUV2::CALLBACK_MAGNETIC_FIELD¶

Callback Parameters:	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]

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

BrickIMUV2::CALLBACK_ANGULAR_VELOCITY¶

Callback Parameters:	x – Type: int, Unit: 1/16 °/s, Range: ? y – Type: int, Unit: 1/16 °/s, Range: ? z – Type: int, Unit: 1/16 °/s, Range: ?

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

BrickIMUV2::CALLBACK_TEMPERATURE¶

Callback Parameters:	temperature – Type: int, Unit: 1 °C, Range: [-128 to 127]

This callback is triggered periodically with the period that is set by #set_temperature_period. The parameter is the temperature.

BrickIMUV2::CALLBACK_LINEAR_ACCELERATION¶

Callback Parameters:	x – Type: int, Unit: 1 cm/s², Range: ? y – Type: int, Unit: 1 cm/s², Range: ? z – Type: int, Unit: 1 cm/s², Range: ?

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

BrickIMUV2::CALLBACK_GRAVITY_VECTOR¶

Callback Parameters:	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]

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

BrickIMUV2::CALLBACK_ORIENTATION¶

Callback Parameters:	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]

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

BrickIMUV2::CALLBACK_QUATERNION¶

Callback Parameters:	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]

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

BrickIMUV2::CALLBACK_ALL_DATA¶

Callback Parameters:

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: ? magnetic_field – 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] angular_velocity – 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: ? euler_angle – 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] linear_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: ? gravity_vector – 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: ? temperature – Type: int, Unit: 1 °C, Range: [-128 to 127] calibration_status – Type: int, Range: [0 to 255]

This callback is triggered periodically with the period that is set by #set_all_data_period. The parameters are as for #get_all_data.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

BrickIMUV2#get_api_version → [int, ...]¶

Return Array:	0: api_version – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

BrickIMUV2#get_response_expected(function_id) → bool¶

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

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by #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:

• BrickIMUV2::FUNCTION_LEDS_ON = 10
• BrickIMUV2::FUNCTION_LEDS_OFF = 11
• BrickIMUV2::FUNCTION_SET_ACCELERATION_PERIOD = 14
• BrickIMUV2::FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 16
• BrickIMUV2::FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 18
• BrickIMUV2::FUNCTION_SET_TEMPERATURE_PERIOD = 20
• BrickIMUV2::FUNCTION_SET_ORIENTATION_PERIOD = 22
• BrickIMUV2::FUNCTION_SET_LINEAR_ACCELERATION_PERIOD = 24
• BrickIMUV2::FUNCTION_SET_GRAVITY_VECTOR_PERIOD = 26
• BrickIMUV2::FUNCTION_SET_QUATERNION_PERIOD = 28
• BrickIMUV2::FUNCTION_SET_ALL_DATA_PERIOD = 30
• BrickIMUV2::FUNCTION_SET_SENSOR_CONFIGURATION = 41
• BrickIMUV2::FUNCTION_SET_SENSOR_FUSION_MODE = 43
• BrickIMUV2::FUNCTION_SET_SPITFP_BAUDRATE_CONFIG = 231
• BrickIMUV2::FUNCTION_SET_SPITFP_BAUDRATE = 234
• BrickIMUV2::FUNCTION_ENABLE_STATUS_LED = 238
• BrickIMUV2::FUNCTION_DISABLE_STATUS_LED = 239
• BrickIMUV2::FUNCTION_RESET = 243
• BrickIMUV2::FUNCTION_WRITE_BRICKLET_PLUGIN = 246

BrickIMUV2#set_response_expected(function_id, response_expected) → nil¶

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

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

• BrickIMUV2::FUNCTION_LEDS_ON = 10
• BrickIMUV2::FUNCTION_LEDS_OFF = 11
• BrickIMUV2::FUNCTION_SET_ACCELERATION_PERIOD = 14
• BrickIMUV2::FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 16
• BrickIMUV2::FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 18
• BrickIMUV2::FUNCTION_SET_TEMPERATURE_PERIOD = 20
• BrickIMUV2::FUNCTION_SET_ORIENTATION_PERIOD = 22
• BrickIMUV2::FUNCTION_SET_LINEAR_ACCELERATION_PERIOD = 24
• BrickIMUV2::FUNCTION_SET_GRAVITY_VECTOR_PERIOD = 26
• BrickIMUV2::FUNCTION_SET_QUATERNION_PERIOD = 28
• BrickIMUV2::FUNCTION_SET_ALL_DATA_PERIOD = 30
• BrickIMUV2::FUNCTION_SET_SENSOR_CONFIGURATION = 41
• BrickIMUV2::FUNCTION_SET_SENSOR_FUSION_MODE = 43
• BrickIMUV2::FUNCTION_SET_SPITFP_BAUDRATE_CONFIG = 231
• BrickIMUV2::FUNCTION_SET_SPITFP_BAUDRATE = 234
• BrickIMUV2::FUNCTION_ENABLE_STATUS_LED = 238
• BrickIMUV2::FUNCTION_DISABLE_STATUS_LED = 239
• BrickIMUV2::FUNCTION_RESET = 243
• BrickIMUV2::FUNCTION_WRITE_BRICKLET_PLUGIN = 246

BrickIMUV2#set_response_expected_all(response_expected) → nil¶

Parameters:	response_expected – Type: bool

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

BrickIMUV2#get_protocol1_bricklet_name(port) → [int, [int, ...], str]¶

Parameters:	port – Type: chr, Range: ['a' to 'b']
Return Array:	0: protocol_version – Type: int, Range: [0 to 255] 1: firmware_version – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255] 2: name – Type: str, Length: up to 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(port, offset, chunk) → nil¶

Parameters:	port – Type: chr, Range: ['a' to 'b'] offset – Type: int, Range: [0 to 255] chunk – Type: [int, ...], Length: 32, Range: [0 to 255]

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(port, offset) → [int, ...]¶

Parameters:	port – Type: chr, Range: ['a' to 'b'] offset – Type: int, Range: [0 to 255]
Returns:	chunk – Type: [int, ...], Length: 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.

Constants¶

BrickIMUV2::DEVICE_IDENTIFIER¶

This constant is used to identify a IMU Brick 2.0.

The #get_identity() function and the IPConnection::CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

BrickIMUV2::DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a IMU Brick 2.0.