imu_v3_bricklet

package
v0.0.0-...-368b749 Latest Latest
Warning

This package is not in the latest version of its module.

 Go to latest Published: Feb 27, 2024 License: CC0-1.0 Imports: 5 Imported by: 0

Documentation

Overview

Full fledged AHRS with 9 degrees of freedom.

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/IMUV3_Bricklet_Go.html.

Index

Constants

View Source 
const DeviceDisplayName = "IMU Bricklet 3.0"
View Source 
const DeviceIdentifier = 2161

Variables

This section is empty.

Functions

This section is empty.

Types

type AccelerometerBandwidth 

type AccelerometerBandwidth = uint8
const (
	AccelerometerBandwidth7_81Hz  AccelerometerBandwidth = 0
	AccelerometerBandwidth15_63Hz AccelerometerBandwidth = 1
	AccelerometerBandwidth31_25Hz AccelerometerBandwidth = 2
	AccelerometerBandwidth62_5Hz  AccelerometerBandwidth = 3
	AccelerometerBandwidth125Hz   AccelerometerBandwidth = 4
	AccelerometerBandwidth250Hz   AccelerometerBandwidth = 5
	AccelerometerBandwidth500Hz   AccelerometerBandwidth = 6
	AccelerometerBandwidth1000Hz  AccelerometerBandwidth = 7
)

type AccelerometerRange 

type AccelerometerRange = uint8
const (
	AccelerometerRange2G  AccelerometerRange = 0
	AccelerometerRange4G  AccelerometerRange = 1
	AccelerometerRange8G  AccelerometerRange = 2
	AccelerometerRange16G AccelerometerRange = 3
)

type BootloaderMode 

type BootloaderMode = uint8
const (
	BootloaderModeBootloader                    BootloaderMode = 0
	BootloaderModeFirmware                      BootloaderMode = 1
	BootloaderModeBootloaderWaitForReboot       BootloaderMode = 2
	BootloaderModeFirmwareWaitForReboot         BootloaderMode = 3
	BootloaderModeFirmwareWaitForEraseAndReboot BootloaderMode = 4
)

type BootloaderStatus 

type BootloaderStatus = uint8
const (
	BootloaderStatusOK                        BootloaderStatus = 0
	BootloaderStatusInvalidMode               BootloaderStatus = 1
	BootloaderStatusNoChange                  BootloaderStatus = 2
	BootloaderStatusEntryFunctionNotPresent   BootloaderStatus = 3
	BootloaderStatusDeviceIdentifierIncorrect BootloaderStatus = 4
	BootloaderStatusCRCMismatch               BootloaderStatus = 5
)

type Function 

type Function = uint8
const (
	FunctionGetAcceleration                            Function = 1
	FunctionGetMagneticField                           Function = 2
	FunctionGetAngularVelocity                         Function = 3
	FunctionGetTemperature                             Function = 4
	FunctionGetOrientation                             Function = 5
	FunctionGetLinearAcceleration                      Function = 6
	FunctionGetGravityVector                           Function = 7
	FunctionGetQuaternion                              Function = 8
	FunctionGetAllData                                 Function = 9
	FunctionSaveCalibration                            Function = 10
	FunctionSetSensorConfiguration                     Function = 11
	FunctionGetSensorConfiguration                     Function = 12
	FunctionSetSensorFusionMode                        Function = 13
	FunctionGetSensorFusionMode                        Function = 14
	FunctionSetAccelerationCallbackConfiguration       Function = 15
	FunctionGetAccelerationCallbackConfiguration       Function = 16
	FunctionSetMagneticFieldCallbackConfiguration      Function = 17
	FunctionGetMagneticFieldCallbackConfiguration      Function = 18
	FunctionSetAngularVelocityCallbackConfiguration    Function = 19
	FunctionGetAngularVelocityCallbackConfiguration    Function = 20
	FunctionSetTemperatureCallbackConfiguration        Function = 21
	FunctionGetTemperatureCallbackConfiguration        Function = 22
	FunctionSetOrientationCallbackConfiguration        Function = 23
	FunctionGetOrientationCallbackConfiguration        Function = 24
	FunctionSetLinearAccelerationCallbackConfiguration Function = 25
	FunctionGetLinearAccelerationCallbackConfiguration Function = 26
	FunctionSetGravityVectorCallbackConfiguration      Function = 27
	FunctionGetGravityVectorCallbackConfiguration      Function = 28
	FunctionSetQuaternionCallbackConfiguration         Function = 29
	FunctionGetQuaternionCallbackConfiguration         Function = 30
	FunctionSetAllDataCallbackConfiguration            Function = 31
	FunctionGetAllDataCallbackConfiguration            Function = 32
	FunctionGetSPITFPErrorCount                        Function = 234
	FunctionSetBootloaderMode                          Function = 235
	FunctionGetBootloaderMode                          Function = 236
	FunctionSetWriteFirmwarePointer                    Function = 237
	FunctionWriteFirmware                              Function = 238
	FunctionSetStatusLEDConfig                         Function = 239
	FunctionGetStatusLEDConfig                         Function = 240
	FunctionGetChipTemperature                         Function = 242
	FunctionReset                                      Function = 243
	FunctionWriteUID                                   Function = 248
	FunctionReadUID                                    Function = 249
	FunctionGetIdentity                                Function = 255
	FunctionCallbackAcceleration                       Function = 33
	FunctionCallbackMagneticField                      Function = 34
	FunctionCallbackAngularVelocity                    Function = 35
	FunctionCallbackTemperature                        Function = 36
	FunctionCallbackLinearAcceleration                 Function = 37
	FunctionCallbackGravityVector                      Function = 38
	FunctionCallbackOrientation                        Function = 39
	FunctionCallbackQuaternion                         Function = 40
	FunctionCallbackAllData                            Function = 41
)

type GyroscopeBandwidth 

type GyroscopeBandwidth = uint8
const (
	GyroscopeBandwidth523Hz GyroscopeBandwidth = 0
	GyroscopeBandwidth230Hz GyroscopeBandwidth = 1
	GyroscopeBandwidth116Hz GyroscopeBandwidth = 2
	GyroscopeBandwidth47Hz  GyroscopeBandwidth = 3
	GyroscopeBandwidth23Hz  GyroscopeBandwidth = 4
	GyroscopeBandwidth12Hz  GyroscopeBandwidth = 5
	GyroscopeBandwidth64Hz  GyroscopeBandwidth = 6
	GyroscopeBandwidth32Hz  GyroscopeBandwidth = 7
)

type GyroscopeRange 

type GyroscopeRange = uint8
const (
	GyroscopeRange2000DPS GyroscopeRange = 0
	GyroscopeRange1000DPS GyroscopeRange = 1
	GyroscopeRange500DPS  GyroscopeRange = 2
	GyroscopeRange250DPS  GyroscopeRange = 3
	GyroscopeRange125DPS  GyroscopeRange = 4
)

type IMUV3Bricklet 

type IMUV3Bricklet struct {
	// contains filtered or unexported fields
}

func New 

func New(uid string, ipcon *ipconnection.IPConnection) (IMUV3Bricklet, error)

Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.

func (*IMUV3Bricklet) DeregisterAccelerationCallback 

func (device *IMUV3Bricklet) DeregisterAccelerationCallback(registrationId uint64)

Remove a registered Acceleration callback.

func (*IMUV3Bricklet) DeregisterAllDataCallback 

func (device *IMUV3Bricklet) DeregisterAllDataCallback(registrationId uint64)

Remove a registered All Data callback.

func (*IMUV3Bricklet) DeregisterAngularVelocityCallback 

func (device *IMUV3Bricklet) DeregisterAngularVelocityCallback(registrationId uint64)

Remove a registered Angular Velocity callback.

func (*IMUV3Bricklet) DeregisterGravityVectorCallback 

func (device *IMUV3Bricklet) DeregisterGravityVectorCallback(registrationId uint64)

Remove a registered Gravity Vector callback.

func (*IMUV3Bricklet) DeregisterLinearAccelerationCallback 

func (device *IMUV3Bricklet) DeregisterLinearAccelerationCallback(registrationId uint64)

Remove a registered Linear Acceleration callback.

func (*IMUV3Bricklet) DeregisterMagneticFieldCallback 

func (device *IMUV3Bricklet) DeregisterMagneticFieldCallback(registrationId uint64)

Remove a registered Magnetic Field callback.

func (*IMUV3Bricklet) DeregisterOrientationCallback 

func (device *IMUV3Bricklet) DeregisterOrientationCallback(registrationId uint64)

Remove a registered Orientation callback.

func (*IMUV3Bricklet) DeregisterQuaternionCallback 

func (device *IMUV3Bricklet) DeregisterQuaternionCallback(registrationId uint64)

Remove a registered Quaternion callback.

func (*IMUV3Bricklet) DeregisterTemperatureCallback 

func (device *IMUV3Bricklet) DeregisterTemperatureCallback(registrationId uint64)

Remove a registered Temperature callback.

func (*IMUV3Bricklet) GetAPIVersion 

func (device *IMUV3Bricklet) GetAPIVersion() [3]uint8

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.

func (*IMUV3Bricklet) GetAcceleration 

func (device *IMUV3Bricklet) GetAcceleration() (x int16, y int16, z int16, err error)

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 RegisterAccelerationCallback callback and set the period with SetAccelerationCallbackConfiguration.

func (*IMUV3Bricklet) GetAccelerationCallbackConfiguration 

func (device *IMUV3Bricklet) GetAccelerationCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetAccelerationCallbackConfiguration.

func (*IMUV3Bricklet) GetAllData 

func (device *IMUV3Bricklet) GetAllData() (acceleration [3]int16, magneticField [3]int16, angularVelocity [3]int16, eulerAngle [3]int16, quaternion [4]int16, linearAcceleration [3]int16, gravityVector [3]int16, temperature int8, calibrationStatus uint8, err error)

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 RegisterAllDataCallback callback and set the period with SetAllDataCallbackConfiguration.

func (*IMUV3Bricklet) GetAllDataCallbackConfiguration 

func (device *IMUV3Bricklet) GetAllDataCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetAllDataCallbackConfiguration.

func (*IMUV3Bricklet) GetAngularVelocity 

func (device *IMUV3Bricklet) GetAngularVelocity() (x int16, y int16, z int16, err error)

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 RegisterAngularVelocityCallback acallback nd set the period with SetAngularVelocityCallbackConfiguration.

func (*IMUV3Bricklet) GetAngularVelocityCallbackConfiguration 

func (device *IMUV3Bricklet) GetAngularVelocityCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetAngularVelocityCallbackConfiguration.

func (*IMUV3Bricklet) GetBootloaderMode 

func (device *IMUV3Bricklet) GetBootloaderMode() (mode BootloaderMode, err error)

Returns the current bootloader mode, see SetBootloaderMode.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot

func (*IMUV3Bricklet) GetChipTemperature 

func (device *IMUV3Bricklet) GetChipTemperature() (temperature int16, err error)

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

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

func (*IMUV3Bricklet) GetGravityVector 

func (device *IMUV3Bricklet) GetGravityVector() (x int16, y int16, z int16, err error)

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 RegisterGravityVectorCallback callback and set the period with SetGravityVectorCallbackConfiguration.

func (*IMUV3Bricklet) GetGravityVectorCallbackConfiguration 

func (device *IMUV3Bricklet) GetGravityVectorCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetGravityVectorCallbackConfiguration.

func (*IMUV3Bricklet) GetIdentity 

func (device *IMUV3Bricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an `Isolator Bricklet <isolator_bricklet>` is always at position 'z'.

The device identifier numbers can be found `here <device_identifier>`. |device_identifier_constant|

func (*IMUV3Bricklet) GetLinearAcceleration 

func (device *IMUV3Bricklet) GetLinearAcceleration() (x int16, y int16, z int16, err error)

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 RegisterLinearAccelerationCallback callback and set the period with SetLinearAccelerationCallbackConfiguration.

func (*IMUV3Bricklet) GetLinearAccelerationCallbackConfiguration 

func (device *IMUV3Bricklet) GetLinearAccelerationCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetLinearAccelerationCallbackConfiguration.

func (*IMUV3Bricklet) GetMagneticField 

func (device *IMUV3Bricklet) GetMagneticField() (x int16, y int16, z int16, err error)

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 RegisterMagneticFieldCallback callback and set the period with SetMagneticFieldCallbackConfiguration.

func (*IMUV3Bricklet) GetMagneticFieldCallbackConfiguration 

func (device *IMUV3Bricklet) GetMagneticFieldCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetMagneticFieldCallbackConfiguration.

func (*IMUV3Bricklet) GetOrientation 

func (device *IMUV3Bricklet) GetOrientation() (heading int16, roll int16, pitch int16, err error)

Returns the current orientation (heading, roll, pitch) of the IMU Brick as independent Euler angles. Note that Euler angles always experience a https://en.wikipedia.org/wiki/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 RegisterOrientationCallback callback and set the period with SetOrientationCallbackConfiguration.

func (*IMUV3Bricklet) GetOrientationCallbackConfiguration 

func (device *IMUV3Bricklet) GetOrientationCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetOrientationCallbackConfiguration.

func (*IMUV3Bricklet) GetQuaternion 

func (device *IMUV3Bricklet) GetQuaternion() (w int16, x int16, y int16, z int16, err error)

Returns the current orientation (w, x, y, z) of the IMU Brick as https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation.

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 RegisterQuaternionCallback callback and set the period with SetQuaternionCallbackConfiguration.

func (*IMUV3Bricklet) GetQuaternionCallbackConfiguration 

func (device *IMUV3Bricklet) GetQuaternionCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetQuaternionCallbackConfiguration.

func (*IMUV3Bricklet) GetResponseExpected 

func (device *IMUV3Bricklet) GetResponseExpected(functionID Function) (bool, error)

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.

See SetResponseExpected for the list of function ID constants available for this function.

func (*IMUV3Bricklet) GetSPITFPErrorCount 

func (device *IMUV3Bricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

* ACK checksum errors, * message checksum errors, * framing errors and * overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

func (*IMUV3Bricklet) GetSensorConfiguration 

func (device *IMUV3Bricklet) GetSensorConfiguration() (magnetometerRate MagnetometerRate, gyroscopeRange GyroscopeRange, gyroscopeBandwidth GyroscopeBandwidth, accelerometerRange AccelerometerRange, accelerometerBandwidth AccelerometerBandwidth, err error)

Returns the sensor configuration as set by SetSensorConfiguration.

Associated constants:

  • MagnetometerRate2Hz
  • MagnetometerRate6Hz
  • MagnetometerRate8Hz
  • MagnetometerRate10Hz
  • MagnetometerRate15Hz
  • MagnetometerRate20Hz
  • MagnetometerRate25Hz
  • MagnetometerRate30Hz
  • GyroscopeRange2000DPS
  • GyroscopeRange1000DPS
  • GyroscopeRange500DPS
  • GyroscopeRange250DPS
  • GyroscopeRange125DPS
  • GyroscopeBandwidth523Hz
  • GyroscopeBandwidth230Hz
  • GyroscopeBandwidth116Hz
  • GyroscopeBandwidth47Hz
  • GyroscopeBandwidth23Hz
  • GyroscopeBandwidth12Hz
  • GyroscopeBandwidth64Hz
  • GyroscopeBandwidth32Hz
  • AccelerometerRange2G
  • AccelerometerRange4G
  • AccelerometerRange8G
  • AccelerometerRange16G
  • AccelerometerBandwidth781Hz
  • AccelerometerBandwidth1563Hz
  • AccelerometerBandwidth3125Hz
  • AccelerometerBandwidth625Hz
  • AccelerometerBandwidth125Hz
  • AccelerometerBandwidth250Hz
  • AccelerometerBandwidth500Hz
  • AccelerometerBandwidth1000Hz

func (*IMUV3Bricklet) GetSensorFusionMode 

func (device *IMUV3Bricklet) GetSensorFusionMode() (mode SensorFusion, err error)

Returns the sensor fusion mode as set by SetSensorFusionMode.

Associated constants:

  • SensorFusionOff
  • SensorFusionOn
  • SensorFusionOnWithoutMagnetometer
  • SensorFusionOnWithoutFastMagnetometerCalibration

func (*IMUV3Bricklet) GetStatusLEDConfig 

func (device *IMUV3Bricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error)

Returns the configuration as set by SetStatusLEDConfig

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*IMUV3Bricklet) GetTemperature 

func (device *IMUV3Bricklet) GetTemperature() (temperature int8, err error)

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

func (*IMUV3Bricklet) GetTemperatureCallbackConfiguration 

func (device *IMUV3Bricklet) GetTemperatureCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetTemperatureCallbackConfiguration.

func (*IMUV3Bricklet) ReadUID 

func (device *IMUV3Bricklet) ReadUID() (uid uint32, err error)

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

func (*IMUV3Bricklet) RegisterAccelerationCallback 

func (device *IMUV3Bricklet) RegisterAccelerationCallback(fn func(int16, int16, int16)) uint64

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

func (*IMUV3Bricklet) RegisterAllDataCallback 

func (device *IMUV3Bricklet) RegisterAllDataCallback(fn func([3]int16, [3]int16, [3]int16, [3]int16, [4]int16, [3]int16, [3]int16, int8, uint8)) uint64

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

func (*IMUV3Bricklet) RegisterAngularVelocityCallback 

func (device *IMUV3Bricklet) RegisterAngularVelocityCallback(fn func(int16, int16, int16)) uint64

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

func (*IMUV3Bricklet) RegisterGravityVectorCallback 

func (device *IMUV3Bricklet) RegisterGravityVectorCallback(fn func(int16, int16, int16)) uint64

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

func (*IMUV3Bricklet) RegisterLinearAccelerationCallback 

func (device *IMUV3Bricklet) RegisterLinearAccelerationCallback(fn func(int16, int16, int16)) uint64

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

func (*IMUV3Bricklet) RegisterMagneticFieldCallback 

func (device *IMUV3Bricklet) RegisterMagneticFieldCallback(fn func(int16, int16, int16)) uint64

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

func (*IMUV3Bricklet) RegisterOrientationCallback 

func (device *IMUV3Bricklet) RegisterOrientationCallback(fn func(int16, int16, int16)) uint64

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

func (*IMUV3Bricklet) RegisterQuaternionCallback 

func (device *IMUV3Bricklet) RegisterQuaternionCallback(fn func(int16, int16, int16, int16)) uint64

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

func (*IMUV3Bricklet) RegisterTemperatureCallback 

func (device *IMUV3Bricklet) RegisterTemperatureCallback(fn func(int8)) uint64

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

func (*IMUV3Bricklet) Reset 

func (device *IMUV3Bricklet) Reset() (err error)

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

func (*IMUV3Bricklet) SaveCalibration 

func (device *IMUV3Bricklet) SaveCalibration() (calibrationDone bool, err error)

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.

func (*IMUV3Bricklet) SetAccelerationCallbackConfiguration 

func (device *IMUV3Bricklet) SetAccelerationCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterAccelerationCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

func (*IMUV3Bricklet) SetAllDataCallbackConfiguration 

func (device *IMUV3Bricklet) SetAllDataCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterAllDataCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

func (*IMUV3Bricklet) SetAngularVelocityCallbackConfiguration 

func (device *IMUV3Bricklet) SetAngularVelocityCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterAngularVelocityCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

func (*IMUV3Bricklet) SetBootloaderMode 

func (device *IMUV3Bricklet) SetBootloaderMode(mode BootloaderMode) (status BootloaderStatus, err error)

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot
  • BootloaderStatusOK
  • BootloaderStatusInvalidMode
  • BootloaderStatusNoChange
  • BootloaderStatusEntryFunctionNotPresent
  • BootloaderStatusDeviceIdentifierIncorrect
  • BootloaderStatusCRCMismatch

func (*IMUV3Bricklet) SetGravityVectorCallbackConfiguration 

func (device *IMUV3Bricklet) SetGravityVectorCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterGravityVectorCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

func (*IMUV3Bricklet) SetLinearAccelerationCallbackConfiguration 

func (device *IMUV3Bricklet) SetLinearAccelerationCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterLinearAccelerationCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

func (*IMUV3Bricklet) SetMagneticFieldCallbackConfiguration 

func (device *IMUV3Bricklet) SetMagneticFieldCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterMagneticFieldCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

func (*IMUV3Bricklet) SetOrientationCallbackConfiguration 

func (device *IMUV3Bricklet) SetOrientationCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterOrientationCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

func (*IMUV3Bricklet) SetQuaternionCallbackConfiguration 

func (device *IMUV3Bricklet) SetQuaternionCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterQuaternionCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

func (*IMUV3Bricklet) SetResponseExpected 

func (device *IMUV3Bricklet) SetResponseExpected(functionID Function, responseExpected bool) error

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

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

func (*IMUV3Bricklet) SetResponseExpectedAll 

func (device *IMUV3Bricklet) SetResponseExpectedAll(responseExpected bool)

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

func (*IMUV3Bricklet) SetSensorConfiguration 

func (device *IMUV3Bricklet) SetSensorConfiguration(magnetometerRate MagnetometerRate, gyroscopeRange GyroscopeRange, gyroscopeBandwidth GyroscopeBandwidth, accelerometerRange AccelerometerRange, accelerometerBandwidth AccelerometerBandwidth) (err error)

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.

Associated constants:

  • MagnetometerRate2Hz
  • MagnetometerRate6Hz
  • MagnetometerRate8Hz
  • MagnetometerRate10Hz
  • MagnetometerRate15Hz
  • MagnetometerRate20Hz
  • MagnetometerRate25Hz
  • MagnetometerRate30Hz
  • GyroscopeRange2000DPS
  • GyroscopeRange1000DPS
  • GyroscopeRange500DPS
  • GyroscopeRange250DPS
  • GyroscopeRange125DPS
  • GyroscopeBandwidth523Hz
  • GyroscopeBandwidth230Hz
  • GyroscopeBandwidth116Hz
  • GyroscopeBandwidth47Hz
  • GyroscopeBandwidth23Hz
  • GyroscopeBandwidth12Hz
  • GyroscopeBandwidth64Hz
  • GyroscopeBandwidth32Hz
  • AccelerometerRange2G
  • AccelerometerRange4G
  • AccelerometerRange8G
  • AccelerometerRange16G
  • AccelerometerBandwidth781Hz
  • AccelerometerBandwidth1563Hz
  • AccelerometerBandwidth3125Hz
  • AccelerometerBandwidth625Hz
  • AccelerometerBandwidth125Hz
  • AccelerometerBandwidth250Hz
  • AccelerometerBandwidth500Hz
  • AccelerometerBandwidth1000Hz

func (*IMUV3Bricklet) SetSensorFusionMode 

func (device *IMUV3Bricklet) SetSensorFusionMode(mode SensorFusion) (err error)

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.

Associated constants:

  • SensorFusionOff
  • SensorFusionOn
  • SensorFusionOnWithoutMagnetometer
  • SensorFusionOnWithoutFastMagnetometerCalibration

func (*IMUV3Bricklet) SetStatusLEDConfig 

func (device *IMUV3Bricklet) SetStatusLEDConfig(config StatusLEDConfig) (err error)

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*IMUV3Bricklet) SetTemperatureCallbackConfiguration 

func (device *IMUV3Bricklet) SetTemperatureCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterTemperatureCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

func (*IMUV3Bricklet) SetWriteFirmwarePointer 

func (device *IMUV3Bricklet) SetWriteFirmwarePointer(pointer uint32) (err error)

Sets the firmware pointer for WriteFirmware. The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

func (*IMUV3Bricklet) WriteFirmware 

func (device *IMUV3Bricklet) WriteFirmware(data [64]uint8) (status uint8, err error)

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

func (*IMUV3Bricklet) WriteUID 

func (device *IMUV3Bricklet) WriteUID(uid uint32) (err error)

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

type MagnetometerRate 

type MagnetometerRate = uint8
const (
	MagnetometerRate2Hz  MagnetometerRate = 0
	MagnetometerRate6Hz  MagnetometerRate = 1
	MagnetometerRate8Hz  MagnetometerRate = 2
	MagnetometerRate10Hz MagnetometerRate = 3
	MagnetometerRate15Hz MagnetometerRate = 4
	MagnetometerRate20Hz MagnetometerRate = 5
	MagnetometerRate25Hz MagnetometerRate = 6
	MagnetometerRate30Hz MagnetometerRate = 7
)

type SensorFusion 

type SensorFusion = uint8
const (
	SensorFusionOff                                  SensorFusion = 0
	SensorFusionOn                                   SensorFusion = 1
	SensorFusionOnWithoutMagnetometer                SensorFusion = 2
	SensorFusionOnWithoutFastMagnetometerCalibration SensorFusion = 3
)

type StatusLEDConfig 

type StatusLEDConfig = uint8
const (
	StatusLEDConfigOff           StatusLEDConfig = 0
	StatusLEDConfigOn            StatusLEDConfig = 1
	StatusLEDConfigShowHeartbeat StatusLEDConfig = 2
	StatusLEDConfigShowStatus    StatusLEDConfig = 3
)

Source Files

View all Source files

Jump to

Keyboard shortcuts

? : This menu
/ : Search site
f or F : Jump to
y or Y : Canonical URL
go.dev uses cookies from Google to deliver and enhance the quality of its services and to analyze traffic. Learn more.