Software / API Bindings / Visual Basic .NET / API Reference and Examples / Bricks / IMU Brick 2.0

Visual Basic .NET - IMU Brick 2.0¶

This is the description of the Visual Basic .NET 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 Visual Basic .NET API bindings is part of their general description.

Examples¶

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

Simple¶

Download (ExampleSimple.vb)

Imports System
Imports Tinkerforge

Module ExampleSimple
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XXYYZZ" ' Change XXYYZZ to the UID of your IMU Brick 2.0

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim imu As New BrickIMUV2(UID, ipcon) ' Create device object

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

        ' Get current quaternion
        Dim w, x, y, z As Short

        imu.GetQuaternion(w, x, y, z)

        Console.WriteLine("Quaternion [W]: " + (w/16383.0).ToString())
        Console.WriteLine("Quaternion [X]: " + (x/16383.0).ToString())
        Console.WriteLine("Quaternion [Y]: " + (y/16383.0).ToString())
        Console.WriteLine("Quaternion [Z]: " + (z/16383.0).ToString())

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

Callback¶

Download (ExampleCallback.vb)

Imports System
Imports Tinkerforge

Module ExampleCallback
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XXYYZZ" ' Change XXYYZZ to the UID of your IMU Brick 2.0

    ' Callback subroutine for quaternion callback
    Sub QuaternionCB(ByVal sender As BrickIMUV2, ByVal w As Short, ByVal x As Short, _
                     ByVal y As Short, ByVal z As Short)
        Console.WriteLine("Quaternion [W]: " + (w/16383.0).ToString())
        Console.WriteLine("Quaternion [X]: " + (x/16383.0).ToString())
        Console.WriteLine("Quaternion [Y]: " + (y/16383.0).ToString())
        Console.WriteLine("Quaternion [Z]: " + (z/16383.0).ToString())
        Console.WriteLine("")
    End Sub

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim imu As New BrickIMUV2(UID, ipcon) ' Create device object

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

        ' Register quaternion callback to subroutine QuaternionCB
        AddHandler imu.QuaternionCallback, AddressOf QuaternionCB

        ' Set period for quaternion callback to 0.1s (100ms)
        imu.SetQuaternionPeriod(100)

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

All Data¶

Download (ExampleAllData.vb)

Imports System
Imports Tinkerforge

Module ExampleAllData
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XXYYZZ" ' Change XXYYZZ to the UID of your IMU Brick 2.0

    ' Callback subroutine for all data callback
    Sub AllDataCB(ByVal sender As BrickIMUV2, ByVal acceleration As Short(), _
                  ByVal magneticField As Short(), ByVal angularVelocity As Short(), _
                  ByVal eulerAngle As Short(), ByVal quaternion As Short(), _
                  ByVal linearAcceleration As Short(), ByVal gravityVector As Short(), _
                  ByVal temperature As Short, ByVal calibrationStatus As Byte)
        Console.WriteLine("Acceleration [X]: " + (acceleration(0)/100.0).ToString() + " m/s²")
        Console.WriteLine("Acceleration [Y]: " + (acceleration(1)/100.0).ToString() + " m/s²")
        Console.WriteLine("Acceleration [Z]: " + (acceleration(2)/100.0).ToString() + " m/s²")
        Console.WriteLine("Magnetic Field [X]: " + (magneticField(0)/16.0).ToString() + " µT")
        Console.WriteLine("Magnetic Field [Y]: " + (magneticField(1)/16.0).ToString() + " µT")
        Console.WriteLine("Magnetic Field [Z]: " + (magneticField(2)/16.0).ToString() + " µT")
        Console.WriteLine("Angular Velocity [X]: " + (angularVelocity(0)/16.0).ToString() + " °/s")
        Console.WriteLine("Angular Velocity [Y]: " + (angularVelocity(1)/16.0).ToString() + " °/s")
        Console.WriteLine("Angular Velocity [Z]: " + (angularVelocity(2)/16.0).ToString() + " °/s")
        Console.WriteLine("Euler Angle [Heading]: " + (eulerAngle(0)/16.0).ToString() + " °")
        Console.WriteLine("Euler Angle [Roll]: " + (eulerAngle(1)/16.0).ToString() + " °")
        Console.WriteLine("Euler Angle [Pitch]: " + (eulerAngle(2)/16.0).ToString() + " °")
        Console.WriteLine("Quaternion [W]: " + (quaternion(0)/16383.0).ToString())
        Console.WriteLine("Quaternion [X]: " + (quaternion(1)/16383.0).ToString())
        Console.WriteLine("Quaternion [Y]: " + (quaternion(2)/16383.0).ToString())
        Console.WriteLine("Quaternion [Z]: " + (quaternion(3)/16383.0).ToString())
        Console.WriteLine("Linear Acceleration [X]: " + (linearAcceleration(0)/100.0).ToString() + " m/s²")
        Console.WriteLine("Linear Acceleration [Y]: " + (linearAcceleration(1)/100.0).ToString() + " m/s²")
        Console.WriteLine("Linear Acceleration [Z]: " + (linearAcceleration(2)/100.0).ToString() + " m/s²")
        Console.WriteLine("Gravity Vector [X]: " + (gravityVector(0)/100.0).ToString() + " m/s²")
        Console.WriteLine("Gravity Vector [Y]: " + (gravityVector(1)/100.0).ToString() + " m/s²")
        Console.WriteLine("Gravity Vector [Z]: " + (gravityVector(2)/100.0).ToString() + " m/s²")
        Console.WriteLine("Temperature: " + temperature.ToString() + " °C")
        Console.WriteLine("Calibration Status: " + Convert.ToString(calibrationStatus, 2))
        Console.WriteLine("")
    End Sub

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim imu As New BrickIMUV2(UID, ipcon) ' Create device object

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

        ' Register all data callback to subroutine AllDataCB
        AddHandler imu.AllDataCallback, AddressOf AllDataCB

        ' Set period for all data callback to 0.1s (100ms)
        imu.SetAllDataPeriod(100)

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

API¶

Since Visual Basic .NET does not support multiple return values directly, we use the ByRef keyword to return multiple values from a function.

All functions and procedures listed below are thread-safe.

Basic Functions¶

Class BrickIMUV2(ByVal uid As String, ByVal ipcon As IPConnection)¶

Creates an object with the unique device ID uid:

Dim imuV2 As New BrickIMUV2("YOUR_DEVICE_UID", ipcon)

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

Sub BrickIMUV2.GetOrientation(ByRef heading As Short, ByRef roll As Short, ByRef pitch As Short)¶

Output Parameters:	heading – Type: Short, Unit: 1/16 °, Range: [0 to 5760] roll – Type: Short, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: Short, 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 OrientationCallback callback and set the period with SetOrientationPeriod().

Sub BrickIMUV2.GetLinearAcceleration(ByRef x As Short, ByRef y As Short, ByRef z As Short)¶

Output Parameters:	x – Type: Short, Unit: 1 cm/s², Range: ? y – Type: Short, Unit: 1 cm/s², Range: ? z – Type: Short, 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 SetSensorConfiguration().

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 GetGravityVector().

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

Sub BrickIMUV2.GetGravityVector(ByRef x As Short, ByRef y As Short, ByRef z As Short)¶

Output Parameters:	x – Type: Short, Unit: 1 cm/s², Range: [-981 to 981] y – Type: Short, Unit: 1 cm/s², Range: [-981 to 981] z – Type: Short, 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 GetLinearAcceleration().

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

Sub BrickIMUV2.GetQuaternion(ByRef w As Short, ByRef x As Short, ByRef y As Short, ByRef z As Short)¶

Output Parameters:	w – Type: Short, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] x – Type: Short, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] y – Type: Short, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] z – Type: Short, 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 QuaternionCallback callback and set the period with SetQuaternionPeriod().

Sub BrickIMUV2.GetAllData(ByRef acceleration() As Short, ByRef magneticField() As Short, ByRef angularVelocity() As Short, ByRef eulerAngle() As Short, ByRef quaternion() As Short, ByRef linearAcceleration() As Short, ByRef gravityVector() As Short, ByRef temperature As Short, ByRef calibrationStatus As Byte)¶

Output Parameters:

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

acceleration – Type: Short Array, Length: 3

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

magneticField – Type: Short Array, Length: 3

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

angularVelocity – Type: Short Array, Length: 3

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

eulerAngle – Type: Short Array, Length: 3

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

quaternion – Type: Short Array, Length: 4

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

linearAcceleration – Type: Short Array, Length: 3

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

gravityVector – Type: Short Array, Length: 3

0: x – Type: Short, Unit: 1 cm/s², Range: [-981 to 981]
1: y – Type: Short, Unit: 1 cm/s², Range: [-981 to 981]
2: z – Type: Short, Unit: 1 cm/s², Range: [-981 to 981]

temperature – Type: Short, Unit: 1 °C, Range: [-128 to 127]
calibrationStatus – Type: Byte, Range: [0 to 255]

Return all of the available data of the IMU Brick.

acceleration (see GetAcceleration())
magnetic field (see GetMagneticField())
angular velocity (see GetAngularVelocity())
Euler angles (see GetOrientation())
quaternion (see GetQuaternion())
linear acceleration (see GetLinearAcceleration())
gravity vector (see GetGravityVector())
temperature (see GetTemperature())
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 AllDataCallback callback and set the period with SetAllDataPeriod().

Sub BrickIMUV2.LedsOn()¶: Turns the orientation and direction LEDs of the IMU Brick on.

Sub BrickIMUV2.LedsOff()¶: Turns the orientation and direction LEDs of the IMU Brick off.

Function BrickIMUV2.AreLedsOn() As Boolean¶

Returns:	leds – Type: Boolean, Default: true

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

Advanced Functions¶

Sub BrickIMUV2.GetAcceleration(ByRef x As Short, ByRef y As Short, ByRef z As Short)¶

Output Parameters:	x – Type: Short, Unit: 1 cm/s², Range: ? y – Type: Short, Unit: 1 cm/s², Range: ? z – Type: Short, 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 SetSensorConfiguration().

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

Sub BrickIMUV2.GetMagneticField(ByRef x As Short, ByRef y As Short, ByRef z As Short)¶

Output Parameters:	x – Type: Short, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: Short, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: Short, 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 MagneticFieldCallback callback and set the period with SetMagneticFieldPeriod().

Sub BrickIMUV2.GetAngularVelocity(ByRef x As Short, ByRef y As Short, ByRef z As Short)¶

Output Parameters:	x – Type: Short, Unit: 1/16 °/s, Range: ? y – Type: Short, Unit: 1/16 °/s, Range: ? z – Type: Short, 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 SetSensorConfiguration().

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

Function BrickIMUV2.GetTemperature() As Short¶

Returns:	temperature – Type: Short, 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

Function BrickIMUV2.SaveCalibration() As Boolean¶

Returns:	calibrationDone – Type: Boolean

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.

Sub BrickIMUV2.SetSensorConfiguration(ByVal magnetometerRate As Byte, ByVal gyroscopeRange As Byte, ByVal gyroscopeBandwidth As Byte, ByVal accelerometerRange As Byte, ByVal accelerometerBandwidth As Byte)¶

Parameters:	magnetometerRate – Type: Byte, Range: See constants, Default: 5 gyroscopeRange – Type: Byte, Range: See constants, Default: 0 gyroscopeBandwidth – Type: Byte, Range: See constants, Default: 7 accelerometerRange – Type: Byte, Range: See constants, Default: 1 accelerometerBandwidth – Type: Byte, 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 magnetometerRate:

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 gyroscopeRange:

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 gyroscopeBandwidth:

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 accelerometerRange:

BrickIMUV2.ACCELEROMETER_RANGE_2G = 0
BrickIMUV2.ACCELEROMETER_RANGE_4G = 1
BrickIMUV2.ACCELEROMETER_RANGE_8G = 2
BrickIMUV2.ACCELEROMETER_RANGE_16G = 3

For accelerometerBandwidth:

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).

Sub BrickIMUV2.GetSensorConfiguration(ByRef magnetometerRate As Byte, ByRef gyroscopeRange As Byte, ByRef gyroscopeBandwidth As Byte, ByRef accelerometerRange As Byte, ByRef accelerometerBandwidth As Byte)¶

Output Parameters:	magnetometerRate – Type: Byte, Range: See constants, Default: 5 gyroscopeRange – Type: Byte, Range: See constants, Default: 0 gyroscopeBandwidth – Type: Byte, Range: See constants, Default: 7 accelerometerRange – Type: Byte, Range: See constants, Default: 1 accelerometerBandwidth – Type: Byte, Range: See constants, Default: 3

Returns the sensor configuration as set by SetSensorConfiguration().

The following constants are available for this function:

For magnetometerRate:

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 gyroscopeRange:

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 gyroscopeBandwidth:

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 accelerometerRange:

BrickIMUV2.ACCELEROMETER_RANGE_2G = 0
BrickIMUV2.ACCELEROMETER_RANGE_4G = 1
BrickIMUV2.ACCELEROMETER_RANGE_8G = 2
BrickIMUV2.ACCELEROMETER_RANGE_16G = 3

For accelerometerBandwidth:

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).

Sub BrickIMUV2.SetSensorFusionMode(ByVal mode As Byte)¶

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

If the fusion mode is turned off, the functions GetAcceleration(), GetMagneticField() and GetAngularVelocity() 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).

Function BrickIMUV2.GetSensorFusionMode() As Byte¶

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

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

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).

Sub BrickIMUV2.SetSPITFPBaudrateConfig(ByVal enableDynamicBaudrate As Boolean, ByVal minimumDynamicBaudrate As Long)¶

Parameters:	enableDynamicBaudrate – Type: Boolean, Default: true minimumDynamicBaudrate – Type: Long, 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 SetSPITFPBaudrate(). If the dynamic baudrate is disabled, the baudrate as set by SetSPITFPBaudrate() will be used statically.

New in version 2.0.10 (Firmware).

Sub BrickIMUV2.GetSPITFPBaudrateConfig(ByRef enableDynamicBaudrate As Boolean, ByRef minimumDynamicBaudrate As Long)¶

Output Parameters:	enableDynamicBaudrate – Type: Boolean, Default: true minimumDynamicBaudrate – Type: Long, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000

Returns the baudrate config, see SetSPITFPBaudrateConfig().

New in version 2.0.10 (Firmware).

Function BrickIMUV2.GetSendTimeoutCount(ByVal communicationMethod As Byte) As Long¶

Parameters:	communicationMethod – Type: Byte, Range: See constants
Returns:	timeoutCount – Type: Long, 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 communicationMethod:

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).

Sub BrickIMUV2.SetSPITFPBaudrate(ByVal brickletPort As Char, ByVal baudrate As Long)¶

Parameters:	brickletPort – Type: Char, Range: ["a"C to "b"C] baudrate – Type: Long, 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 GetSPITFPErrorCount()) you can decrease the baudrate.

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

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).

Function BrickIMUV2.GetSPITFPBaudrate(ByVal brickletPort As Char) As Long¶

Parameters:	brickletPort – Type: Char, Range: ["a"C to "b"C]
Returns:	baudrate – Type: Long, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000

Returns the baudrate for a given Bricklet port, see SetSPITFPBaudrate().

New in version 2.0.5 (Firmware).

Sub BrickIMUV2.GetSPITFPErrorCount(ByVal brickletPort As Char, ByRef errorCountACKChecksum As Long, ByRef errorCountMessageChecksum As Long, ByRef errorCountFrame As Long, ByRef errorCountOverflow As Long)¶

Parameters:	brickletPort – Type: Char, Range: ["a"C to "b"C]
Output Parameters:	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 Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

New in version 2.0.5 (Firmware).

Sub BrickIMUV2.EnableStatusLED()¶

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.

Sub BrickIMUV2.DisableStatusLED()¶

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.

Function BrickIMUV2.IsStatusLEDEnabled() As Boolean¶

Returns:	enabled – Type: Boolean, Default: true

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

Function BrickIMUV2.GetChipTemperature() As Short¶

Returns:	temperature – Type: Short, 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.

Sub BrickIMUV2.Reset()¶

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!

Sub BrickIMUV2.GetIdentity(ByRef uid As String, ByRef connectedUid As String, ByRef position As Char, ByRef hardwareVersion() As Byte, ByRef firmwareVersion() As Byte, ByRef deviceIdentifier As Integer)¶

Output Parameters:

Output Parameters:	uid – Type: String, Length: up to 8 connectedUid – Type: String, Length: up to 8 position – Type: Char, Range: ["0"C to "8"C] hardwareVersion – Type: Byte Array, Length: 3 0: major – Type: Byte, Range: [0 to 255] 1: minor – Type: Byte, Range: [0 to 255] 2: revision – Type: Byte, Range: [0 to 255] firmwareVersion – Type: Byte Array, Length: 3 0: major – Type: Byte, Range: [0 to 255] 1: minor – Type: Byte, Range: [0 to 255] 2: revision – Type: Byte, Range: [0 to 255] deviceIdentifier – Type: Integer, Range: [0 to 2¹⁶ - 1]

uid – Type: String, Length: up to 8
connectedUid – Type: String, Length: up to 8
position – Type: Char, Range: ["0"C to "8"C]
hardwareVersion – Type: Byte Array, Length: 3

0: major – Type: Byte, Range: [0 to 255]
1: minor – Type: Byte, Range: [0 to 255]
2: revision – Type: Byte, Range: [0 to 255]

firmwareVersion – Type: Byte Array, Length: 3

0: major – Type: Byte, Range: [0 to 255]
1: minor – Type: Byte, Range: [0 to 255]
2: revision – Type: Byte, Range: [0 to 255]

deviceIdentifier – Type: Integer, 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¶

Sub BrickIMUV2.SetAccelerationPeriod(ByVal period As Long)¶

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

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

Function BrickIMUV2.GetAccelerationPeriod() As Long¶

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

Returns the period as set by SetAccelerationPeriod().

Sub BrickIMUV2.SetMagneticFieldPeriod(ByVal period As Long)¶

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

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

Function BrickIMUV2.GetMagneticFieldPeriod() As Long¶

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

Returns the period as set by SetMagneticFieldPeriod().

Sub BrickIMUV2.SetAngularVelocityPeriod(ByVal period As Long)¶

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

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

Function BrickIMUV2.GetAngularVelocityPeriod() As Long¶

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

Returns the period as set by SetAngularVelocityPeriod().

Sub BrickIMUV2.SetTemperaturePeriod(ByVal period As Long)¶

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

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

Function BrickIMUV2.GetTemperaturePeriod() As Long¶

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

Returns the period as set by SetTemperaturePeriod().

Sub BrickIMUV2.SetOrientationPeriod(ByVal period As Long)¶

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

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

Function BrickIMUV2.GetOrientationPeriod() As Long¶

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

Returns the period as set by SetOrientationPeriod().

Sub BrickIMUV2.SetLinearAccelerationPeriod(ByVal period As Long)¶

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

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

Function BrickIMUV2.GetLinearAccelerationPeriod() As Long¶

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

Returns the period as set by SetLinearAccelerationPeriod().

Sub BrickIMUV2.SetGravityVectorPeriod(ByVal period As Long)¶

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

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

Function BrickIMUV2.GetGravityVectorPeriod() As Long¶

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

Returns the period as set by SetGravityVectorPeriod().

Sub BrickIMUV2.SetQuaternionPeriod(ByVal period As Long)¶

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

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

Function BrickIMUV2.GetQuaternionPeriod() As Long¶

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

Returns the period as set by SetQuaternionPeriod().

Sub BrickIMUV2.SetAllDataPeriod(ByVal period As Long)¶

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

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

Function BrickIMUV2.GetAllDataPeriod() As Long¶

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

Returns the period as set by SetAllDataPeriod().

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a procedure to an callback property of the device object:

Sub MyCallback(ByVal sender As BrickIMUV2, ByVal value As Short)
    Console.WriteLine("Value: {0}", value)
End Sub

AddHandler imuV2.ExampleCallback, AddressOf MyCallback

The available callback property and their type of parameters are described below.

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.

Event BrickIMUV2.AccelerationCallback(ByVal sender As BrickIMUV2, ByVal x As Short, ByVal y As Short, ByVal z As Short)¶

Callback Parameters:	sender – Type: BrickIMUV2 x – Type: Short, Unit: 1 cm/s², Range: ? y – Type: Short, Unit: 1 cm/s², Range: ? z – Type: Short, Unit: 1 cm/s², Range: ?

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

Event BrickIMUV2.MagneticFieldCallback(ByVal sender As BrickIMUV2, ByVal x As Short, ByVal y As Short, ByVal z As Short)¶

Callback Parameters:	sender – Type: BrickIMUV2 x – Type: Short, Unit: 1/16 µT, Range: [-20800 to 20800] y – Type: Short, Unit: 1/16 µT, Range: [-20800 to 20800] z – Type: Short, Unit: 1/16 µT, Range: [-40000 to 40000]

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

Event BrickIMUV2.AngularVelocityCallback(ByVal sender As BrickIMUV2, ByVal x As Short, ByVal y As Short, ByVal z As Short)¶

Callback Parameters:	sender – Type: BrickIMUV2 x – Type: Short, Unit: 1/16 °/s, Range: ? y – Type: Short, Unit: 1/16 °/s, Range: ? z – Type: Short, Unit: 1/16 °/s, Range: ?

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

Event BrickIMUV2.TemperatureCallback(ByVal sender As BrickIMUV2, ByVal temperature As Short)¶

Callback Parameters:	sender – Type: BrickIMUV2 temperature – Type: Short, Unit: 1 °C, Range: [-128 to 127]

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

Event BrickIMUV2.LinearAccelerationCallback(ByVal sender As BrickIMUV2, ByVal x As Short, ByVal y As Short, ByVal z As Short)¶

Callback Parameters:	sender – Type: BrickIMUV2 x – Type: Short, Unit: 1 cm/s², Range: ? y – Type: Short, Unit: 1 cm/s², Range: ? z – Type: Short, Unit: 1 cm/s², Range: ?

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

Event BrickIMUV2.GravityVectorCallback(ByVal sender As BrickIMUV2, ByVal x As Short, ByVal y As Short, ByVal z As Short)¶

Callback Parameters:	sender – Type: BrickIMUV2 x – Type: Short, Unit: 1 cm/s², Range: [-981 to 981] y – Type: Short, Unit: 1 cm/s², Range: [-981 to 981] z – Type: Short, Unit: 1 cm/s², Range: [-981 to 981]

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

Event BrickIMUV2.OrientationCallback(ByVal sender As BrickIMUV2, ByVal heading As Short, ByVal roll As Short, ByVal pitch As Short)¶

Callback Parameters:	sender – Type: BrickIMUV2 heading – Type: Short, Unit: 1/16 °, Range: [0 to 5760] roll – Type: Short, Unit: 1/16 °, Range: [-1440 to 1440] pitch – Type: Short, Unit: 1/16 °, Range: [-2880 to 2880]

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

Event BrickIMUV2.QuaternionCallback(ByVal sender As BrickIMUV2, ByVal w As Short, ByVal x As Short, ByVal y As Short, ByVal z As Short)¶

Callback Parameters:	sender – Type: BrickIMUV2 w – Type: Short, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] x – Type: Short, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] y – Type: Short, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1] z – Type: Short, Unit: 1/16383, Range: [-2¹⁴ + 1 to 2¹⁴ - 1]

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

Event BrickIMUV2.AllDataCallback(ByVal sender As BrickIMUV2, ByVal acceleration() As Short, ByVal magneticField() As Short, ByVal angularVelocity() As Short, ByVal eulerAngle() As Short, ByVal quaternion() As Short, ByVal linearAcceleration() As Short, ByVal gravityVector() As Short, ByVal temperature As Short, ByVal calibrationStatus As Byte)¶

Callback Parameters:

sender – Type: BrickIMUV2
acceleration – Type: Short Array, Length: 3

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

magneticField – Type: Short Array, Length: 3

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

angularVelocity – Type: Short Array, Length: 3

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

eulerAngle – Type: Short Array, Length: 3

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

quaternion – Type: Short Array, Length: 4

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

linearAcceleration – Type: Short Array, Length: 3

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

gravityVector – Type: Short Array, Length: 3

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

temperature – Type: Short, Unit: 1 °C, Range: [-128 to 127]
calibrationStatus – Type: Byte, Range: [0 to 255]

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

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.

Function BrickIMUV2.GetAPIVersion() As Byte()¶

Output Parameters:	apiVersion – Type: Byte Array, Length: 3 0: major – Type: Byte, Range: [0 to 255] 1: minor – Type: Byte, Range: [0 to 255] 2: revision – Type: Byte, 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.

Function BrickIMUV2.GetResponseExpected(ByVal functionId As Byte) As Boolean¶

Parameters:	functionId – Type: Byte, Range: See constants
Returns:	responseExpected – Type: Boolean

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 SetResponseExpected(). 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 functionId:

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

Sub BrickIMUV2.SetResponseExpected(ByVal functionId As Byte, ByVal responseExpected As Boolean)¶

Parameters:	functionId – Type: Byte, Range: See constants responseExpected – Type: Boolean

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

The following constants are available for this function:

For functionId:

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

Sub BrickIMUV2.SetResponseExpectedAll(ByVal responseExpected As Boolean)¶

Parameters:	responseExpected – Type: Boolean

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.

Sub BrickIMUV2.GetProtocol1BrickletName(ByVal port As Char, ByRef protocolVersion As Byte, ByRef firmwareVersion() As Byte, ByRef name As String)¶

Parameters:	port – Type: Char, Range: ["a"C to "b"C]
Output Parameters:	protocolVersion – Type: Byte, Range: [0 to 255] firmwareVersion – Type: Byte Array, Length: 3 0: major – Type: Byte, Range: [0 to 255] 1: minor – Type: Byte, Range: [0 to 255] 2: revision – Type: Byte, Range: [0 to 255] name – Type: String, 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.

Sub BrickIMUV2.WriteBrickletPlugin(ByVal port As Char, ByVal offset As Byte, ByVal chunk() As Byte)¶

Parameters:	port – Type: Char, Range: ["a"C to "b"C] offset – Type: Byte, Range: [0 to 255] chunk – Type: Byte Array, 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.

Function BrickIMUV2.ReadBrickletPlugin(ByVal port As Char, ByVal offset As Byte) As Byte()¶

Parameters:	port – Type: Char, Range: ["a"C to "b"C] offset – Type: Byte, Range: [0 to 255]
Returns:	chunk – Type: Byte Array, 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¶

Const BrickIMUV2.DEVICE_IDENTIFIER¶

This constant is used to identify a IMU Brick 2.0.

The GetIdentity() function and the IPConnection.EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

Const BrickIMUV2.DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a IMU Brick 2.0.