Struct ImuBrick

pub struct ImuBrick { /* private fields */ }

Full fledged AHRS with 9 degrees of freedom

Implementations

impl ImuBrick

pub const DEVICE_IDENTIFIER: u16 = 16u16

pub const DEVICE_DISPLAY_NAME: &'static str = "IMU Brick"

pub fn new(uid: Uid, connection: AsyncIpConnection) -> ImuBrick

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

pub fn get_response_expected( &mut self, fun: ImuBrickFunction, ) -> Result<bool, GetResponseExpectedError>

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 set_response_expected. For setter functions it is disabled by default and can be enabled.

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

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

pub fn set_response_expected( &mut self, fun: ImuBrickFunction, response_expected: bool, ) -> Result<(), SetResponseExpectedError>

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.

pub fn set_response_expected_all(&mut self, response_expected: bool)

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

pub fn get_api_version(&self) -> [u8; 3]

Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

pub async fn get_acceleration_callback_receiver( &mut self, ) -> impl Stream<Item = AccelerationEvent>

This receiver 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.

pub async fn get_magnetic_field_callback_receiver( &mut self, ) -> impl Stream<Item = MagneticFieldEvent>

This receiver 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.

pub async fn get_angular_velocity_callback_receiver( &mut self, ) -> impl Stream<Item = AngularVelocityEvent>

This receiver 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.

pub async fn get_all_data_callback_receiver( &mut self, ) -> impl Stream<Item = AllDataEvent>

This receiver 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.

pub async fn get_orientation_callback_receiver( &mut self, ) -> impl Stream<Item = OrientationEvent>

This receiver 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.

pub async fn get_quaternion_callback_receiver( &mut self, ) -> impl Stream<Item = QuaternionEvent>

This receiver 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.

pub async fn get_acceleration( &mut self, ) -> Result<Acceleration, TinkerforgeError>

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 [get_acceleration_callback_receiver] receiver and set the period with [set_acceleration_period].

pub async fn get_magnetic_field( &mut self, ) -> Result<MagneticField, TinkerforgeError>

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 [get_magnetic_field_callback_receiver] receiver and set the period with [set_magnetic_field_period].

pub async fn get_angular_velocity( &mut self, ) -> Result<AngularVelocity, TinkerforgeError>

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 [get_angular_velocity_callback_receiver] receiver and set the period with [set_angular_velocity_period].

pub async fn get_all_data(&mut self) -> Result<AllData, TinkerforgeError>

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 [get_all_data_callback_receiver] receiver and set the period with [set_all_data_period].

pub async fn get_orientation(&mut self) -> Result<Orientation, TinkerforgeError>

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 [get_orientation_callback_receiver] receiver and set the period with [set_orientation_period].

pub async fn get_quaternion(&mut self) -> Result<Quaternion, TinkerforgeError>

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(2yw - 2xz, 1 - 2yy - 2zz) yAngle = atan2(2xw - 2yz, 1 - 2xx - 2zz) zAngle = asin(2xy + 2zw)

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(2xy + 2wz, ww + xx - yy - zz) pitch = -asin(2wy - 2xz) roll = -atan2(2yz + 2wx, -ww + xx + yy - zz))

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

matrix = [[1 - 2*(yy + zz), 2*(xy - wz), 2*(xz + wy), 0], [ 2*(xy + wz), 1 - 2*(xx + zz), 2*(yz - wx), 0], [ 2*(xz - wy), 2*(yz + wx), 1 - 2*(xx + yy), 0], [ 0, 0, 0, 1]]

If you want to get the quaternions periodically, it is recommended to use the [get_quaternion_callback_receiver] receiver and set the period with [set_quaternion_period].

pub async fn get_imu_temperature(&mut self) -> Result<i16, TinkerforgeError>

Returns the temperature of the IMU Brick.

pub async fn leds_on(&mut self) -> Result<(), TinkerforgeError>

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

pub async fn leds_off(&mut self) -> Result<(), TinkerforgeError>

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

pub async fn are_leds_on(&mut self) -> Result<bool, TinkerforgeError>

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

pub async fn set_acceleration_range( &mut self, range: u8, ) -> Result<(), TinkerforgeError>

Not implemented yet.

pub async fn get_acceleration_range(&mut self) -> Result<u8, TinkerforgeError>

Not implemented yet.

pub async fn set_magnetometer_range( &mut self, range: u8, ) -> Result<(), TinkerforgeError>

Not implemented yet.

pub async fn get_magnetometer_range(&mut self) -> Result<u8, TinkerforgeError>

Not implemented yet.

pub async fn set_convergence_speed( &mut self, speed: u16, ) -> Result<(), TinkerforgeError>

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.

pub async fn get_convergence_speed(&mut self) -> Result<u16, TinkerforgeError>

Returns the convergence speed as set by [set_convergence_speed].

pub async fn set_calibration( &mut self, typ: u8, data: &[i16; 10], ) -> Result<(), TinkerforgeError>

There are several different types that can be calibrated:

Type	Description	Values
0	Accelerometer Gain	``[mul x
1	Accelerometer Bias	``[bias x
2	Magnetometer Gain	``[mul x
3	Magnetometer Bias	``[bias x
4	Gyroscope Gain	``[mul x
5	Gyroscope Bias	``[bias xl

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.

Associated constants:

• IMU_BRICK_CALIBRATION_TYPE_ACCELEROMETER_GAIN
• IMU_BRICK_CALIBRATION_TYPE_ACCELEROMETER_BIAS
• IMU_BRICK_CALIBRATION_TYPE_MAGNETOMETER_GAIN
• IMU_BRICK_CALIBRATION_TYPE_MAGNETOMETER_BIAS
• IMU_BRICK_CALIBRATION_TYPE_GYROSCOPE_GAIN
• IMU_BRICK_CALIBRATION_TYPE_GYROSCOPE_BIAS

pub async fn get_calibration( &mut self, typ: u8, ) -> Result<Box<[i16; 10]>, TinkerforgeError>

Returns the calibration for a given type as set by [set_calibration].

Associated constants:

• IMU_BRICK_CALIBRATION_TYPE_ACCELEROMETER_GAIN
• IMU_BRICK_CALIBRATION_TYPE_ACCELEROMETER_BIAS
• IMU_BRICK_CALIBRATION_TYPE_MAGNETOMETER_GAIN
• IMU_BRICK_CALIBRATION_TYPE_MAGNETOMETER_BIAS
• IMU_BRICK_CALIBRATION_TYPE_GYROSCOPE_GAIN
• IMU_BRICK_CALIBRATION_TYPE_GYROSCOPE_BIAS

pub async fn set_acceleration_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_acceleration_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

pub async fn get_acceleration_period(&mut self) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_acceleration_period].

pub async fn set_magnetic_field_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_magnetic_field_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

pub async fn get_magnetic_field_period( &mut self, ) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_magnetic_field_period].

pub async fn set_angular_velocity_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_angular_velocity_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

pub async fn get_angular_velocity_period( &mut self, ) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_angular_velocity_period].

pub async fn set_all_data_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_all_data_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

pub async fn get_all_data_period(&mut self) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_all_data_period].

pub async fn set_orientation_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_orientation_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

pub async fn get_orientation_period(&mut self) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_orientation_period].

pub async fn set_quaternion_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_quaternion_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

pub async fn get_quaternion_period(&mut self) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_quaternion_period].

pub async fn orientation_calculation_on( &mut self, ) -> Result<(), TinkerforgeError>

Turns the orientation calculation of the IMU Brick on.

As default the calculation is on.

.. versionadded:: 2.0.2$nbsp;(Firmware)

pub async fn orientation_calculation_off( &mut self, ) -> Result<(), TinkerforgeError>

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.

.. versionadded:: 2.0.2$nbsp;(Firmware)

pub async fn is_orientation_calculation_on( &mut self, ) -> Result<bool, TinkerforgeError>

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

.. versionadded:: 2.0.2$nbsp;(Firmware)

pub async fn set_spitfp_baudrate_config( &mut self, enable_dynamic_baudrate: bool, minimum_dynamic_baudrate: u32, ) -> Result<(), TinkerforgeError>

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.

.. versionadded:: 2.3.5$nbsp;(Firmware)

pub async fn get_spitfp_baudrate_config( &mut self, ) -> Result<SpitfpBaudrateConfig, TinkerforgeError>

Returns the baudrate config, see [set_spitfp_baudrate_config].

.. versionadded:: 2.3.5$nbsp;(Firmware)

pub async fn get_send_timeout_count( &mut self, communication_method: u8, ) -> Result<u32, TinkerforgeError>

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.

.. versionadded:: 2.3.3$nbsp;(Firmware)

Associated constants:

• IMU_BRICK_COMMUNICATION_METHOD_NONE
• IMU_BRICK_COMMUNICATION_METHOD_USB
• IMU_BRICK_COMMUNICATION_METHOD_SPI_STACK
• IMU_BRICK_COMMUNICATION_METHOD_CHIBI
• IMU_BRICK_COMMUNICATION_METHOD_RS485
• IMU_BRICK_COMMUNICATION_METHOD_WIFI
• IMU_BRICK_COMMUNICATION_METHOD_ETHERNET
• IMU_BRICK_COMMUNICATION_METHOD_WIFI_V2

pub async fn set_spitfp_baudrate( &mut self, bricklet_port: char, baudrate: u32, ) -> Result<(), TinkerforgeError>

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.

.. versionadded:: 2.3.3$nbsp;(Firmware)

pub async fn get_spitfp_baudrate( &mut self, bricklet_port: char, ) -> Result<u32, TinkerforgeError>

Returns the baudrate for a given Bricklet port, see [set_spitfp_baudrate].

.. versionadded:: 2.3.3$nbsp;(Firmware)

pub async fn get_spitfp_error_count( &mut self, bricklet_port: char, ) -> Result<SpitfpErrorCount, TinkerforgeError>

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.

.. versionadded:: 2.3.3$nbsp;(Firmware)

pub async fn enable_status_led(&mut self) -> Result<(), TinkerforgeError>

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.

.. versionadded:: 2.3.1$nbsp;(Firmware)

pub async fn disable_status_led(&mut self) -> Result<(), TinkerforgeError>

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.

.. versionadded:: 2.3.1$nbsp;(Firmware)

pub async fn is_status_led_enabled(&mut self) -> Result<bool, TinkerforgeError>

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

.. versionadded:: 2.3.1$nbsp;(Firmware)

pub async fn get_protocol1_bricklet_name( &mut self, port: char, ) -> Result<Protocol1BrickletName, TinkerforgeError>

Returns the firmware and protocol version and the name of the Bricklet for a given port.

This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.

pub async fn get_chip_temperature(&mut self) -> Result<i16, TinkerforgeError>

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.

pub async fn reset(&mut self) -> Result<(), TinkerforgeError>

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

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

pub async fn write_bricklet_plugin( &mut self, port: char, offset: u8, chunk: &[u8; 32], ) -> Result<(), TinkerforgeError>

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.

pub async fn read_bricklet_plugin( &mut self, port: char, offset: u8, ) -> Result<Box<[u8; 32]>, TinkerforgeError>

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.

pub async fn get_identity(&mut self) -> Result<Identity, TinkerforgeError>

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. |device_identifier_constant|

Trait Implementations

impl Clone for ImuBrick

fn clone(&self) -> ImuBrick

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.