Rust - IMU Brick 2.0

This is the description of the Rust API bindings for the IMU Brick 2.0. General information and technical specifications for the IMU Brick 2.0 are summarized in its hardware description.

An installation guide for the Rust API bindings is part of their general description. Additional documentation can be found on docs.rs.

Examples

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

Simple

Download (example_simple.rs)

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use std::{error::Error, io};

use tinkerforge::{imu_v2_brick::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XXYYZZ"; // Change XXYYZZ to the UID of your IMU Brick 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let imu = ImuV2Brick::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    // Get current quaternion.
    let quaternion = imu.get_quaternion().recv()?;

    println!("Quaternion [W]: {}", quaternion.w as f32 / 16383.0);
    println!("Quaternion [X]: {}", quaternion.x as f32 / 16383.0);
    println!("Quaternion [Y]: {}", quaternion.y as f32 / 16383.0);
    println!("Quaternion [Z]: {}", quaternion.z as f32 / 16383.0);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Callback

Download (example_callback.rs)

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use std::{error::Error, io, thread};
use tinkerforge::{imu_v2_brick::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XXYYZZ"; // Change XXYYZZ to the UID of your IMU Brick 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let imu = ImuV2Brick::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    let quaternion_receiver = imu.get_quaternion_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `imu` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for quaternion in quaternion_receiver {
            println!("Quaternion [W]: {}", quaternion.w as f32 / 16383.0);
            println!("Quaternion [X]: {}", quaternion.x as f32 / 16383.0);
            println!("Quaternion [Y]: {}", quaternion.y as f32 / 16383.0);
            println!("Quaternion [Z]: {}", quaternion.z as f32 / 16383.0);
            println!();
        }
    });

    // Set period for quaternion receiver to 0.1s (100ms).
    imu.set_quaternion_period(100);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

All Data

Download (example_all_data.rs)

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use std::{error::Error, io, thread};
use tinkerforge::{imu_v2_brick::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XXYYZZ"; // Change XXYYZZ to the UID of your IMU Brick 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let imu = ImuV2Brick::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    let all_data_receiver = imu.get_all_data_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `imu` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for all_data in all_data_receiver {
            println!("Acceleration [X]: {} m/s²", all_data.acceleration[0] as f32 / 100.0);
            println!("Acceleration [Y]: {} m/s²", all_data.acceleration[1] as f32 / 100.0);
            println!("Acceleration [Z]: {} m/s²", all_data.acceleration[2] as f32 / 100.0);
            println!("Magnetic Field [X]: {} µT", all_data.magnetic_field[0] as f32 / 16.0);
            println!("Magnetic Field [Y]: {} µT", all_data.magnetic_field[1] as f32 / 16.0);
            println!("Magnetic Field [Z]: {} µT", all_data.magnetic_field[2] as f32 / 16.0);
            println!("Angular Velocity [X]: {} °/s", all_data.angular_velocity[0] as f32 / 16.0);
            println!("Angular Velocity [Y]: {} °/s", all_data.angular_velocity[1] as f32 / 16.0);
            println!("Angular Velocity [Z]: {} °/s", all_data.angular_velocity[2] as f32 / 16.0);
            println!("Euler Angle [X]: {} °", all_data.euler_angle[0] as f32 / 16.0);
            println!("Euler Angle [Y]: {} °", all_data.euler_angle[1] as f32 / 16.0);
            println!("Euler Angle [Z]: {} °", all_data.euler_angle[2] as f32 / 16.0);
            println!("Quaternion [W]: {}", all_data.quaternion[0] as f32 / 16383.0);
            println!("Quaternion [X]: {}", all_data.quaternion[1] as f32 / 16383.0);
            println!("Quaternion [Y]: {}", all_data.quaternion[2] as f32 / 16383.0);
            println!("Quaternion [Z]: {}", all_data.quaternion[3] as f32 / 16383.0);
            println!("Linear Acceleration [X]: {} m/s²", all_data.linear_acceleration[0] as f32 / 100.0);
            println!("Linear Acceleration [Y]: {} m/s²", all_data.linear_acceleration[1] as f32 / 100.0);
            println!("Linear Acceleration [Z]: {} m/s²", all_data.linear_acceleration[2] as f32 / 100.0);
            println!("Gravity Vector [X]: {} m/s²", all_data.gravity_vector[0] as f32 / 100.0);
            println!("Gravity Vector [Y]: {} m/s²", all_data.gravity_vector[1] as f32 / 100.0);
            println!("Gravity Vector [Z]: {} m/s²", all_data.gravity_vector[2] as f32 / 100.0);
            println!("Temperature: {} °C", all_data.temperature);
            println!("Calibration Status: {:b}", all_data.calibration_status);
            println!();
        }
    });

    // Set period for all data receiver to 0.1s (100ms).
    imu.set_all_data_period(100);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

API

To allow non-blocking usage, nearly every function of the Rust bindings returns a wrapper around a mpsc::Receiver. To block until the function has finished and get your result, call one of the receiver's recv variants. Those return either the result sent by the device, or any error occured.

Functions returning a result directly will block until the device has finished processing the request.

All functions listed below are thread-safe, those which return a receiver are lock-free.

Basic Functions

pub fn ImuV2Brick::new(uid: &str, ip_connection: &IpConnection) → ImuV2Brick

Creates a new ImuV2Brick object with the unique device ID uid and adds it to the IPConnection ipcon:

This device object can be used after the IP connection has been connected (see examples above).

pub fn ImuV2Brick::get_orientation(&self) → ConvertingReceiver<Orientation>

Returns 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.

The rotation angle has the following ranges:

  • heading: 0° to 360°
  • roll: -90° to +90°
  • pitch: -180° to +180°

If you want to get the orientation periodically, it is recommended to use the ImuV2Brick::get_orientation_callback_receiver callback and set the period with ImuV2Brick::set_orientation_period.

pub fn ImuV2Brick::get_linear_acceleration(&self) → ConvertingReceiver<LinearAcceleration>

Returns the linear acceleration of the IMU Brick for the x, y and z axis in 1/100 m/s².

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 ImuV2Brick::get_gravity_vector.

If you want to get the linear acceleration periodically, it is recommended to use the ImuV2Brick::get_linear_acceleration_callback_receiver callback and set the period with ImuV2Brick::set_linear_acceleration_period.

pub fn ImuV2Brick::get_gravity_vector(&self) → ConvertingReceiver<GravityVector>

Returns the current gravity vector of the IMU Brick for the x, y and z axis in 1/100 m/s².

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 ImuV2Brick::get_linear_acceleration.

If you want to get the gravity vector periodically, it is recommended to use the ImuV2Brick::get_gravity_vector_callback_receiver callback and set the period with ImuV2Brick::set_gravity_vector_period.

pub fn ImuV2Brick::get_quaternion(&self) → ConvertingReceiver<Quaternion>

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

You have to divide the returns 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 ImuV2Brick::get_quaternion_callback_receiver callback and set the period with ImuV2Brick::set_quaternion_period.

pub fn ImuV2Brick::get_all_data(&self) → ConvertingReceiver<AllData>

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.

If you want to get the data periodically, it is recommended to use the ImuV2Brick::get_all_data_callback_receiver callback and set the period with ImuV2Brick::set_all_data_period.

pub fn ImuV2Brick::leds_on(&self) → ConvertingReceiver<()>

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

pub fn ImuV2Brick::leds_off(&self) → ConvertingReceiver<()>

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

pub fn ImuV2Brick::are_leds_on(&self) → ConvertingReceiver<bool>

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

Advanced Functions

pub fn ImuV2Brick::get_acceleration(&self) → ConvertingReceiver<Acceleration>

Returns the calibrated acceleration from the accelerometer for the x, y and z axis in 1/100 m/s².

If you want to get the acceleration periodically, it is recommended to use the ImuV2Brick::get_acceleration_callback_receiver callback and set the period with ImuV2Brick::set_acceleration_period.

pub fn ImuV2Brick::get_magnetic_field(&self) → ConvertingReceiver<MagneticField>

Returns the calibrated magnetic field from the magnetometer for the x, y and z axis in 1/16 µT (Microtesla).

If you want to get the magnetic field periodically, it is recommended to use the ImuV2Brick::get_magnetic_field_callback_receiver callback and set the period with ImuV2Brick::set_magnetic_field_period.

pub fn ImuV2Brick::get_angular_velocity(&self) → ConvertingReceiver<AngularVelocity>

Returns the calibrated angular velocity from the gyroscope for the x, y and z axis in 1/16 °/s.

If you want to get the angular velocity periodically, it is recommended to use the ImuV2Brick::get_angular_velocity_callback_receiver acallback nd set the period with ImuV2Brick::set_angular_velocity_period.

pub fn ImuV2Brick::get_temperature(&self) → ConvertingReceiver<i8>

Returns 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

pub fn ImuV2Brick::save_calibration(&self) → ConvertingReceiver<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.

pub fn ImuV2Brick::set_sensor_configuration(&self, magnetometer_rate: u8, gyroscope_range: u8, gyroscope_bandwidth: u8, accelerometer_range: u8, accelerometer_bandwidth: u8) → ConvertingReceiver<()>

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 default values are:

  • Magnetometer Rate 20Hz
  • Gyroscope Range 2000°/s
  • Gyroscope Bandwidth 32Hz
  • Accelerometer Range +/-4G
  • Accelerometer Bandwidth 62.5Hz

The following constants are available for this function:

  • IMU_V2_BRICK_MAGNETOMETER_RATE_2HZ = 0
  • IMU_V2_BRICK_MAGNETOMETER_RATE_6HZ = 1
  • IMU_V2_BRICK_MAGNETOMETER_RATE_8HZ = 2
  • IMU_V2_BRICK_MAGNETOMETER_RATE_10HZ = 3
  • IMU_V2_BRICK_MAGNETOMETER_RATE_15HZ = 4
  • IMU_V2_BRICK_MAGNETOMETER_RATE_20HZ = 5
  • IMU_V2_BRICK_MAGNETOMETER_RATE_25HZ = 6
  • IMU_V2_BRICK_MAGNETOMETER_RATE_30HZ = 7
  • IMU_V2_BRICK_GYROSCOPE_RANGE_2000DPS = 0
  • IMU_V2_BRICK_GYROSCOPE_RANGE_1000DPS = 1
  • IMU_V2_BRICK_GYROSCOPE_RANGE_500DPS = 2
  • IMU_V2_BRICK_GYROSCOPE_RANGE_250DPS = 3
  • IMU_V2_BRICK_GYROSCOPE_RANGE_125DPS = 4
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_523HZ = 0
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_230HZ = 1
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_116HZ = 2
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_47HZ = 3
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_23HZ = 4
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_12HZ = 5
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_64HZ = 6
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_32HZ = 7
  • IMU_V2_BRICK_ACCELEROMETER_RANGE_2G = 0
  • IMU_V2_BRICK_ACCELEROMETER_RANGE_4G = 1
  • IMU_V2_BRICK_ACCELEROMETER_RANGE_8G = 2
  • IMU_V2_BRICK_ACCELEROMETER_RANGE_16G = 3
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_7_81HZ = 0
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_15_63HZ = 1
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_31_25HZ = 2
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_62_5HZ = 3
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_125HZ = 4
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_250HZ = 5
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_500HZ = 6
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_1000HZ = 7

New in version 2.0.5 (Firmware).

pub fn ImuV2Brick::get_sensor_configuration(&self) → ConvertingReceiver<SensorConfiguration>

Returns the sensor configuration as set by ImuV2Brick::set_sensor_configuration.

The following constants are available for this function:

  • IMU_V2_BRICK_MAGNETOMETER_RATE_2HZ = 0
  • IMU_V2_BRICK_MAGNETOMETER_RATE_6HZ = 1
  • IMU_V2_BRICK_MAGNETOMETER_RATE_8HZ = 2
  • IMU_V2_BRICK_MAGNETOMETER_RATE_10HZ = 3
  • IMU_V2_BRICK_MAGNETOMETER_RATE_15HZ = 4
  • IMU_V2_BRICK_MAGNETOMETER_RATE_20HZ = 5
  • IMU_V2_BRICK_MAGNETOMETER_RATE_25HZ = 6
  • IMU_V2_BRICK_MAGNETOMETER_RATE_30HZ = 7
  • IMU_V2_BRICK_GYROSCOPE_RANGE_2000DPS = 0
  • IMU_V2_BRICK_GYROSCOPE_RANGE_1000DPS = 1
  • IMU_V2_BRICK_GYROSCOPE_RANGE_500DPS = 2
  • IMU_V2_BRICK_GYROSCOPE_RANGE_250DPS = 3
  • IMU_V2_BRICK_GYROSCOPE_RANGE_125DPS = 4
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_523HZ = 0
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_230HZ = 1
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_116HZ = 2
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_47HZ = 3
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_23HZ = 4
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_12HZ = 5
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_64HZ = 6
  • IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_32HZ = 7
  • IMU_V2_BRICK_ACCELEROMETER_RANGE_2G = 0
  • IMU_V2_BRICK_ACCELEROMETER_RANGE_4G = 1
  • IMU_V2_BRICK_ACCELEROMETER_RANGE_8G = 2
  • IMU_V2_BRICK_ACCELEROMETER_RANGE_16G = 3
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_7_81HZ = 0
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_15_63HZ = 1
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_31_25HZ = 2
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_62_5HZ = 3
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_125HZ = 4
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_250HZ = 5
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_500HZ = 6
  • IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_1000HZ = 7

New in version 2.0.5 (Firmware).

pub fn ImuV2Brick::set_sensor_fusion_mode(&self, mode: u8) → ConvertingReceiver<()>

If the fusion mode is turned off, the functions ImuV2Brick::get_acceleration, ImuV2Brick::get_magnetic_field and ImuV2Brick::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.

By default sensor fusion is on.

The following constants are available for this function:

  • IMU_V2_BRICK_SENSOR_FUSION_OFF = 0
  • IMU_V2_BRICK_SENSOR_FUSION_ON = 1
  • IMU_V2_BRICK_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
  • IMU_V2_BRICK_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3

New in version 2.0.5 (Firmware).

pub fn ImuV2Brick::get_sensor_fusion_mode(&self) → ConvertingReceiver<u8>

Returns the sensor fusion mode as set by ImuV2Brick::set_sensor_fusion_mode.

The following constants are available for this function:

  • IMU_V2_BRICK_SENSOR_FUSION_OFF = 0
  • IMU_V2_BRICK_SENSOR_FUSION_ON = 1
  • IMU_V2_BRICK_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2
  • IMU_V2_BRICK_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 3

New in version 2.0.5 (Firmware).

pub fn ImuV2Brick::get_api_version(&self) → [u8; 3]

Returns the version of the API definition (major, minor, revision) 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.

pub fn ImuV2Brick::get_response_expected(&mut self, function_id: u8) → 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 ImuV2Brick::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 send and errors are silently ignored, because they cannot be detected.

See ImuV2Brick::set_response_expected for the list of function ID constants available for this function.

pub fn ImuV2Brick::set_response_expected(&mut self, function_id: u8, response_expected: 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 send and errors are silently ignored, because they cannot be detected.

The following function ID constants are available for this function:

  • IMU_V2_BRICK_FUNCTION_LEDS_ON = 10
  • IMU_V2_BRICK_FUNCTION_LEDS_OFF = 11
  • IMU_V2_BRICK_FUNCTION_SET_ACCELERATION_PERIOD = 14
  • IMU_V2_BRICK_FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 16
  • IMU_V2_BRICK_FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 18
  • IMU_V2_BRICK_FUNCTION_SET_TEMPERATURE_PERIOD = 20
  • IMU_V2_BRICK_FUNCTION_SET_ORIENTATION_PERIOD = 22
  • IMU_V2_BRICK_FUNCTION_SET_LINEAR_ACCELERATION_PERIOD = 24
  • IMU_V2_BRICK_FUNCTION_SET_GRAVITY_VECTOR_PERIOD = 26
  • IMU_V2_BRICK_FUNCTION_SET_QUATERNION_PERIOD = 28
  • IMU_V2_BRICK_FUNCTION_SET_ALL_DATA_PERIOD = 30
  • IMU_V2_BRICK_FUNCTION_SET_SENSOR_CONFIGURATION = 41
  • IMU_V2_BRICK_FUNCTION_SET_SENSOR_FUSION_MODE = 43
  • IMU_V2_BRICK_FUNCTION_SET_SPITFP_BAUDRATE_CONFIG = 231
  • IMU_V2_BRICK_FUNCTION_SET_SPITFP_BAUDRATE = 234
  • IMU_V2_BRICK_FUNCTION_ENABLE_STATUS_LED = 238
  • IMU_V2_BRICK_FUNCTION_DISABLE_STATUS_LED = 239
  • IMU_V2_BRICK_FUNCTION_RESET = 243
pub fn ImuV2Brick::set_response_expected_all(&mut self, response_expected: bool) → ()

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

pub fn ImuV2Brick::set_spitfp_baudrate_config(&self, enable_dynamic_baudrate: bool, minimum_dynamic_baudrate: u32) → ConvertingReceiver<()>

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 send/received and decreased linearly if little data is send/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 ImuV2Brick::set_spitfp_baudrate. If the dynamic baudrate is disabled, the baudrate as set by ImuV2Brick::set_spitfp_baudrate will be used statically.

The minimum dynamic baudrate has a value range of 400000 to 2000000 baud.

By default dynamic baudrate is enabled and the minimum dynamic baudrate is 400000.

New in version 2.0.10 (Firmware).

pub fn ImuV2Brick::get_spitfp_baudrate_config(&self) → ConvertingReceiver<SpitfpBaudrateConfig>

Returns the baudrate config, see ImuV2Brick::set_spitfp_baudrate_config.

New in version 2.0.10 (Firmware).

pub fn ImuV2Brick::get_send_timeout_count(&self, communication_method: u8) → ConvertingReceiver<u32>

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:

  • IMU_V2_BRICK_COMMUNICATION_METHOD_NONE = 0
  • IMU_V2_BRICK_COMMUNICATION_METHOD_USB = 1
  • IMU_V2_BRICK_COMMUNICATION_METHOD_SPI_STACK = 2
  • IMU_V2_BRICK_COMMUNICATION_METHOD_CHIBI = 3
  • IMU_V2_BRICK_COMMUNICATION_METHOD_RS485 = 4
  • IMU_V2_BRICK_COMMUNICATION_METHOD_WIFI = 5
  • IMU_V2_BRICK_COMMUNICATION_METHOD_ETHERNET = 6
  • IMU_V2_BRICK_COMMUNICATION_METHOD_WIFI_V2 = 7

New in version 2.0.7 (Firmware).

pub fn ImuV2Brick::set_spitfp_baudrate(&self, bricklet_port: char, baudrate: u32) → ConvertingReceiver<()>

Sets the baudrate for a specific Bricklet port ('a' - 'd'). The baudrate can be in the range 400000 to 2000000.

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 ImuV2Brick::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 ImuV2Brick::set_spitfp_baudrate_config).

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

The default baudrate for all ports is 1400000.

New in version 2.0.5 (Firmware).

pub fn ImuV2Brick::get_spitfp_baudrate(&self, bricklet_port: char) → ConvertingReceiver<u32>

Returns the baudrate for a given Bricklet port, see ImuV2Brick::set_spitfp_baudrate.

New in version 2.0.5 (Firmware).

pub fn ImuV2Brick::get_spitfp_error_count(&self, bricklet_port: char) → ConvertingReceiver<SpitfpErrorCount>

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).

pub fn ImuV2Brick::enable_status_led(&self) → ConvertingReceiver<()>

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.

pub fn ImuV2Brick::disable_status_led(&self) → ConvertingReceiver<()>

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.

pub fn ImuV2Brick::is_status_led_enabled(&self) → ConvertingReceiver<bool>

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

pub fn ImuV2Brick::get_protocol1_bricklet_name(&self, port: char) → ConvertingReceiver<Protocol1BrickletName>

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.

pub fn ImuV2Brick::get_chip_temperature(&self) → ConvertingReceiver<i16>

Returns the temperature in °C/10 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.

pub fn ImuV2Brick::reset(&self) → ConvertingReceiver<()>

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!

pub fn ImuV2Brick::get_identity(&self) → ConvertingReceiver<Identity>

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 can be '0'-'8' (stack position).

The device identifier numbers can be found here. There is also a constant for the device identifier of this Brick.

Callback Configuration Functions

pub fn ImuV2Brick::set_acceleration_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ImuV2Brick::get_acceleration_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The default value is 0.

pub fn ImuV2Brick::get_acceleration_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ImuV2Brick::set_acceleration_period.

pub fn ImuV2Brick::set_magnetic_field_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ImuV2Brick::get_magnetic_field_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

pub fn ImuV2Brick::get_magnetic_field_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ImuV2Brick::set_magnetic_field_period.

pub fn ImuV2Brick::set_angular_velocity_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ImuV2Brick::get_angular_velocity_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

pub fn ImuV2Brick::get_angular_velocity_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ImuV2Brick::set_angular_velocity_period.

pub fn ImuV2Brick::set_temperature_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ImuV2Brick::get_temperature_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

pub fn ImuV2Brick::get_temperature_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ImuV2Brick::set_temperature_period.

pub fn ImuV2Brick::set_orientation_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ImuV2Brick::get_orientation_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

pub fn ImuV2Brick::get_orientation_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ImuV2Brick::set_orientation_period.

pub fn ImuV2Brick::set_linear_acceleration_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ImuV2Brick::get_linear_acceleration_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

pub fn ImuV2Brick::get_linear_acceleration_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ImuV2Brick::set_linear_acceleration_period.

pub fn ImuV2Brick::set_gravity_vector_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ImuV2Brick::get_gravity_vector_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

pub fn ImuV2Brick::get_gravity_vector_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ImuV2Brick::set_gravity_vector_period.

pub fn ImuV2Brick::set_quaternion_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ImuV2Brick::get_quaternion_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

pub fn ImuV2Brick::get_quaternion_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ImuV2Brick::set_quaternion_period.

pub fn ImuV2Brick::set_all_data_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ImuV2Brick::get_all_data_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

pub fn ImuV2Brick::get_all_data_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ImuV2Brick::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 corresponding get_*_callback_receiver function, which returns a receiver for callback events.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

pub fn ImuV2Brick::get_acceleration_callback_receiver(&self) → ConvertingCallbackReceiver<AccelerationEvent>

Receivers created with this function receive Acceleration events.

This callback is triggered periodically with the period that is set by ImuV2Brick::set_acceleration_period. The members of the received struct are the acceleration for the x, y and z axis.
pub fn ImuV2Brick::get_magnetic_field_callback_receiver(&self) → ConvertingCallbackReceiver<MagneticFieldEvent>

Receivers created with this function receive Magnetic Field events.

This callback is triggered periodically with the period that is set by ImuV2Brick::set_magnetic_field_period. The members of the received struct are the magnetic field for the x, y and z axis.
pub fn ImuV2Brick::get_angular_velocity_callback_receiver(&self) → ConvertingCallbackReceiver<AngularVelocityEvent>

Receivers created with this function receive Angular Velocity events.

This callback is triggered periodically with the period that is set by ImuV2Brick::set_angular_velocity_period. The members of the received struct are the angular velocity for the x, y and z axis.
pub fn ImuV2Brick::get_temperature_callback_receiver(&self) → ConvertingCallbackReceiver<i8>

Receivers created with this function receive Temperature events.

This callback is triggered periodically with the period that is set by ImuV2Brick::set_temperature_period. The received variable is the temperature.
pub fn ImuV2Brick::get_linear_acceleration_callback_receiver(&self) → ConvertingCallbackReceiver<LinearAccelerationEvent>

Receivers created with this function receive Linear Acceleration events.

This callback is triggered periodically with the period that is set by ImuV2Brick::set_linear_acceleration_period. The members of the received struct are the linear acceleration for the x, y and z axis.
pub fn ImuV2Brick::get_gravity_vector_callback_receiver(&self) → ConvertingCallbackReceiver<GravityVectorEvent>

Receivers created with this function receive Gravity Vector events.

This callback is triggered periodically with the period that is set by ImuV2Brick::set_gravity_vector_period. The members of the received struct gravity vector for the x, y and z axis.
pub fn ImuV2Brick::get_orientation_callback_receiver(&self) → ConvertingCallbackReceiver<OrientationEvent>

Receivers created with this function receive Orientation events.

This callback is triggered periodically with the period that is set by ImuV2Brick::set_orientation_period. The members of the received struct are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See ImuV2Brick::get_orientation for details.
pub fn ImuV2Brick::get_quaternion_callback_receiver(&self) → ConvertingCallbackReceiver<QuaternionEvent>

Receivers created with this function receive Quaternion events.

This callback is triggered periodically with the period that is set by ImuV2Brick::set_quaternion_period. The members of the received struct are the orientation (x, y, z, w) of the IMU Brick in quaternions. See ImuV2Brick::get_quaternion for details.
pub fn ImuV2Brick::get_all_data_callback_receiver(&self) → ConvertingCallbackReceiver<AllDataEvent>

Receivers created with this function receive All Data events.

This callback is triggered periodically with the period that is set by ImuV2Brick::set_all_data_period. The members of the received struct are as for ImuV2Brick::get_all_data.

Constants

ImuV2Brick::DEVICE_IDENTIFIER

This constant is used to identify a IMU Brick 2.0.

The ImuV2Brick::get_identity function and the IpConnection::get_enumerate_callback_receiver callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

ImuV2Brick::DEVICE_DISPLAY_NAME

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