Shell - IMU Brick¶

Simple¶

Download (example-simple.sh)

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#!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this

uid=XXYYZZ # Change XXYYZZ to the UID of your IMU Brick

# Get current quaternion
tinkerforge call imu-brick $uid get-quaternion

Callback¶

Download (example-callback.sh)

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#!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this

uid=XXYYZZ # Change XXYYZZ to the UID of your IMU Brick

# Handle incoming quaternion callbacks
tinkerforge dispatch imu-brick $uid quaternion &

# Set period for quaternion callback to 1s (1000ms)
tinkerforge call imu-brick $uid set-quaternion-period 1000

echo "Press key to exit"; read dummy

kill -- -$$ # Stop callback dispatch in background

Command Structure¶

The common options of the call and dispatch commands are documented here. The specific command structure is shown below.

tinkerforge call imu-brick [<option>..] <uid> <function> [<argument>..]¶

Parameters:	<uid> – Type: String <function> – Type: String

The call command is used to call a function of the IMU Brick. It can take several options:

• --help shows help for the specific call command and exits
• --list-functions shows a list of known functions of the IMU Brick and exits

tinkerforge dispatch imu-brick [<option>..] <uid> <callback>¶

Parameters:	<uid> – Type: String <callback> – Type: String

The dispatch command is used to dispatch a callback of the IMU Brick. It can take several options:

• --help shows help for the specific dispatch command and exits
• --list-callbacks shows a list of known callbacks of the IMU Brick and exits

tinkerforge call imu-brick <uid> <function> [<option>..] [<argument>..]¶

Parameters:	<uid> – Type: String <function> – Type: String

The <function> to be called can take different options depending of its kind. All functions can take the following options:

• --help shows help for the specific function and exits

Getter functions can take the following options:

• --execute <command> shell command line to execute for each incoming response (see section about output formatting for details)

Setter functions can take the following options:

• --expect-response requests response and waits for it

The --expect-response option for setter functions allows to detect timeouts and other error conditions calls of setters as well. The device will then send a response for this purpose. If this option is not given for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

tinkerforge dispatch imu-brick <uid> <callback> [<option>..]¶

Parameters:	<uid> – Type: String <callback> – Type: String

The <callback> to be dispatched can take several options:

• --help shows help for the specific callback and exits
• --execute <command> shell command line to execute for each incoming response (see section about output formatting for details)

Basic Functions¶

tinkerforge call imu-brick <uid> get-orientation¶

Output:	roll – Type: Int, Unit: 1/100 °, Range: [-18000 to 18000] pitch – Type: Int, Unit: 1/100 °, Range: [-18000 to 18000] yaw – Type: Int, Unit: 1/100 °, Range: [-18000 to 18000]

Returns the current orientation (roll, pitch, yaw) of the IMU Brick as Euler angles. Note that Euler angles always experience a gimbal lock.

We recommend that you use quaternions instead.

The order to sequence in which the orientation values should be applied is roll, yaw, pitch.

If you want to get the orientation periodically, it is recommended to use the orientation callback and set the period with set-orientation-period.

tinkerforge call imu-brick <uid> get-quaternion¶

Output:	x – Type: Float, Range: [-1.0 to 1.0] y – Type: Float, Range: [-1.0 to 1.0] z – Type: Float, Range: [-1.0 to 1.0] w – Type: Float, Range: [-1.0 to 1.0]

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

You can go from quaternions to Euler angles with the following formula:

xAngle = atan2(2*y*w - 2*x*z, 1 - 2*y*y - 2*z*z)
yAngle = atan2(2*x*w - 2*y*z, 1 - 2*x*x - 2*z*z)
zAngle =  asin(2*x*y + 2*z*w)

This process is not reversible, because of the gimbal lock.

It is also possible to calculate independent angles. You can calculate yaw, pitch and roll in a right-handed vehicle coordinate system according to DIN70000 with:

yaw   =  atan2(2*x*y + 2*w*z, w*w + x*x - y*y - z*z)
pitch = -asin(2*w*y - 2*x*z)
roll  = -atan2(2*y*z + 2*w*x, -w*w + x*x + y*y - z*z))

Converting the quaternions to an OpenGL transformation matrix is possible with the following formula:

matrix = [[1 - 2*(y*y + z*z),     2*(x*y - w*z),     2*(x*z + w*y), 0],
          [    2*(x*y + w*z), 1 - 2*(x*x + z*z),     2*(y*z - w*x), 0],
          [    2*(x*z - w*y),     2*(y*z + w*x), 1 - 2*(x*x + y*y), 0],
          [                0,                 0,                 0, 1]]

If you want to get the quaternions periodically, it is recommended to use the quaternion callback and set the period with set-quaternion-period.

tinkerforge call imu-brick <uid> leds-on¶

Output:	no output

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

tinkerforge call imu-brick <uid> leds-off¶

Output:	no output

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

tinkerforge call imu-brick <uid> are-leds-on¶

Output:	leds – Type: Bool, Default: true

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

tinkerforge call imu-brick <uid> set-convergence-speed <speed>¶

Parameters:	<speed> – Type: Int, Unit: 1 °/s, Range: [0 to 216 - 1], Default: 30
Output:	no output

Sets the convergence speed of the IMU Brick. The convergence speed determines how the different sensor measurements are fused.

If the orientation of the IMU Brick is off by 10° and the convergence speed is set to 20°/s, it will take 0.5s until the orientation is corrected. However, if the correct orientation is reached and the convergence speed is too high, the orientation will fluctuate with the fluctuations of the accelerometer and the magnetometer.

If you set the convergence speed to 0, practically only the gyroscope is used to calculate the orientation. This gives very smooth movements, but errors of the gyroscope will not be corrected. If you set the convergence speed to something above 500, practically only the magnetometer and the accelerometer are used to calculate the orientation. In this case the movements are abrupt and the values will fluctuate, but there won't be any errors that accumulate over time.

In an application with high angular velocities, we recommend a high convergence speed, so the errors of the gyroscope can be corrected fast. In applications with only slow movements we recommend a low convergence speed. You can change the convergence speed on the fly. So it is possible (and recommended) to increase the convergence speed before an abrupt movement and decrease it afterwards again.

You might want to play around with the convergence speed in the Brick Viewer to get a feeling for a good value for your application.

tinkerforge call imu-brick <uid> get-convergence-speed¶

Output:	speed – Type: Int, Unit: 1 °/s, Range: [0 to 216 - 1], Default: 30

Returns the convergence speed as set by set-convergence-speed.

Advanced Functions¶

tinkerforge call imu-brick <uid> get-acceleration¶

Output:	x – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1] y – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1] z – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1]

Returns the calibrated acceleration from the accelerometer for the x, y and z axis.

If you want to get the acceleration periodically, it is recommended to use the acceleration callback and set the period with set-acceleration-period.

tinkerforge call imu-brick <uid> get-magnetic-field¶

Output:	x – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1] y – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1] z – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1]

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

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

tinkerforge call imu-brick <uid> get-angular-velocity¶

Output:	x – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750] y – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750] z – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750]

Returns the calibrated angular velocity from the gyroscope for the x, y and z axis in °/14.375s (you have to divide by 14.375 to get the value in °/s).

If you want to get the angular velocity periodically, it is recommended to use the angular-velocity callback and set the period with set-angular-velocity-period.

tinkerforge call imu-brick <uid> get-all-data¶

Output:

acc-x – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1] acc-y – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1] acc-z – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1] mag-x – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1] mag-y – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1] mag-z – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1] ang-x – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750] ang-y – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750] ang-z – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750] temperature – Type: Int, Unit: 1/100 °C, Range: [-215 to 215 - 1]

Returns the data from get-acceleration, get-magnetic-field and get-angular-velocity as well as the temperature of the IMU Brick.

If you want to get the data periodically, it is recommended to use the all-data callback and set the period with set-all-data-period.

tinkerforge call imu-brick <uid> get-imu-temperature¶

Output:	temperature – Type: Int, Unit: 1/100 °C, Range: [-215 to 215 - 1]

Returns the temperature of the IMU Brick.

tinkerforge call imu-brick <uid> set-acceleration-range <range>¶

Parameters:	<range> – Type: Int, Range: [0 to 255]
Output:	no output

Not implemented yet.

tinkerforge call imu-brick <uid> get-acceleration-range¶

Output:	range – Type: Int, Range: [0 to 255]

Not implemented yet.

tinkerforge call imu-brick <uid> set-magnetometer-range <range>¶

Parameters:	<range> – Type: Int, Range: [0 to 255]
Output:	no output

Not implemented yet.

tinkerforge call imu-brick <uid> get-magnetometer-range¶

Output:	range – Type: Int, Range: [0 to 255]

Not implemented yet.

tinkerforge call imu-brick <uid> set-calibration <typ> <data>¶

Parameters:	<typ> – Type: Int, Range: See symbols <data> – Type: Int Array, Length: 10, Range: [-215 to 215 - 1]
Output:	no output

There are several different types that can be calibrated:

Type	Description	Values
0	Accelerometer Gain	[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]
1	Accelerometer Bias	[bias x, bias y, bias z, 0, 0, 0, 0, 0, 0, 0]
2	Magnetometer Gain	[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]
3	Magnetometer Bias	[bias x, bias y, bias z, 0, 0, 0, 0, 0, 0, 0]
4	Gyroscope Gain	[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]
5	Gyroscope Bias	[bias xl, bias yl, bias zl, temp l, bias xh, bias yh, bias zh, temp h, 0, 0]

The calibration via gain and bias is done with the following formula:

new_value = (bias + orig_value) * gain_mul / gain_div

If you really want to write your own calibration software, please keep in mind that you first have to undo the old calibration (set bias to 0 and gain to 1/1) and that you have to average over several thousand values to obtain a usable result in the end.

The gyroscope bias is highly dependent on the temperature, so you have to calibrate the bias two times with different temperatures. The values xl, yl, zl and temp l are the bias for x, y, z and the corresponding temperature for a low temperature. The values xh, yh, zh and temp h are the same for a high temperatures. The temperature difference should be at least 5°C. If you have a temperature where the IMU Brick is mostly used, you should use this temperature for one of the sampling points.

Note

We highly recommend that you use the Brick Viewer to calibrate your IMU Brick.

The following symbols are available for this function:

For <typ>:

• calibration-type-accelerometer-gain = 0
• calibration-type-accelerometer-bias = 1
• calibration-type-magnetometer-gain = 2
• calibration-type-magnetometer-bias = 3
• calibration-type-gyroscope-gain = 4
• calibration-type-gyroscope-bias = 5

tinkerforge call imu-brick <uid> get-calibration <typ>¶

Parameters:	<typ> – Type: Int, Range: See symbols
Output:	data – Type: Int Array, Length: 10, Range: [-215 to 215 - 1]

Returns the calibration for a given type as set by set-calibration.

The following symbols are available for this function:

For <typ>:

• calibration-type-accelerometer-gain = 0
• calibration-type-accelerometer-bias = 1
• calibration-type-magnetometer-gain = 2
• calibration-type-magnetometer-bias = 3
• calibration-type-gyroscope-gain = 4
• calibration-type-gyroscope-bias = 5

tinkerforge call imu-brick <uid> orientation-calculation-on¶

Output:	no output

Turns the orientation calculation of the IMU Brick on.

As default the calculation is on.

New in version 2.0.2 (Firmware).

tinkerforge call imu-brick <uid> orientation-calculation-off¶

Output:	no output

Turns the orientation calculation of the IMU Brick off.

If the calculation is off, get-orientation will return the last calculated value until the calculation is turned on again.

The trigonometric functions that are needed to calculate the orientation are very expensive. We recommend to turn the orientation calculation off if the orientation is not needed, to free calculation time for the sensor fusion algorithm.

As default the calculation is on.

New in version 2.0.2 (Firmware).

tinkerforge call imu-brick <uid> is-orientation-calculation-on¶

Output:	orientation-calculation-on – Type: Bool, Default: true

Returns true if the orientation calculation of the IMU Brick is on, false otherwise.

New in version 2.0.2 (Firmware).

tinkerforge call imu-brick <uid> set-spitfp-baudrate-config <enable-dynamic-baudrate> <minimum-dynamic-baudrate>¶

Parameters:	<enable-dynamic-baudrate> – Type: Bool, Default: true <minimum-dynamic-baudrate> – Type: Int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000
Output:	no output

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 2.3.5 (Firmware).

tinkerforge call imu-brick <uid> get-spitfp-baudrate-config¶

Output:	enable-dynamic-baudrate – Type: Bool, Default: true 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 2.3.5 (Firmware).

tinkerforge call imu-brick <uid> get-send-timeout-count <communication-method>¶

Parameters:	<communication-method> – Type: Int, Range: See symbols
Output:	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 symbols are available for this function:

For <communication-method>:

• communication-method-none = 0
• communication-method-usb = 1
• communication-method-spi-stack = 2
• communication-method-chibi = 3
• communication-method-rs485 = 4
• communication-method-wifi = 5
• communication-method-ethernet = 6
• communication-method-wifi-v2 = 7

New in version 2.3.3 (Firmware).

tinkerforge call imu-brick <uid> set-spitfp-baudrate <bricklet-port> <baudrate>¶

Parameters:	<bricklet-port> – Type: Char, Range: [a to b] <baudrate> – Type: Int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000
Output:	no output

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 2.3.3 (Firmware).

tinkerforge call imu-brick <uid> get-spitfp-baudrate <bricklet-port>¶

Parameters:	<bricklet-port> – Type: Char, Range: [a to b]
Output:	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 2.3.3 (Firmware).

tinkerforge call imu-brick <uid> get-spitfp-error-count <bricklet-port>¶

Parameters:	<bricklet-port> – Type: Char, Range: [a to b]
Output:	error-count-ack-checksum – Type: Int, Range: [0 to 232 - 1] error-count-message-checksum – Type: Int, Range: [0 to 232 - 1] error-count-frame – Type: Int, Range: [0 to 232 - 1] 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 2.3.3 (Firmware).

tinkerforge call imu-brick <uid> enable-status-led¶

Output:	no output

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.

New in version 2.3.1 (Firmware).

tinkerforge call imu-brick <uid> disable-status-led¶

Output:	no output

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.

New in version 2.3.1 (Firmware).

tinkerforge call imu-brick <uid> is-status-led-enabled¶

Output:	enabled – Type: Bool, Default: true

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

New in version 2.3.1 (Firmware).

tinkerforge call imu-brick <uid> get-chip-temperature¶

Output:	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.

tinkerforge call imu-brick <uid> reset¶

Output:	no output

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!

tinkerforge call imu-brick <uid> get-identity¶

Output:

uid – Type: String, Length: up to 8 connected-uid – Type: String, Length: up to 8 position – Type: Char, Range: [0 to 8] hardware-version – Type: Int Array, 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] firmware-version – Type: Int Array, 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] 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. 

Callback Configuration Functions¶

tinkerforge call imu-brick <uid> set-acceleration-period <period>¶

Parameters:	<period> – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Output:	no output

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

tinkerforge call imu-brick <uid> get-acceleration-period¶

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

Returns the period as set by set-acceleration-period.

tinkerforge call imu-brick <uid> set-magnetic-field-period <period>¶

Parameters:	<period> – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Output:	no output

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

tinkerforge call imu-brick <uid> get-magnetic-field-period¶

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

Returns the period as set by set-magnetic-field-period.

tinkerforge call imu-brick <uid> set-angular-velocity-period <period>¶

Parameters:	<period> – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Output:	no output

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

tinkerforge call imu-brick <uid> get-angular-velocity-period¶

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

Returns the period as set by set-angular-velocity-period.

tinkerforge call imu-brick <uid> set-all-data-period <period>¶

Parameters:	<period> – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Output:	no output

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

tinkerforge call imu-brick <uid> get-all-data-period¶

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

Returns the period as set by set-all-data-period.

tinkerforge call imu-brick <uid> set-orientation-period <period>¶

Parameters:	<period> – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Output:	no output

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

tinkerforge call imu-brick <uid> get-orientation-period¶

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

Returns the period as set by set-orientation-period.

tinkerforge call imu-brick <uid> set-quaternion-period <period>¶

Parameters:	<period> – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Output:	no output

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

tinkerforge call imu-brick <uid> get-quaternion-period¶

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

Returns the period as set by set-quaternion-period.

Callbacks¶

Callbacks can be used to receive time critical or recurring data from the device:

tinkerforge dispatch imu-brick <uid> example

The available callbacks are described below.

tinkerforge dispatch imu-brick <uid> acceleration¶

Output:	x – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1] y – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1] z – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1]

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.

tinkerforge dispatch imu-brick <uid> magnetic-field¶

Output:	x – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1] y – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1] z – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1]

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.

tinkerforge dispatch imu-brick <uid> angular-velocity¶

Output:	x – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750] y – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750] z – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750]

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.

tinkerforge dispatch imu-brick <uid> all-data¶

Output:

acc-x – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1] acc-y – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1] acc-z – Type: Int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1] mag-x – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1] mag-y – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1] mag-z – Type: Int, Unit: 1/10 µT, Range: [-215 to 215 - 1] ang-x – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750] ang-y – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750] ang-z – Type: Int, Unit: 8/115 °/s, Range: [-28750 to 28750] temperature – Type: Int, Unit: 1/100 °C, Range: [-215 to 215 - 1]

This callback is triggered periodically with the period that is set by set-all-data-period. The parameters are the acceleration, the magnetic field and the angular velocity for the x, y and z axis as well as the temperature of the IMU Brick.

tinkerforge dispatch imu-brick <uid> orientation¶

Output:	roll – Type: Int, Unit: 1/100 °, Range: [-18000 to 18000] pitch – Type: Int, Unit: 1/100 °, Range: [-18000 to 18000] yaw – Type: Int, Unit: 1/100 °, Range: [-18000 to 18000]

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

tinkerforge dispatch imu-brick <uid> quaternion¶

Output:	x – Type: Float, Range: [-1.0 to 1.0] y – Type: Float, Range: [-1.0 to 1.0] z – Type: Float, Range: [-1.0 to 1.0] w – Type: Float, Range: [-1.0 to 1.0]

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

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.

tinkerforge call imu-brick <uid> get-protocol1-bricklet-name <port>¶

Parameters:	<port> – Type: Char, Range: [a to b]
Output:	protocol-version – Type: Int, Range: [0 to 255] firmware-version – Type: Int Array, 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] 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.

tinkerforge call imu-brick <uid> write-bricklet-plugin <port> <offset> <chunk>¶

Parameters:	<port> – Type: Char, Range: [a to b] <offset> – Type: Int, Range: [0 to 255] <chunk> – Type: Int Array, Length: 32, Range: [0 to 255]
Output:	no output

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.

tinkerforge call imu-brick <uid> read-bricklet-plugin <port> <offset>¶

Parameters:	<port> – Type: Char, Range: [a to b] <offset> – Type: Int, Range: [0 to 255]
Output:	chunk – Type: Int 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.