Struct tinkerforge::imu_v3_bricklet::ImuV3Bricklet

pub struct ImuV3Bricklet { /* private fields */ }

Full fledged AHRS with 9 degrees of freedom

Implementations

impl ImuV3Bricklet

pub const DEVICE_IDENTIFIER: u16 = 2_161u16

pub const DEVICE_DISPLAY_NAME: &'static str = "IMU Bricklet 3.0"

pub fn new<T: GetRequestSender>(uid: &str, req_sender: T) -> ImuV3Bricklet

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: ImuV3BrickletFunction ) -> 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: ImuV3BrickletFunction, 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 fn get_acceleration_callback_receiver( &self ) -> ConvertingCallbackReceiver<AccelerationEvent>

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

pub fn get_magnetic_field_callback_receiver( &self ) -> ConvertingCallbackReceiver<MagneticFieldEvent>

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

pub fn get_angular_velocity_callback_receiver( &self ) -> ConvertingCallbackReceiver<AngularVelocityEvent>

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

pub fn get_temperature_callback_receiver( &self ) -> ConvertingCallbackReceiver<i8>

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

pub fn get_linear_acceleration_callback_receiver( &self ) -> ConvertingCallbackReceiver<LinearAccelerationEvent>

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

pub fn get_gravity_vector_callback_receiver( &self ) -> ConvertingCallbackReceiver<GravityVectorEvent>

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

pub fn get_orientation_callback_receiver( &self ) -> ConvertingCallbackReceiver<OrientationEvent>

This receiver is triggered periodically with the period that is set by [set_orientation_callback_configuration]. The parameters are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See [get_orientation] for details.

pub fn get_quaternion_callback_receiver( &self ) -> ConvertingCallbackReceiver<QuaternionEvent>

This receiver is triggered periodically with the period that is set by [set_quaternion_callback_configuration]. The parameters are the orientation (w, x, y, z) of the IMU Brick in quaternions. See [get_quaternion] for details.

pub fn get_all_data_callback_receiver( &self ) -> ConvertingCallbackReceiver<AllDataEvent>

This receiver is triggered periodically with the period that is set by [set_all_data_callback_configuration]. The parameters are as for [get_all_data].

pub fn get_acceleration(&self) -> ConvertingReceiver<Acceleration>

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_callback_configuration].

pub fn get_magnetic_field(&self) -> ConvertingReceiver<MagneticField>

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_callback_configuration].

pub fn get_angular_velocity(&self) -> ConvertingReceiver<AngularVelocity>

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_callback_configuration].

pub fn get_temperature(&self) -> ConvertingReceiver<i8>

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 fn get_orientation(&self) -> ConvertingReceiver<Orientation>

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_callback_configuration].

pub fn get_linear_acceleration(&self) -> ConvertingReceiver<LinearAcceleration>

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_callback_configuration].

pub fn get_gravity_vector(&self) -> ConvertingReceiver<GravityVector>

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_callback_configuration].

pub fn get_quaternion(&self) -> ConvertingReceiver<Quaternion>

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_callback_configuration].

pub fn get_all_data(&self) -> ConvertingReceiver<AllData>

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_callback_configuration].

pub fn save_calibration(&self) -> ConvertingReceiver<bool>

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 fn set_sensor_configuration( &self, magnetometer_rate: u8, gyroscope_range: u8, gyroscope_bandwidth: u8, accelerometer_range: u8, accelerometer_bandwidth: u8 ) -> ConvertingReceiver<()>

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:

• IMU_V3_BRICKLET_MAGNETOMETER_RATE_2HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_6HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_8HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_10HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_15HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_20HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_25HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_30HZ
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_2000DPS
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_1000DPS
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_500DPS
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_250DPS
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_125DPS
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_523HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_230HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_116HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_47HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_23HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_12HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_64HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_32HZ
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_2G
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_4G
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_8G
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_16G
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_7_81HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_15_63HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_31_25HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_62_5HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_125HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_250HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_500HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_1000HZ

pub fn get_sensor_configuration( &self ) -> ConvertingReceiver<SensorConfiguration>

Returns the sensor configuration as set by [set_sensor_configuration].

Associated constants:

• IMU_V3_BRICKLET_MAGNETOMETER_RATE_2HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_6HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_8HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_10HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_15HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_20HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_25HZ
• IMU_V3_BRICKLET_MAGNETOMETER_RATE_30HZ
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_2000DPS
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_1000DPS
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_500DPS
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_250DPS
• IMU_V3_BRICKLET_GYROSCOPE_RANGE_125DPS
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_523HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_230HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_116HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_47HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_23HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_12HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_64HZ
• IMU_V3_BRICKLET_GYROSCOPE_BANDWIDTH_32HZ
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_2G
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_4G
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_8G
• IMU_V3_BRICKLET_ACCELEROMETER_RANGE_16G
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_7_81HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_15_63HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_31_25HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_62_5HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_125HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_250HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_500HZ
• IMU_V3_BRICKLET_ACCELEROMETER_BANDWIDTH_1000HZ

pub fn set_sensor_fusion_mode(&self, mode: u8) -> ConvertingReceiver<()>

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.

Associated constants:

• IMU_V3_BRICKLET_SENSOR_FUSION_OFF
• IMU_V3_BRICKLET_SENSOR_FUSION_ON
• IMU_V3_BRICKLET_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER
• IMU_V3_BRICKLET_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION

pub fn get_sensor_fusion_mode(&self) -> ConvertingReceiver<u8>

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

Associated constants:

• IMU_V3_BRICKLET_SENSOR_FUSION_OFF
• IMU_V3_BRICKLET_SENSOR_FUSION_ON
• IMU_V3_BRICKLET_SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER
• IMU_V3_BRICKLET_SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION

pub fn set_acceleration_callback_configuration( &self, period: u32, value_has_to_change: bool ) -> ConvertingReceiver<()>

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

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

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

pub fn get_acceleration_callback_configuration( &self ) -> ConvertingReceiver<AccelerationCallbackConfiguration>

Returns the receiver configuration as set by [set_acceleration_callback_configuration].

pub fn set_magnetic_field_callback_configuration( &self, period: u32, value_has_to_change: bool ) -> ConvertingReceiver<()>

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

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

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

pub fn get_magnetic_field_callback_configuration( &self ) -> ConvertingReceiver<MagneticFieldCallbackConfiguration>

Returns the receiver configuration as set by [set_magnetic_field_callback_configuration].

pub fn set_angular_velocity_callback_configuration( &self, period: u32, value_has_to_change: bool ) -> ConvertingReceiver<()>

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

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

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

pub fn get_angular_velocity_callback_configuration( &self ) -> ConvertingReceiver<AngularVelocityCallbackConfiguration>

Returns the receiver configuration as set by [set_angular_velocity_callback_configuration].

pub fn set_temperature_callback_configuration( &self, period: u32, value_has_to_change: bool ) -> ConvertingReceiver<()>

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

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

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

pub fn get_temperature_callback_configuration( &self ) -> ConvertingReceiver<TemperatureCallbackConfiguration>

Returns the receiver configuration as set by [set_temperature_callback_configuration].

pub fn set_orientation_callback_configuration( &self, period: u32, value_has_to_change: bool ) -> ConvertingReceiver<()>

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

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

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

pub fn get_orientation_callback_configuration( &self ) -> ConvertingReceiver<OrientationCallbackConfiguration>

Returns the receiver configuration as set by [set_orientation_callback_configuration].

pub fn set_linear_acceleration_callback_configuration( &self, period: u32, value_has_to_change: bool ) -> ConvertingReceiver<()>

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

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

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

pub fn get_linear_acceleration_callback_configuration( &self ) -> ConvertingReceiver<LinearAccelerationCallbackConfiguration>

Returns the receiver configuration as set by [set_linear_acceleration_callback_configuration].

pub fn set_gravity_vector_callback_configuration( &self, period: u32, value_has_to_change: bool ) -> ConvertingReceiver<()>

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

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

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

pub fn get_gravity_vector_callback_configuration( &self ) -> ConvertingReceiver<GravityVectorCallbackConfiguration>

Returns the receiver configuration as set by [set_gravity_vector_callback_configuration].

pub fn set_quaternion_callback_configuration( &self, period: u32, value_has_to_change: bool ) -> ConvertingReceiver<()>

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

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

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

pub fn get_quaternion_callback_configuration( &self ) -> ConvertingReceiver<QuaternionCallbackConfiguration>

Returns the receiver configuration as set by [set_quaternion_callback_configuration].

pub fn set_all_data_callback_configuration( &self, period: u32, value_has_to_change: bool ) -> ConvertingReceiver<()>

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

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

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

pub fn get_all_data_callback_configuration( &self ) -> ConvertingReceiver<AllDataCallbackConfiguration>

Returns the receiver configuration as set by [set_all_data_callback_configuration].

pub fn get_spitfp_error_count(&self) -> ConvertingReceiver<SpitfpErrorCount>

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.

pub fn set_bootloader_mode(&self, mode: u8) -> ConvertingReceiver<u8>

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:

• IMU_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE
• IMU_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_OK
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
• IMU_V3_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH

pub fn get_bootloader_mode(&self) -> ConvertingReceiver<u8>

Returns the current bootloader mode, see [set_bootloader_mode].

Associated constants:

• IMU_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE
• IMU_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
• IMU_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT

pub fn set_write_firmware_pointer(&self, pointer: u32) -> ConvertingReceiver<()>

Sets the firmware pointer for [write_firmware]. 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.

pub fn write_firmware(&self, data: [u8; 64]) -> ConvertingReceiver<u8>

Writes 64 Bytes of firmware at the position as written by [set_write_firmware_pointer] 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.

pub fn set_status_led_config(&self, config: u8) -> ConvertingReceiver<()>

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:

• IMU_V3_BRICKLET_STATUS_LED_CONFIG_OFF
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_ON
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS

pub fn get_status_led_config(&self) -> ConvertingReceiver<u8>

Returns the configuration as set by [set_status_led_config]

Associated constants:

• IMU_V3_BRICKLET_STATUS_LED_CONFIG_OFF
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_ON
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
• IMU_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS

pub fn get_chip_temperature(&self) -> ConvertingReceiver<i16>

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.

pub fn reset(&self) -> ConvertingReceiver<()>

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!

pub fn write_uid(&self, uid: u32) -> ConvertingReceiver<()>

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.

pub fn read_uid(&self) -> ConvertingReceiver<u32>

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

pub fn get_identity(&self) -> ConvertingReceiver<Identity>

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 is always at position ‘z’.

The device identifier numbers can be found here. |device_identifier_constant|

Trait Implementations

impl Clone for ImuV3Bricklet

fn clone(&self) -> ImuV3Bricklet

Returns a copy of the value.

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

Performs copy-assignment from source.