| #define IMU_CALIBRATION_TYPE_ACCELEROMETER_BIAS 1 |
Definition at line 294 of file brick_imu.h.
| #define IMU_CALIBRATION_TYPE_ACCELEROMETER_GAIN 0 |
Definition at line 289 of file brick_imu.h.
| #define IMU_CALIBRATION_TYPE_GYROSCOPE_BIAS 5 |
Definition at line 314 of file brick_imu.h.
| #define IMU_CALIBRATION_TYPE_GYROSCOPE_GAIN 4 |
Definition at line 309 of file brick_imu.h.
| #define IMU_CALIBRATION_TYPE_MAGNETOMETER_BIAS 3 |
Definition at line 304 of file brick_imu.h.
| #define IMU_CALIBRATION_TYPE_MAGNETOMETER_GAIN 2 |
Definition at line 299 of file brick_imu.h.
| #define IMU_CALLBACK_ACCELERATION 31 |
Signature:
void callback(int16_t x, int16_t y, int16_t z, void *user_data)
This callback is triggered periodically with the period that is set by imu_set_acceleration_period. The parameters are the acceleration for the x, y and z axis.
Definition at line 225 of file brick_imu.h.
| #define IMU_CALLBACK_ALL_DATA 34 |
Signature:
void callback(int16_t acc_x, int16_t acc_y, int16_t acc_z, int16_t mag_x, int16_t mag_y, int16_t mag_z, int16_t ang_x, int16_t ang_y, int16_t ang_z, int16_t temperature, void *user_data)
This callback is triggered periodically with the period that is set by imu_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.
Definition at line 259 of file brick_imu.h.
| #define IMU_CALLBACK_ANGULAR_VELOCITY 33 |
Signature:
void callback(int16_t x, int16_t y, int16_t z, void *user_data)
This callback is triggered periodically with the period that is set by imu_set_angular_velocity_period. The parameters are the angular velocity for the x, y and z axis.
Definition at line 247 of file brick_imu.h.
| #define IMU_CALLBACK_MAGNETIC_FIELD 32 |
Signature:
void callback(int16_t x, int16_t y, int16_t z, void *user_data)
This callback is triggered periodically with the period that is set by imu_set_magnetic_field_period. The parameters are the magnetic field for the x, y and z axis.
Definition at line 236 of file brick_imu.h.
| #define IMU_CALLBACK_ORIENTATION 35 |
Signature:
void callback(int16_t roll, int16_t pitch, int16_t yaw, void *user_data)
This callback is triggered periodically with the period that is set by imu_set_orientation_period. The parameters are the orientation (roll, pitch and yaw) of the IMU Brick in Euler angles. See imu_get_orientation for details.
Definition at line 271 of file brick_imu.h.
| #define IMU_CALLBACK_QUATERNION 36 |
Signature:
void callback(float x, float y, float z, float w, void *user_data)
This callback is triggered periodically with the period that is set by imu_set_quaternion_period. The parameters are the orientation (x, y, z, w) of the IMU Brick in quaternions. See imu_get_quaternion for details.
Definition at line 283 of file brick_imu.h.
| #define IMU_DEVICE_IDENTIFIER 16 |
This constant is used to identify a IMU Brick.
The imu_get_identity function and the IPCON_CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.
Definition at line 325 of file brick_imu.h.
| #define IMU_FUNCTION_ARE_LEDS_ON 10 |
Definition at line 79 of file brick_imu.h.
| #define IMU_FUNCTION_GET_ACCELERATION 1 |
Definition at line 34 of file brick_imu.h.
| #define IMU_FUNCTION_GET_ACCELERATION_PERIOD 20 |
Definition at line 129 of file brick_imu.h.
| #define IMU_FUNCTION_GET_ACCELERATION_RANGE 12 |
Definition at line 89 of file brick_imu.h.
| #define IMU_FUNCTION_GET_ALL_DATA 4 |
Definition at line 49 of file brick_imu.h.
| #define IMU_FUNCTION_GET_ALL_DATA_PERIOD 26 |
Definition at line 159 of file brick_imu.h.
| #define IMU_FUNCTION_GET_ANGULAR_VELOCITY 3 |
Definition at line 44 of file brick_imu.h.
| #define IMU_FUNCTION_GET_ANGULAR_VELOCITY_PERIOD 24 |
Definition at line 149 of file brick_imu.h.
| #define IMU_FUNCTION_GET_CALIBRATION 18 |
Definition at line 119 of file brick_imu.h.
| #define IMU_FUNCTION_GET_CHIP_TEMPERATURE 242 |
Definition at line 204 of file brick_imu.h.
| #define IMU_FUNCTION_GET_CONVERGENCE_SPEED 16 |
Definition at line 109 of file brick_imu.h.
| #define IMU_FUNCTION_GET_IDENTITY 255 |
Definition at line 214 of file brick_imu.h.
| #define IMU_FUNCTION_GET_IMU_TEMPERATURE 7 |
Definition at line 64 of file brick_imu.h.
| #define IMU_FUNCTION_GET_MAGNETIC_FIELD 2 |
Definition at line 39 of file brick_imu.h.
| #define IMU_FUNCTION_GET_MAGNETIC_FIELD_PERIOD 22 |
Definition at line 139 of file brick_imu.h.
| #define IMU_FUNCTION_GET_MAGNETOMETER_RANGE 14 |
Definition at line 99 of file brick_imu.h.
| #define IMU_FUNCTION_GET_ORIENTATION 5 |
Definition at line 54 of file brick_imu.h.
| #define IMU_FUNCTION_GET_ORIENTATION_PERIOD 28 |
Definition at line 169 of file brick_imu.h.
| #define IMU_FUNCTION_GET_PROTOCOL1_BRICKLET_NAME 241 |
Definition at line 199 of file brick_imu.h.
| #define IMU_FUNCTION_GET_QUATERNION 6 |
Definition at line 59 of file brick_imu.h.
| #define IMU_FUNCTION_GET_QUATERNION_PERIOD 30 |
Definition at line 179 of file brick_imu.h.
| #define IMU_FUNCTION_IS_ORIENTATION_CALCULATION_ON 39 |
Definition at line 194 of file brick_imu.h.
| #define IMU_FUNCTION_LEDS_OFF 9 |
Definition at line 74 of file brick_imu.h.
| #define IMU_FUNCTION_LEDS_ON 8 |
Definition at line 69 of file brick_imu.h.
| #define IMU_FUNCTION_ORIENTATION_CALCULATION_OFF 38 |
Definition at line 189 of file brick_imu.h.
| #define IMU_FUNCTION_ORIENTATION_CALCULATION_ON 37 |
Definition at line 184 of file brick_imu.h.
| #define IMU_FUNCTION_RESET 243 |
Definition at line 209 of file brick_imu.h.
| #define IMU_FUNCTION_SET_ACCELERATION_PERIOD 19 |
Definition at line 124 of file brick_imu.h.
| #define IMU_FUNCTION_SET_ACCELERATION_RANGE 11 |
Definition at line 84 of file brick_imu.h.
| #define IMU_FUNCTION_SET_ALL_DATA_PERIOD 25 |
Definition at line 154 of file brick_imu.h.
| #define IMU_FUNCTION_SET_ANGULAR_VELOCITY_PERIOD 23 |
Definition at line 144 of file brick_imu.h.
| #define IMU_FUNCTION_SET_CALIBRATION 17 |
Definition at line 114 of file brick_imu.h.
| #define IMU_FUNCTION_SET_CONVERGENCE_SPEED 15 |
Definition at line 104 of file brick_imu.h.
| #define IMU_FUNCTION_SET_MAGNETIC_FIELD_PERIOD 21 |
Definition at line 134 of file brick_imu.h.
| #define IMU_FUNCTION_SET_MAGNETOMETER_RANGE 13 |
Definition at line 94 of file brick_imu.h.
| #define IMU_FUNCTION_SET_ORIENTATION_PERIOD 27 |
Definition at line 164 of file brick_imu.h.
| #define IMU_FUNCTION_SET_QUATERNION_PERIOD 29 |
Definition at line 174 of file brick_imu.h.
Device for sensing acceleration, magnetic field and angular velocity
Definition at line 29 of file brick_imu.h.
| int imu_are_leds_on | ( | IMU * | imu, |
| bool * | ret_leds | ||
| ) |
Returns *true* if the orientation and direction LEDs of the IMU Brick are on, *false* otherwise.
Definition at line 829 of file brick_imu.cpp.
| void imu_create | ( | IMU * | imu, |
| const char * | uid, | ||
| IPConnection * | ipcon | ||
| ) |
Creates the device object imu with the unique device ID uid and adds it to the IPConnection ipcon.
Definition at line 515 of file brick_imu.cpp.
| void imu_destroy | ( | IMU * | imu | ) |
Removes the device object imu from its IPConnection and destroys it. The device object cannot be used anymore afterwards.
Definition at line 574 of file brick_imu.cpp.
| int imu_get_acceleration | ( | IMU * | imu, |
| int16_t * | ret_x, | ||
| int16_t * | ret_y, | ||
| int16_t * | ret_z | ||
| ) |
Returns the calibrated acceleration from the accelerometer for the x, y and z axis in mG (G/1000, 1G = 9.80605m/s²).
If you want to get the acceleration periodically, it is recommended to use the callback IMU_CALLBACK_ACCELERATION and set the period with imu_set_acceleration_period.
Definition at line 598 of file brick_imu.cpp.
| int imu_get_acceleration_period | ( | IMU * | imu, |
| uint32_t * | ret_period | ||
| ) |
Returns the period as set by imu_set_acceleration_period.
Definition at line 1053 of file brick_imu.cpp.
| int imu_get_acceleration_range | ( | IMU * | imu, |
| uint8_t * | ret_range | ||
| ) |
Not implemented yet.
Definition at line 873 of file brick_imu.cpp.
| int imu_get_all_data | ( | IMU * | imu, |
| int16_t * | ret_acc_x, | ||
| int16_t * | ret_acc_y, | ||
| int16_t * | ret_acc_z, | ||
| int16_t * | ret_mag_x, | ||
| int16_t * | ret_mag_y, | ||
| int16_t * | ret_mag_z, | ||
| int16_t * | ret_ang_x, | ||
| int16_t * | ret_ang_y, | ||
| int16_t * | ret_ang_z, | ||
| int16_t * | ret_temperature | ||
| ) |
Returns the data from imu_get_acceleration, imu_get_magnetic_field and imu_get_angular_velocity as well as the temperature of the IMU Brick.
The temperature is given in °C/100.
If you want to get the data periodically, it is recommended to use the callback IMU_CALLBACK_ALL_DATA and set the period with imu_set_all_data_period.
Definition at line 679 of file brick_imu.cpp.
| int imu_get_all_data_period | ( | IMU * | imu, |
| uint32_t * | ret_period | ||
| ) |
Returns the period as set by imu_set_all_data_period.
Definition at line 1185 of file brick_imu.cpp.
| int imu_get_angular_velocity | ( | IMU * | imu, |
| int16_t * | ret_x, | ||
| int16_t * | ret_y, | ||
| int16_t * | ret_z | ||
| ) |
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 callback IMU_CALLBACK_ANGULAR_VELOCITY and set the period with imu_set_angular_velocity_period.
Definition at line 652 of file brick_imu.cpp.
| int imu_get_angular_velocity_period | ( | IMU * | imu, |
| uint32_t * | ret_period | ||
| ) |
Returns the period as set by imu_set_angular_velocity_period.
Definition at line 1141 of file brick_imu.cpp.
| int imu_get_api_version | ( | IMU * | imu, |
| uint8_t | ret_api_version[3] | ||
| ) |
Returns the API version (major, minor, release) of the bindings for this device.
Definition at line 594 of file brick_imu.cpp.
| int imu_get_calibration | ( | IMU * | imu, |
| uint8_t | typ, | ||
| int16_t | ret_data[10] | ||
| ) |
Returns the calibration for a given type as set by imu_set_calibration.
Definition at line 1007 of file brick_imu.cpp.
| int imu_get_chip_temperature | ( | IMU * | imu, |
| int16_t * | ret_temperature | ||
| ) |
Returns the temperature in °C/10 as measured inside the microcontroller. The value returned is not the ambient temperature!
The temperature is only proportional to the real temperature and it has an accuracy of +-15%. Practically it is only useful as an indicator for temperature changes.
Definition at line 1387 of file brick_imu.cpp.
| int imu_get_convergence_speed | ( | IMU * | imu, |
| uint16_t * | ret_speed | ||
| ) |
Returns the convergence speed as set by imu_set_convergence_speed.
Definition at line 961 of file brick_imu.cpp.
| int imu_get_identity | ( | IMU * | imu, |
| char | ret_uid[8], | ||
| char | ret_connected_uid[8], | ||
| char * | ret_position, | ||
| uint8_t | ret_hardware_version[3], | ||
| uint8_t | ret_firmware_version[3], | ||
| uint16_t * | ret_device_identifier | ||
| ) |
Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.
The position can be '0'-'8' (stack position).
The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|
Definition at line 1430 of file brick_imu.cpp.
| int imu_get_imu_temperature | ( | IMU * | imu, |
| int16_t * | ret_temperature | ||
| ) |
Returns the temperature of the IMU Brick. The temperature is given in °C/100.
Definition at line 768 of file brick_imu.cpp.
| int imu_get_magnetic_field | ( | IMU * | imu, |
| int16_t * | ret_x, | ||
| int16_t * | ret_y, | ||
| int16_t * | ret_z | ||
| ) |
Returns the calibrated magnetic field from the magnetometer for the x, y and z axis in mG (Milligauss or Nanotesla).
If you want to get the magnetic field periodically, it is recommended to use the callback IMU_CALLBACK_MAGNETIC_FIELD and set the period with imu_set_magnetic_field_period.
Definition at line 625 of file brick_imu.cpp.
| int imu_get_magnetic_field_period | ( | IMU * | imu, |
| uint32_t * | ret_period | ||
| ) |
Returns the period as set by imu_set_magnetic_field_period.
Definition at line 1097 of file brick_imu.cpp.
| int imu_get_magnetometer_range | ( | IMU * | imu, |
| uint8_t * | ret_range | ||
| ) |
Not implemented yet.
Definition at line 917 of file brick_imu.cpp.
| int imu_get_orientation | ( | IMU * | imu, |
| int16_t * | ret_roll, | ||
| int16_t * | ret_pitch, | ||
| int16_t * | ret_yaw | ||
| ) |
Returns the current orientation (roll, pitch, yaw) of the IMU Brick as Euler angles in one-hundredth degree. Note that Euler angles always experience a `gimbal lock <http://en.wikipedia.org/wiki/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 callback IMU_CALLBACK_ORIENTATION and set the period with imu_set_orientation_period.
Definition at line 713 of file brick_imu.cpp.
| int imu_get_orientation_period | ( | IMU * | imu, |
| uint32_t * | ret_period | ||
| ) |
Returns the period as set by imu_set_orientation_period.
Definition at line 1229 of file brick_imu.cpp.
| int imu_get_protocol1_bricklet_name | ( | IMU * | imu, |
| char | port, | ||
| uint8_t * | ret_protocol_version, | ||
| uint8_t | ret_firmware_version[3], | ||
| char | ret_name[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.
Definition at line 1359 of file brick_imu.cpp.
| int imu_get_quaternion | ( | IMU * | imu, |
| float * | ret_x, | ||
| float * | ret_y, | ||
| float * | ret_z, | ||
| float * | ret_w | ||
| ) |
Returns the current orientation (x, y, z, w) of the IMU as `quaternions <http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
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 <http://en.wikipedia.org/wiki/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 callback IMU_CALLBACK_QUATERNION and set the period with imu_set_quaternion_period.
Definition at line 740 of file brick_imu.cpp.
| int imu_get_quaternion_period | ( | IMU * | imu, |
| uint32_t * | ret_period | ||
| ) |
Returns the period as set by imu_set_quaternion_period.
Definition at line 1273 of file brick_imu.cpp.
| int imu_get_response_expected | ( | IMU * | imu, |
| uint8_t | function_id, | ||
| bool * | ret_response_expected | ||
| ) |
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 via the imu_set_response_expected function. For setter functions it is disabled by default and can be enabled.
Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.
Definition at line 578 of file brick_imu.cpp.
| int imu_is_orientation_calculation_on | ( | IMU * | imu, |
| bool * | ret_orientation_calculation_on | ||
| ) |
Returns *true* if the orientation calculation of the IMU Brick is on, *false* otherwise.
.. versionadded:: 2.0.2~(Firmware)
Definition at line 1334 of file brick_imu.cpp.
| int imu_leds_off | ( | IMU * | imu | ) |
Turns the orientation and direction LEDs of the IMU Brick off.
Definition at line 811 of file brick_imu.cpp.
| int imu_leds_on | ( | IMU * | imu | ) |
Turns the orientation and direction LEDs of the IMU Brick on.
Definition at line 793 of file brick_imu.cpp.
| int imu_orientation_calculation_off | ( | IMU * | imu | ) |
Turns the orientation calculation of the IMU Brick off.
If the calculation is off, imu_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.
.. versionadded:: 2.0.2~(Firmware)
Definition at line 1316 of file brick_imu.cpp.
| int imu_orientation_calculation_on | ( | IMU * | imu | ) |
Turns the orientation calculation of the IMU Brick on.
As default the calculation is on.
.. versionadded:: 2.0.2~(Firmware)
Definition at line 1298 of file brick_imu.cpp.
| void imu_register_callback | ( | IMU * | imu, |
| uint8_t | id, | ||
| void * | callback, | ||
| void * | user_data | ||
| ) |
Registers a callback with ID id to the function callback. The user_data will be given as a parameter of the callback.
Definition at line 590 of file brick_imu.cpp.
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!
Definition at line 1412 of file brick_imu.cpp.
| int imu_set_acceleration_period | ( | IMU * | imu, |
| uint32_t | period | ||
| ) |
Sets the period in ms with which the IMU_CALLBACK_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.
The default value is 0.
Definition at line 1034 of file brick_imu.cpp.
| int imu_set_acceleration_range | ( | IMU * | imu, |
| uint8_t | range | ||
| ) |
Not implemented yet.
Definition at line 854 of file brick_imu.cpp.
| int imu_set_all_data_period | ( | IMU * | imu, |
| uint32_t | period | ||
| ) |
Sets the period in ms with which the IMU_CALLBACK_ALL_DATA callback is triggered periodically. A value of 0 turns the callback off.
Definition at line 1166 of file brick_imu.cpp.
| int imu_set_angular_velocity_period | ( | IMU * | imu, |
| uint32_t | period | ||
| ) |
Sets the period in ms with which the IMU_CALLBACK_ANGULAR_VELOCITY callback is triggered periodically. A value of 0 turns the callback off.
Definition at line 1122 of file brick_imu.cpp.
| int imu_set_calibration | ( | IMU * | imu, |
| uint8_t | typ, | ||
| int16_t | data[10] | ||
| ) |
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.
Definition at line 986 of file brick_imu.cpp.
| int imu_set_convergence_speed | ( | IMU * | imu, |
| uint16_t | speed | ||
| ) |
Sets the convergence speed of the IMU Brick in °/s. 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.
The default value is 30.
Definition at line 942 of file brick_imu.cpp.
| int imu_set_magnetic_field_period | ( | IMU * | imu, |
| uint32_t | period | ||
| ) |
Sets the period in ms with which the IMU_CALLBACK_MAGNETIC_FIELD callback is triggered periodically. A value of 0 turns the callback off.
Definition at line 1078 of file brick_imu.cpp.
| int imu_set_magnetometer_range | ( | IMU * | imu, |
| uint8_t | range | ||
| ) |
Not implemented yet.
Definition at line 898 of file brick_imu.cpp.
| int imu_set_orientation_period | ( | IMU * | imu, |
| uint32_t | period | ||
| ) |
Sets the period in ms with which the IMU_CALLBACK_ORIENTATION callback is triggered periodically. A value of 0 turns the callback off.
Definition at line 1210 of file brick_imu.cpp.
| int imu_set_quaternion_period | ( | IMU * | imu, |
| uint32_t | period | ||
| ) |
Sets the period in ms with which the IMU_CALLBACK_QUATERNION callback is triggered periodically. A value of 0 turns the callback off.
Definition at line 1254 of file brick_imu.cpp.
| int imu_set_response_expected | ( | IMU * | imu, |
| uint8_t | function_id, | ||
| bool | response_expected | ||
| ) |
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 and callbacks it is always disabled.
Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.
Definition at line 582 of file brick_imu.cpp.
| int imu_set_response_expected_all | ( | IMU * | imu, |
| bool | response_expected | ||
| ) |
Changes the response expected flag for all setter and callback configuration functions of this device at once.
Definition at line 586 of file brick_imu.cpp.