Struct ImuV2Brick

pub struct ImuV2Brick { /* private fields */ }

Full fledged AHRS with 9 degrees of freedom

Implementations

impl ImuV2Brick

pub const DEVICE_IDENTIFIER: u16 = 18u16

pub const DEVICE_DISPLAY_NAME: &'static str = "IMU Brick 2.0"

pub fn new(uid: Uid, connection: AsyncIpConnection) -> ImuV2Brick

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: ImuV2BrickFunction, ) -> 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: ImuV2BrickFunction, 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_temperature_callback_receiver( &mut self, ) -> impl Stream<Item = i8>

This receiver is triggered periodically with the period that is set by [set_temperature_period]. The parameter is the temperature.

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

This receiver is triggered periodically with the period that is set by [set_linear_acceleration_period]. The parameters are the linear acceleration for the x, y and z axis.

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

This receiver is triggered periodically with the period that is set by [set_gravity_vector_period]. The parameters gravity vector for the x, y and z axis.

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 (heading (yaw), roll, pitch) 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 (w, x, y, z) of the IMU Brick in quaternions. See [get_quaternion] for details.

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 as for [get_all_data].

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

Returns the calibrated acceleration from the accelerometer for the x, y and z axis. The acceleration is in the range configured with [set_sensor_configuration].

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. The angular velocity is in the range configured with [set_sensor_configuration].

If you want to get the angular velocity periodically, it is recommended to use the [get_angular_velocity_callback_receiver] areceiver nd set the period with [set_angular_velocity_period].

pub async fn get_temperature(&mut self) -> Result<i8, TinkerforgeError>

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

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

Returns the current orientation (heading, roll, pitch) of the IMU Brick as independent Euler angles. Note that Euler angles always experience a gimbal lock__. We recommend that you use quaternions instead, if you need the absolute orientation.

If you want to get the orientation periodically, it is recommended to use the [get_orientation_callback_receiver] receiver and set the period with [set_orientation_period].

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

Returns the linear acceleration of the IMU Brick for the x, y and z axis. The acceleration is in the range configured with [set_sensor_configuration].

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 [get_gravity_vector].

If you want to get the linear acceleration periodically, it is recommended to use the [get_linear_acceleration_callback_receiver] receiver and set the period with [set_linear_acceleration_period].

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

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 [get_linear_acceleration].

If you want to get the gravity vector periodically, it is recommended to use the [get_gravity_vector_callback_receiver] receiver and set the period with [set_gravity_vector_period].

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

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

You have to divide the return values by 16383 (14 bit) to get the usual range of -1.0 to +1.0 for quaternions.

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

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

Return all of the available data of the IMU Brick.

• acceleration (see [get_acceleration])
• magnetic field (see [get_magnetic_field])
• angular velocity (see [get_angular_velocity])
• Euler angles (see [get_orientation])
• quaternion (see [get_quaternion])
• linear acceleration (see [get_linear_acceleration])
• gravity vector (see [get_gravity_vector])
• temperature (see [get_temperature])
• 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 [get_all_data_callback_receiver] receiver and set the period with [set_all_data_period].

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 save_calibration(&mut self) -> Result<bool, TinkerforgeError>

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.

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_temperature_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

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

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

Returns the period as set by [set_temperature_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_linear_acceleration_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

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

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

Returns the period as set by [set_linear_acceleration_period].

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

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

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

Returns the period as set by [set_gravity_vector_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 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_sensor_configuration( &mut self, magnetometer_rate: u8, gyroscope_range: u8, gyroscope_bandwidth: u8, accelerometer_range: u8, accelerometer_bandwidth: u8, ) -> Result<(), TinkerforgeError>

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.

.. versionadded:: 2.0.5$nbsp;(Firmware)

Associated constants:

• IMU_V2_BRICK_MAGNETOMETER_RATE_2HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_6HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_8HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_10HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_15HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_20HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_25HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_30HZ
• IMU_V2_BRICK_GYROSCOPE_RANGE_2000DPS
• IMU_V2_BRICK_GYROSCOPE_RANGE_1000DPS
• IMU_V2_BRICK_GYROSCOPE_RANGE_500DPS
• IMU_V2_BRICK_GYROSCOPE_RANGE_250DPS
• IMU_V2_BRICK_GYROSCOPE_RANGE_125DPS
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_523HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_230HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_116HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_47HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_23HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_12HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_64HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_32HZ
• IMU_V2_BRICK_ACCELEROMETER_RANGE_2G
• IMU_V2_BRICK_ACCELEROMETER_RANGE_4G
• IMU_V2_BRICK_ACCELEROMETER_RANGE_8G
• IMU_V2_BRICK_ACCELEROMETER_RANGE_16G
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_7_81HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_15_63HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_31_25HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_62_5HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_125HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_250HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_500HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_1000HZ

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

Returns the sensor configuration as set by [set_sensor_configuration].

.. versionadded:: 2.0.5$nbsp;(Firmware)

Associated constants:

• IMU_V2_BRICK_MAGNETOMETER_RATE_2HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_6HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_8HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_10HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_15HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_20HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_25HZ
• IMU_V2_BRICK_MAGNETOMETER_RATE_30HZ
• IMU_V2_BRICK_GYROSCOPE_RANGE_2000DPS
• IMU_V2_BRICK_GYROSCOPE_RANGE_1000DPS
• IMU_V2_BRICK_GYROSCOPE_RANGE_500DPS
• IMU_V2_BRICK_GYROSCOPE_RANGE_250DPS
• IMU_V2_BRICK_GYROSCOPE_RANGE_125DPS
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_523HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_230HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_116HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_47HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_23HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_12HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_64HZ
• IMU_V2_BRICK_GYROSCOPE_BANDWIDTH_32HZ
• IMU_V2_BRICK_ACCELEROMETER_RANGE_2G
• IMU_V2_BRICK_ACCELEROMETER_RANGE_4G
• IMU_V2_BRICK_ACCELEROMETER_RANGE_8G
• IMU_V2_BRICK_ACCELEROMETER_RANGE_16G
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_7_81HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_15_63HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_31_25HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_62_5HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_125HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_250HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_500HZ
• IMU_V2_BRICK_ACCELEROMETER_BANDWIDTH_1000HZ

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

If the fusion mode is turned off, the functions [get_acceleration], [get_magnetic_field] and [get_angular_velocity] 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.

.. versionadded:: 2.0.5$nbsp;(Firmware)

Associated constants:

• IMU_V2_BRICK_SENSOR_FUSION_OFF
• IMU_V2_BRICK_SENSOR_FUSION_ON
• IMU_V2_BRICK_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER
• IMU_V2_BRICK_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION

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

Returns the sensor fusion mode as set by [set_sensor_fusion_mode].

.. versionadded:: 2.0.5$nbsp;(Firmware)

Associated constants:

• IMU_V2_BRICK_SENSOR_FUSION_OFF
• IMU_V2_BRICK_SENSOR_FUSION_ON
• IMU_V2_BRICK_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER
• IMU_V2_BRICK_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION

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:: 2.0.10$nbsp;(Firmware)

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

Returns the baudrate config, see [set_spitfp_baudrate_config].

.. versionadded:: 2.0.10$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:: 2.0.7$nbsp;(Firmware)

Associated constants:

• IMU_V2_BRICK_COMMUNICATION_METHOD_NONE
• IMU_V2_BRICK_COMMUNICATION_METHOD_USB
• IMU_V2_BRICK_COMMUNICATION_METHOD_SPI_STACK
• IMU_V2_BRICK_COMMUNICATION_METHOD_CHIBI
• IMU_V2_BRICK_COMMUNICATION_METHOD_RS485
• IMU_V2_BRICK_COMMUNICATION_METHOD_WIFI
• IMU_V2_BRICK_COMMUNICATION_METHOD_ETHERNET
• IMU_V2_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:: 2.0.5$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:: 2.0.5$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:: 2.0.5$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.

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.

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

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

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 ImuV2Brick

fn clone(&self) -> ImuV2Brick

Returns a copy of the value.

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

Performs copy-assignment from source.