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/* ***********************************************************
* This file was automatically generated on 2019-11-25. *
* *
* Java Bindings Version 2.1.25 *
* *
* If you have a bugfix for this file and want to commit it, *
* please fix the bug in the generator. You can find a link *
* to the generators git repository on tinkerforge.com *
*************************************************************/
package com.tinkerforge;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.util.concurrent.CopyOnWriteArrayList;
import java.util.Arrays;
import java.util.List;
/**
* Full fledged AHRS with 9 degrees of freedom
*/
public class BrickIMUV2 extends Device {
public final static int DEVICE_IDENTIFIER = 18;
public final static String DEVICE_DISPLAY_NAME = "IMU Brick 2.0";
public final static byte FUNCTION_GET_ACCELERATION = (byte)1;
public final static byte FUNCTION_GET_MAGNETIC_FIELD = (byte)2;
public final static byte FUNCTION_GET_ANGULAR_VELOCITY = (byte)3;
public final static byte FUNCTION_GET_TEMPERATURE = (byte)4;
public final static byte FUNCTION_GET_ORIENTATION = (byte)5;
public final static byte FUNCTION_GET_LINEAR_ACCELERATION = (byte)6;
public final static byte FUNCTION_GET_GRAVITY_VECTOR = (byte)7;
public final static byte FUNCTION_GET_QUATERNION = (byte)8;
public final static byte FUNCTION_GET_ALL_DATA = (byte)9;
public final static byte FUNCTION_LEDS_ON = (byte)10;
public final static byte FUNCTION_LEDS_OFF = (byte)11;
public final static byte FUNCTION_ARE_LEDS_ON = (byte)12;
public final static byte FUNCTION_SAVE_CALIBRATION = (byte)13;
public final static byte FUNCTION_SET_ACCELERATION_PERIOD = (byte)14;
public final static byte FUNCTION_GET_ACCELERATION_PERIOD = (byte)15;
public final static byte FUNCTION_SET_MAGNETIC_FIELD_PERIOD = (byte)16;
public final static byte FUNCTION_GET_MAGNETIC_FIELD_PERIOD = (byte)17;
public final static byte FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = (byte)18;
public final static byte FUNCTION_GET_ANGULAR_VELOCITY_PERIOD = (byte)19;
public final static byte FUNCTION_SET_TEMPERATURE_PERIOD = (byte)20;
public final static byte FUNCTION_GET_TEMPERATURE_PERIOD = (byte)21;
public final static byte FUNCTION_SET_ORIENTATION_PERIOD = (byte)22;
public final static byte FUNCTION_GET_ORIENTATION_PERIOD = (byte)23;
public final static byte FUNCTION_SET_LINEAR_ACCELERATION_PERIOD = (byte)24;
public final static byte FUNCTION_GET_LINEAR_ACCELERATION_PERIOD = (byte)25;
public final static byte FUNCTION_SET_GRAVITY_VECTOR_PERIOD = (byte)26;
public final static byte FUNCTION_GET_GRAVITY_VECTOR_PERIOD = (byte)27;
public final static byte FUNCTION_SET_QUATERNION_PERIOD = (byte)28;
public final static byte FUNCTION_GET_QUATERNION_PERIOD = (byte)29;
public final static byte FUNCTION_SET_ALL_DATA_PERIOD = (byte)30;
public final static byte FUNCTION_GET_ALL_DATA_PERIOD = (byte)31;
public final static byte FUNCTION_SET_SENSOR_CONFIGURATION = (byte)41;
public final static byte FUNCTION_GET_SENSOR_CONFIGURATION = (byte)42;
public final static byte FUNCTION_SET_SENSOR_FUSION_MODE = (byte)43;
public final static byte FUNCTION_GET_SENSOR_FUSION_MODE = (byte)44;
public final static byte FUNCTION_SET_SPITFP_BAUDRATE_CONFIG = (byte)231;
public final static byte FUNCTION_GET_SPITFP_BAUDRATE_CONFIG = (byte)232;
public final static byte FUNCTION_GET_SEND_TIMEOUT_COUNT = (byte)233;
public final static byte FUNCTION_SET_SPITFP_BAUDRATE = (byte)234;
public final static byte FUNCTION_GET_SPITFP_BAUDRATE = (byte)235;
public final static byte FUNCTION_GET_SPITFP_ERROR_COUNT = (byte)237;
public final static byte FUNCTION_ENABLE_STATUS_LED = (byte)238;
public final static byte FUNCTION_DISABLE_STATUS_LED = (byte)239;
public final static byte FUNCTION_IS_STATUS_LED_ENABLED = (byte)240;
public final static byte FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = (byte)241;
public final static byte FUNCTION_GET_CHIP_TEMPERATURE = (byte)242;
public final static byte FUNCTION_RESET = (byte)243;
public final static byte FUNCTION_GET_IDENTITY = (byte)255;
private final static int CALLBACK_ACCELERATION = 32;
private final static int CALLBACK_MAGNETIC_FIELD = 33;
private final static int CALLBACK_ANGULAR_VELOCITY = 34;
private final static int CALLBACK_TEMPERATURE = 35;
private final static int CALLBACK_LINEAR_ACCELERATION = 36;
private final static int CALLBACK_GRAVITY_VECTOR = 37;
private final static int CALLBACK_ORIENTATION = 38;
private final static int CALLBACK_QUATERNION = 39;
private final static int CALLBACK_ALL_DATA = 40;
public final static short MAGNETOMETER_RATE_2HZ = (short)0;
public final static short MAGNETOMETER_RATE_6HZ = (short)1;
public final static short MAGNETOMETER_RATE_8HZ = (short)2;
public final static short MAGNETOMETER_RATE_10HZ = (short)3;
public final static short MAGNETOMETER_RATE_15HZ = (short)4;
public final static short MAGNETOMETER_RATE_20HZ = (short)5;
public final static short MAGNETOMETER_RATE_25HZ = (short)6;
public final static short MAGNETOMETER_RATE_30HZ = (short)7;
public final static short GYROSCOPE_RANGE_2000DPS = (short)0;
public final static short GYROSCOPE_RANGE_1000DPS = (short)1;
public final static short GYROSCOPE_RANGE_500DPS = (short)2;
public final static short GYROSCOPE_RANGE_250DPS = (short)3;
public final static short GYROSCOPE_RANGE_125DPS = (short)4;
public final static short GYROSCOPE_BANDWIDTH_523HZ = (short)0;
public final static short GYROSCOPE_BANDWIDTH_230HZ = (short)1;
public final static short GYROSCOPE_BANDWIDTH_116HZ = (short)2;
public final static short GYROSCOPE_BANDWIDTH_47HZ = (short)3;
public final static short GYROSCOPE_BANDWIDTH_23HZ = (short)4;
public final static short GYROSCOPE_BANDWIDTH_12HZ = (short)5;
public final static short GYROSCOPE_BANDWIDTH_64HZ = (short)6;
public final static short GYROSCOPE_BANDWIDTH_32HZ = (short)7;
public final static short ACCELEROMETER_RANGE_2G = (short)0;
public final static short ACCELEROMETER_RANGE_4G = (short)1;
public final static short ACCELEROMETER_RANGE_8G = (short)2;
public final static short ACCELEROMETER_RANGE_16G = (short)3;
public final static short ACCELEROMETER_BANDWIDTH_7_81HZ = (short)0;
public final static short ACCELEROMETER_BANDWIDTH_15_63HZ = (short)1;
public final static short ACCELEROMETER_BANDWIDTH_31_25HZ = (short)2;
public final static short ACCELEROMETER_BANDWIDTH_62_5HZ = (short)3;
public final static short ACCELEROMETER_BANDWIDTH_125HZ = (short)4;
public final static short ACCELEROMETER_BANDWIDTH_250HZ = (short)5;
public final static short ACCELEROMETER_BANDWIDTH_500HZ = (short)6;
public final static short ACCELEROMETER_BANDWIDTH_1000HZ = (short)7;
public final static short SENSOR_FUSION_OFF = (short)0;
public final static short SENSOR_FUSION_ON = (short)1;
public final static short SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = (short)2;
public final static short SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = (short)3;
public final static short COMMUNICATION_METHOD_NONE = (short)0;
public final static short COMMUNICATION_METHOD_USB = (short)1;
public final static short COMMUNICATION_METHOD_SPI_STACK = (short)2;
public final static short COMMUNICATION_METHOD_CHIBI = (short)3;
public final static short COMMUNICATION_METHOD_RS485 = (short)4;
public final static short COMMUNICATION_METHOD_WIFI = (short)5;
public final static short COMMUNICATION_METHOD_ETHERNET = (short)6;
public final static short COMMUNICATION_METHOD_WIFI_V2 = (short)7;
private List listenerAcceleration = new CopyOnWriteArrayList();
private List listenerMagneticField = new CopyOnWriteArrayList();
private List listenerAngularVelocity = new CopyOnWriteArrayList();
private List listenerTemperature = new CopyOnWriteArrayList();
private List listenerLinearAcceleration = new CopyOnWriteArrayList();
private List listenerGravityVector = new CopyOnWriteArrayList();
private List listenerOrientation = new CopyOnWriteArrayList();
private List listenerQuaternion = new CopyOnWriteArrayList();
private List listenerAllData = new CopyOnWriteArrayList();
public class Acceleration {
public short x;
public short y;
public short z;
public String toString() {
return "[" + "x = " + x + ", " + "y = " + y + ", " + "z = " + z + "]";
}
}
public class MagneticField {
public short x;
public short y;
public short z;
public String toString() {
return "[" + "x = " + x + ", " + "y = " + y + ", " + "z = " + z + "]";
}
}
public class AngularVelocity {
public short x;
public short y;
public short z;
public String toString() {
return "[" + "x = " + x + ", " + "y = " + y + ", " + "z = " + z + "]";
}
}
public class Orientation {
public short heading;
public short roll;
public short pitch;
public String toString() {
return "[" + "heading = " + heading + ", " + "roll = " + roll + ", " + "pitch = " + pitch + "]";
}
}
public class LinearAcceleration {
public short x;
public short y;
public short z;
public String toString() {
return "[" + "x = " + x + ", " + "y = " + y + ", " + "z = " + z + "]";
}
}
public class GravityVector {
public short x;
public short y;
public short z;
public String toString() {
return "[" + "x = " + x + ", " + "y = " + y + ", " + "z = " + z + "]";
}
}
public class Quaternion {
public short w;
public short x;
public short y;
public short z;
public String toString() {
return "[" + "w = " + w + ", " + "x = " + x + ", " + "y = " + y + ", " + "z = " + z + "]";
}
}
public class AllData {
public short[] acceleration = new short[3];
public short[] magneticField = new short[3];
public short[] angularVelocity = new short[3];
public short[] eulerAngle = new short[3];
public short[] quaternion = new short[4];
public short[] linearAcceleration = new short[3];
public short[] gravityVector = new short[3];
public byte temperature;
public short calibrationStatus;
public String toString() {
return "[" + "acceleration = " + Arrays.toString(acceleration) + ", " + "magneticField = " + Arrays.toString(magneticField) + ", " + "angularVelocity = " + Arrays.toString(angularVelocity) + ", " + "eulerAngle = " + Arrays.toString(eulerAngle) + ", " + "quaternion = " + Arrays.toString(quaternion) + ", " + "linearAcceleration = " + Arrays.toString(linearAcceleration) + ", " + "gravityVector = " + Arrays.toString(gravityVector) + ", " + "temperature = " + temperature + ", " + "calibrationStatus = " + calibrationStatus + "]";
}
}
public class SensorConfiguration {
public short magnetometerRate;
public short gyroscopeRange;
public short gyroscopeBandwidth;
public short accelerometerRange;
public short accelerometerBandwidth;
public String toString() {
return "[" + "magnetometerRate = " + magnetometerRate + ", " + "gyroscopeRange = " + gyroscopeRange + ", " + "gyroscopeBandwidth = " + gyroscopeBandwidth + ", " + "accelerometerRange = " + accelerometerRange + ", " + "accelerometerBandwidth = " + accelerometerBandwidth + "]";
}
}
public class SPITFPBaudrateConfig {
public boolean enableDynamicBaudrate;
public long minimumDynamicBaudrate;
public String toString() {
return "[" + "enableDynamicBaudrate = " + enableDynamicBaudrate + ", " + "minimumDynamicBaudrate = " + minimumDynamicBaudrate + "]";
}
}
public class SPITFPErrorCount {
public long errorCountACKChecksum;
public long errorCountMessageChecksum;
public long errorCountFrame;
public long errorCountOverflow;
public String toString() {
return "[" + "errorCountACKChecksum = " + errorCountACKChecksum + ", " + "errorCountMessageChecksum = " + errorCountMessageChecksum + ", " + "errorCountFrame = " + errorCountFrame + ", " + "errorCountOverflow = " + errorCountOverflow + "]";
}
}
public class Protocol1BrickletName {
public short protocolVersion;
public short[] firmwareVersion = new short[3];
public String name;
public String toString() {
return "[" + "protocolVersion = " + protocolVersion + ", " + "firmwareVersion = " + Arrays.toString(firmwareVersion) + ", " + "name = " + name + "]";
}
}
/**
* This listener is triggered periodically with the period that is set by
* {@link BrickIMUV2#setAccelerationPeriod(long)}. The parameters are the acceleration
* for the x, y and z axis.
*/
public interface AccelerationListener extends DeviceListener {
public void acceleration(short x, short y, short z);
}
/**
* This listener is triggered periodically with the period that is set by
* {@link BrickIMUV2#setMagneticFieldPeriod(long)}. The parameters are the magnetic
* field for the x, y and z axis.
*/
public interface MagneticFieldListener extends DeviceListener {
public void magneticField(short x, short y, short z);
}
/**
* This listener is triggered periodically with the period that is set by
* {@link BrickIMUV2#setAngularVelocityPeriod(long)}. The parameters are the angular
* velocity for the x, y and z axis.
*/
public interface AngularVelocityListener extends DeviceListener {
public void angularVelocity(short x, short y, short z);
}
/**
* This listener is triggered periodically with the period that is set by
* {@link BrickIMUV2#setTemperaturePeriod(long)}. The parameter is the temperature.
*/
public interface TemperatureListener extends DeviceListener {
public void temperature(byte temperature);
}
/**
* This listener is triggered periodically with the period that is set by
* {@link BrickIMUV2#setLinearAccelerationPeriod(long)}. The parameters are the
* linear acceleration for the x, y and z axis.
*/
public interface LinearAccelerationListener extends DeviceListener {
public void linearAcceleration(short x, short y, short z);
}
/**
* This listener is triggered periodically with the period that is set by
* {@link BrickIMUV2#setGravityVectorPeriod(long)}. The parameters gravity vector
* for the x, y and z axis.
*/
public interface GravityVectorListener extends DeviceListener {
public void gravityVector(short x, short y, short z);
}
/**
* This listener is triggered periodically with the period that is set by
* {@link BrickIMUV2#setOrientationPeriod(long)}. The parameters are the orientation
* (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See
* {@link BrickIMUV2#getOrientation()} for details.
*/
public interface OrientationListener extends DeviceListener {
public void orientation(short heading, short roll, short pitch);
}
/**
* This listener is triggered periodically with the period that is set by
* {@link BrickIMUV2#setQuaternionPeriod(long)}. The parameters are the orientation
* (x, y, z, w) of the IMU Brick in quaternions. See {@link BrickIMUV2#getQuaternion()}
* for details.
*/
public interface QuaternionListener extends DeviceListener {
public void quaternion(short w, short x, short y, short z);
}
/**
* This listener is triggered periodically with the period that is set by
* {@link BrickIMUV2#setAllDataPeriod(long)}. The parameters are as for
* {@link BrickIMUV2#getAllData()}.
*/
public interface AllDataListener extends DeviceListener {
public void allData(short[] acceleration, short[] magneticField, short[] angularVelocity, short[] eulerAngle, short[] quaternion, short[] linearAcceleration, short[] gravityVector, byte temperature, short calibrationStatus);
}
/**
* Creates an object with the unique device ID \c uid. and adds it to
* the IP Connection \c ipcon.
*/
public BrickIMUV2(String uid, IPConnection ipcon) {
super(uid, ipcon);
apiVersion[0] = 2;
apiVersion[1] = 0;
apiVersion[2] = 3;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_ACCELERATION)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_MAGNETIC_FIELD)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_ANGULAR_VELOCITY)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_TEMPERATURE)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_ORIENTATION)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_LINEAR_ACCELERATION)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_GRAVITY_VECTOR)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_QUATERNION)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_ALL_DATA)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_LEDS_ON)] = RESPONSE_EXPECTED_FLAG_FALSE;
responseExpected[IPConnection.unsignedByte(FUNCTION_LEDS_OFF)] = RESPONSE_EXPECTED_FLAG_FALSE;
responseExpected[IPConnection.unsignedByte(FUNCTION_ARE_LEDS_ON)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SAVE_CALIBRATION)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_ACCELERATION_PERIOD)] = RESPONSE_EXPECTED_FLAG_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_ACCELERATION_PERIOD)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_MAGNETIC_FIELD_PERIOD)] = RESPONSE_EXPECTED_FLAG_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_MAGNETIC_FIELD_PERIOD)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_ANGULAR_VELOCITY_PERIOD)] = RESPONSE_EXPECTED_FLAG_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_ANGULAR_VELOCITY_PERIOD)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_TEMPERATURE_PERIOD)] = RESPONSE_EXPECTED_FLAG_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_TEMPERATURE_PERIOD)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_ORIENTATION_PERIOD)] = RESPONSE_EXPECTED_FLAG_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_ORIENTATION_PERIOD)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_LINEAR_ACCELERATION_PERIOD)] = RESPONSE_EXPECTED_FLAG_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_LINEAR_ACCELERATION_PERIOD)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_GRAVITY_VECTOR_PERIOD)] = RESPONSE_EXPECTED_FLAG_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_GRAVITY_VECTOR_PERIOD)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_QUATERNION_PERIOD)] = RESPONSE_EXPECTED_FLAG_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_QUATERNION_PERIOD)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_ALL_DATA_PERIOD)] = RESPONSE_EXPECTED_FLAG_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_ALL_DATA_PERIOD)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_SENSOR_CONFIGURATION)] = RESPONSE_EXPECTED_FLAG_FALSE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_SENSOR_CONFIGURATION)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_SENSOR_FUSION_MODE)] = RESPONSE_EXPECTED_FLAG_FALSE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_SENSOR_FUSION_MODE)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_SPITFP_BAUDRATE_CONFIG)] = RESPONSE_EXPECTED_FLAG_FALSE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_SPITFP_BAUDRATE_CONFIG)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_SEND_TIMEOUT_COUNT)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_SET_SPITFP_BAUDRATE)] = RESPONSE_EXPECTED_FLAG_FALSE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_SPITFP_BAUDRATE)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_SPITFP_ERROR_COUNT)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_ENABLE_STATUS_LED)] = RESPONSE_EXPECTED_FLAG_FALSE;
responseExpected[IPConnection.unsignedByte(FUNCTION_DISABLE_STATUS_LED)] = RESPONSE_EXPECTED_FLAG_FALSE;
responseExpected[IPConnection.unsignedByte(FUNCTION_IS_STATUS_LED_ENABLED)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_PROTOCOL1_BRICKLET_NAME)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_CHIP_TEMPERATURE)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
responseExpected[IPConnection.unsignedByte(FUNCTION_RESET)] = RESPONSE_EXPECTED_FLAG_FALSE;
responseExpected[IPConnection.unsignedByte(FUNCTION_GET_IDENTITY)] = RESPONSE_EXPECTED_FLAG_ALWAYS_TRUE;
callbacks[CALLBACK_ACCELERATION] = new IPConnection.DeviceCallbackListener() {
public void callback(byte[] packet) {
ByteBuffer bb = ByteBuffer.wrap(packet, 8, packet.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
short x = (bb.getShort());
short y = (bb.getShort());
short z = (bb.getShort());
for (AccelerationListener listener: listenerAcceleration) {
listener.acceleration(x, y, z);
}
}
};
callbacks[CALLBACK_MAGNETIC_FIELD] = new IPConnection.DeviceCallbackListener() {
public void callback(byte[] packet) {
ByteBuffer bb = ByteBuffer.wrap(packet, 8, packet.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
short x = (bb.getShort());
short y = (bb.getShort());
short z = (bb.getShort());
for (MagneticFieldListener listener: listenerMagneticField) {
listener.magneticField(x, y, z);
}
}
};
callbacks[CALLBACK_ANGULAR_VELOCITY] = new IPConnection.DeviceCallbackListener() {
public void callback(byte[] packet) {
ByteBuffer bb = ByteBuffer.wrap(packet, 8, packet.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
short x = (bb.getShort());
short y = (bb.getShort());
short z = (bb.getShort());
for (AngularVelocityListener listener: listenerAngularVelocity) {
listener.angularVelocity(x, y, z);
}
}
};
callbacks[CALLBACK_TEMPERATURE] = new IPConnection.DeviceCallbackListener() {
public void callback(byte[] packet) {
ByteBuffer bb = ByteBuffer.wrap(packet, 8, packet.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
byte temperature = (bb.get());
for (TemperatureListener listener: listenerTemperature) {
listener.temperature(temperature);
}
}
};
callbacks[CALLBACK_LINEAR_ACCELERATION] = new IPConnection.DeviceCallbackListener() {
public void callback(byte[] packet) {
ByteBuffer bb = ByteBuffer.wrap(packet, 8, packet.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
short x = (bb.getShort());
short y = (bb.getShort());
short z = (bb.getShort());
for (LinearAccelerationListener listener: listenerLinearAcceleration) {
listener.linearAcceleration(x, y, z);
}
}
};
callbacks[CALLBACK_GRAVITY_VECTOR] = new IPConnection.DeviceCallbackListener() {
public void callback(byte[] packet) {
ByteBuffer bb = ByteBuffer.wrap(packet, 8, packet.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
short x = (bb.getShort());
short y = (bb.getShort());
short z = (bb.getShort());
for (GravityVectorListener listener: listenerGravityVector) {
listener.gravityVector(x, y, z);
}
}
};
callbacks[CALLBACK_ORIENTATION] = new IPConnection.DeviceCallbackListener() {
public void callback(byte[] packet) {
ByteBuffer bb = ByteBuffer.wrap(packet, 8, packet.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
short heading = (bb.getShort());
short roll = (bb.getShort());
short pitch = (bb.getShort());
for (OrientationListener listener: listenerOrientation) {
listener.orientation(heading, roll, pitch);
}
}
};
callbacks[CALLBACK_QUATERNION] = new IPConnection.DeviceCallbackListener() {
public void callback(byte[] packet) {
ByteBuffer bb = ByteBuffer.wrap(packet, 8, packet.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
short w = (bb.getShort());
short x = (bb.getShort());
short y = (bb.getShort());
short z = (bb.getShort());
for (QuaternionListener listener: listenerQuaternion) {
listener.quaternion(w, x, y, z);
}
}
};
callbacks[CALLBACK_ALL_DATA] = new IPConnection.DeviceCallbackListener() {
public void callback(byte[] packet) {
ByteBuffer bb = ByteBuffer.wrap(packet, 8, packet.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
short[] acceleration = new short[3];
for (int i = 0; i < 3; i++) {
acceleration[i] = (bb.getShort());
}
short[] magneticField = new short[3];
for (int i = 0; i < 3; i++) {
magneticField[i] = (bb.getShort());
}
short[] angularVelocity = new short[3];
for (int i = 0; i < 3; i++) {
angularVelocity[i] = (bb.getShort());
}
short[] eulerAngle = new short[3];
for (int i = 0; i < 3; i++) {
eulerAngle[i] = (bb.getShort());
}
short[] quaternion = new short[4];
for (int i = 0; i < 4; i++) {
quaternion[i] = (bb.getShort());
}
short[] linearAcceleration = new short[3];
for (int i = 0; i < 3; i++) {
linearAcceleration[i] = (bb.getShort());
}
short[] gravityVector = new short[3];
for (int i = 0; i < 3; i++) {
gravityVector[i] = (bb.getShort());
}
byte temperature = (bb.get());
short calibrationStatus = IPConnection.unsignedByte(bb.get());
for (AllDataListener listener: listenerAllData) {
listener.allData(acceleration, magneticField, angularVelocity, eulerAngle, quaternion, linearAcceleration, gravityVector, temperature, calibrationStatus);
}
}
};
}
/**
* Returns the calibrated acceleration from the accelerometer for the
* x, y and z axis in 1/100 m/s².
*
* If you want to get the acceleration periodically, it is recommended
* to use the {@link BrickIMUV2.AccelerationListener} listener and set the period with
* {@link BrickIMUV2#setAccelerationPeriod(long)}.
*/
public Acceleration getAcceleration() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_ACCELERATION, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
Acceleration obj = new Acceleration();
obj.x = (bb.getShort());
obj.y = (bb.getShort());
obj.z = (bb.getShort());
return obj;
}
/**
* Returns the calibrated magnetic field from the magnetometer for the
* x, y and z axis in 1/16 µT (Microtesla).
*
* If you want to get the magnetic field periodically, it is recommended
* to use the {@link BrickIMUV2.MagneticFieldListener} listener and set the period with
* {@link BrickIMUV2#setMagneticFieldPeriod(long)}.
*/
public MagneticField getMagneticField() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_MAGNETIC_FIELD, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
MagneticField obj = new MagneticField();
obj.x = (bb.getShort());
obj.y = (bb.getShort());
obj.z = (bb.getShort());
return obj;
}
/**
* Returns the calibrated angular velocity from the gyroscope for the
* x, y and z axis in 1/16 °/s.
*
* If you want to get the angular velocity periodically, it is recommended
* to use the {@link BrickIMUV2.AngularVelocityListener} alistener nd set the period with
* {@link BrickIMUV2#setAngularVelocityPeriod(long)}.
*/
public AngularVelocity getAngularVelocity() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_ANGULAR_VELOCITY, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
AngularVelocity obj = new AngularVelocity();
obj.x = (bb.getShort());
obj.y = (bb.getShort());
obj.z = (bb.getShort());
return obj;
}
/**
* Returns the temperature of the IMU Brick. The temperature is given in
* °C. The temperature is measured in the core of the BNO055 IC, it is not the
* ambient temperature
*/
public byte getTemperature() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_TEMPERATURE, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
byte temperature = (bb.get());
return temperature;
}
/**
* Returns the current orientation (heading, roll, pitch) of the IMU Brick as
* independent Euler angles in 1/16 degree. Note that Euler angles always
* experience a `gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__.
* We recommend that you use quaternions instead, if you need the absolute
* orientation.
*
* The rotation angle has the following ranges:
*
* * heading: 0° to 360°
* * roll: -90° to +90°
* * pitch: -180° to +180°
*
* If you want to get the orientation periodically, it is recommended
* to use the {@link BrickIMUV2.OrientationListener} listener and set the period with
* {@link BrickIMUV2#setOrientationPeriod(long)}.
*/
public Orientation getOrientation() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_ORIENTATION, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
Orientation obj = new Orientation();
obj.heading = (bb.getShort());
obj.roll = (bb.getShort());
obj.pitch = (bb.getShort());
return obj;
}
/**
* Returns the linear acceleration of the IMU Brick for the
* x, y and z axis in 1/100 m/s².
*
* 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 {@link BrickIMUV2#getGravityVector()}.
*
* If you want to get the linear acceleration periodically, it is recommended
* to use the {@link BrickIMUV2.LinearAccelerationListener} listener and set the period with
* {@link BrickIMUV2#setLinearAccelerationPeriod(long)}.
*/
public LinearAcceleration getLinearAcceleration() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_LINEAR_ACCELERATION, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
LinearAcceleration obj = new LinearAcceleration();
obj.x = (bb.getShort());
obj.y = (bb.getShort());
obj.z = (bb.getShort());
return obj;
}
/**
* Returns the current gravity vector of the IMU Brick for the
* x, y and z axis in 1/100 m/s².
*
* 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 {@link BrickIMUV2#getLinearAcceleration()}.
*
* If you want to get the gravity vector periodically, it is recommended
* to use the {@link BrickIMUV2.GravityVectorListener} listener and set the period with
* {@link BrickIMUV2#setGravityVectorPeriod(long)}.
*/
public GravityVector getGravityVector() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_GRAVITY_VECTOR, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
GravityVector obj = new GravityVector();
obj.x = (bb.getShort());
obj.y = (bb.getShort());
obj.z = (bb.getShort());
return obj;
}
/**
* Returns the current orientation (w, x, y, z) of the IMU Brick as
* `quaternions <https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
*
* You have to divide the return values by 16383 (14 bit) to get
* the usual range of -1.0 to +1.0 for quaternions.
*
* If you want to get the quaternions periodically, it is recommended
* to use the {@link BrickIMUV2.QuaternionListener} listener and set the period with
* {@link BrickIMUV2#setQuaternionPeriod(long)}.
*/
public Quaternion getQuaternion() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_QUATERNION, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
Quaternion obj = new Quaternion();
obj.w = (bb.getShort());
obj.x = (bb.getShort());
obj.y = (bb.getShort());
obj.z = (bb.getShort());
return obj;
}
/**
* Return all of the available data of the IMU Brick.
*
* * acceleration in 1/100 m/s² (see {@link BrickIMUV2#getAcceleration()})
* * magnetic field in 1/16 µT (see {@link BrickIMUV2#getMagneticField()})
* * angular velocity in 1/16 °/s (see {@link BrickIMUV2#getAngularVelocity()})
* * Euler angles in 1/16 ° (see {@link BrickIMUV2#getOrientation()})
* * quaternion 1/16383 (see {@link BrickIMUV2#getQuaternion()})
* * linear acceleration 1/100 m/s² (see {@link BrickIMUV2#getLinearAcceleration()})
* * gravity vector 1/100 m/s² (see {@link BrickIMUV2#getGravityVector()})
* * temperature in 1 °C (see {@link BrickIMUV2#getTemperature()})
* * calibration status (see below)
*
* The calibration status consists of four pairs of two bits. Each pair
* of bits represents the status of the current calibration.
*
* * bit 0-1: Magnetometer
* * bit 2-3: Accelerometer
* * bit 4-5: Gyroscope
* * bit 6-7: System
*
* A value of 0 means for "not calibrated" and a value of 3 means
* "fully calibrated". In your program you should always be able to
* ignore the calibration status, it is used by the calibration
* window of the Brick Viewer and it can be ignored after the first
* calibration. See the documentation in the calibration window for
* more information regarding the calibration of the IMU Brick.
*
* If you want to get the data periodically, it is recommended
* to use the {@link BrickIMUV2.AllDataListener} listener and set the period with
* {@link BrickIMUV2#setAllDataPeriod(long)}.
*/
public AllData getAllData() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_ALL_DATA, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
AllData obj = new AllData();
for (int i = 0; i < 3; i++) {
obj.acceleration[i] = (bb.getShort());
}
for (int i = 0; i < 3; i++) {
obj.magneticField[i] = (bb.getShort());
}
for (int i = 0; i < 3; i++) {
obj.angularVelocity[i] = (bb.getShort());
}
for (int i = 0; i < 3; i++) {
obj.eulerAngle[i] = (bb.getShort());
}
for (int i = 0; i < 4; i++) {
obj.quaternion[i] = (bb.getShort());
}
for (int i = 0; i < 3; i++) {
obj.linearAcceleration[i] = (bb.getShort());
}
for (int i = 0; i < 3; i++) {
obj.gravityVector[i] = (bb.getShort());
}
obj.temperature = (bb.get());
obj.calibrationStatus = IPConnection.unsignedByte(bb.get());
return obj;
}
/**
* Turns the orientation and direction LEDs of the IMU Brick on.
*/
public void ledsOn() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_LEDS_ON, this);
sendRequest(bb.array());
}
/**
* Turns the orientation and direction LEDs of the IMU Brick off.
*/
public void ledsOff() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_LEDS_OFF, this);
sendRequest(bb.array());
}
/**
* Returns *true* if the orientation and direction LEDs of the IMU Brick
* are on, *false* otherwise.
*/
public boolean areLedsOn() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_ARE_LEDS_ON, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
boolean leds = (bb.get()) != 0;
return leds;
}
/**
* 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.
*/
public boolean saveCalibration() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_SAVE_CALIBRATION, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
boolean calibrationDone = (bb.get()) != 0;
return calibrationDone;
}
/**
* Sets the period with which the {@link BrickIMUV2.AccelerationListener} listener is triggered
* periodically. A value of 0 turns the listener off.
*/
public void setAccelerationPeriod(long period) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)12, FUNCTION_SET_ACCELERATION_PERIOD, this);
bb.putInt((int)period);
sendRequest(bb.array());
}
/**
* Returns the period as set by {@link BrickIMUV2#setAccelerationPeriod(long)}.
*/
public long getAccelerationPeriod() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_ACCELERATION_PERIOD, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long period = IPConnection.unsignedInt(bb.getInt());
return period;
}
/**
* Sets the period with which the {@link BrickIMUV2.MagneticFieldListener} listener is triggered
* periodically. A value of 0 turns the listener off.
*/
public void setMagneticFieldPeriod(long period) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)12, FUNCTION_SET_MAGNETIC_FIELD_PERIOD, this);
bb.putInt((int)period);
sendRequest(bb.array());
}
/**
* Returns the period as set by {@link BrickIMUV2#setMagneticFieldPeriod(long)}.
*/
public long getMagneticFieldPeriod() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_MAGNETIC_FIELD_PERIOD, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long period = IPConnection.unsignedInt(bb.getInt());
return period;
}
/**
* Sets the period with which the {@link BrickIMUV2.AngularVelocityListener} listener is
* triggered periodically. A value of 0 turns the listener off.
*/
public void setAngularVelocityPeriod(long period) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)12, FUNCTION_SET_ANGULAR_VELOCITY_PERIOD, this);
bb.putInt((int)period);
sendRequest(bb.array());
}
/**
* Returns the period as set by {@link BrickIMUV2#setAngularVelocityPeriod(long)}.
*/
public long getAngularVelocityPeriod() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_ANGULAR_VELOCITY_PERIOD, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long period = IPConnection.unsignedInt(bb.getInt());
return period;
}
/**
* Sets the period with which the {@link BrickIMUV2.TemperatureListener} listener is triggered
* periodically. A value of 0 turns the listener off.
*/
public void setTemperaturePeriod(long period) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)12, FUNCTION_SET_TEMPERATURE_PERIOD, this);
bb.putInt((int)period);
sendRequest(bb.array());
}
/**
* Returns the period as set by {@link BrickIMUV2#setTemperaturePeriod(long)}.
*/
public long getTemperaturePeriod() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_TEMPERATURE_PERIOD, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long period = IPConnection.unsignedInt(bb.getInt());
return period;
}
/**
* Sets the period with which the {@link BrickIMUV2.OrientationListener} listener is triggered
* periodically. A value of 0 turns the listener off.
*/
public void setOrientationPeriod(long period) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)12, FUNCTION_SET_ORIENTATION_PERIOD, this);
bb.putInt((int)period);
sendRequest(bb.array());
}
/**
* Returns the period as set by {@link BrickIMUV2#setOrientationPeriod(long)}.
*/
public long getOrientationPeriod() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_ORIENTATION_PERIOD, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long period = IPConnection.unsignedInt(bb.getInt());
return period;
}
/**
* Sets the period with which the {@link BrickIMUV2.LinearAccelerationListener} listener is
* triggered periodically. A value of 0 turns the listener off.
*/
public void setLinearAccelerationPeriod(long period) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)12, FUNCTION_SET_LINEAR_ACCELERATION_PERIOD, this);
bb.putInt((int)period);
sendRequest(bb.array());
}
/**
* Returns the period as set by {@link BrickIMUV2#setLinearAccelerationPeriod(long)}.
*/
public long getLinearAccelerationPeriod() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_LINEAR_ACCELERATION_PERIOD, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long period = IPConnection.unsignedInt(bb.getInt());
return period;
}
/**
* Sets the period with which the {@link BrickIMUV2.GravityVectorListener} listener is triggered
* periodically. A value of 0 turns the listener off.
*/
public void setGravityVectorPeriod(long period) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)12, FUNCTION_SET_GRAVITY_VECTOR_PERIOD, this);
bb.putInt((int)period);
sendRequest(bb.array());
}
/**
* Returns the period as set by {@link BrickIMUV2#setGravityVectorPeriod(long)}.
*/
public long getGravityVectorPeriod() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_GRAVITY_VECTOR_PERIOD, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long period = IPConnection.unsignedInt(bb.getInt());
return period;
}
/**
* Sets the period with which the {@link BrickIMUV2.QuaternionListener} listener is triggered
* periodically. A value of 0 turns the listener off.
*/
public void setQuaternionPeriod(long period) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)12, FUNCTION_SET_QUATERNION_PERIOD, this);
bb.putInt((int)period);
sendRequest(bb.array());
}
/**
* Returns the period as set by {@link BrickIMUV2#setQuaternionPeriod(long)}.
*/
public long getQuaternionPeriod() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_QUATERNION_PERIOD, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long period = IPConnection.unsignedInt(bb.getInt());
return period;
}
/**
* Sets the period with which the {@link BrickIMUV2.AllDataListener} listener is triggered
* periodically. A value of 0 turns the listener off.
*/
public void setAllDataPeriod(long period) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)12, FUNCTION_SET_ALL_DATA_PERIOD, this);
bb.putInt((int)period);
sendRequest(bb.array());
}
/**
* Returns the period as set by {@link BrickIMUV2#setAllDataPeriod(long)}.
*/
public long getAllDataPeriod() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_ALL_DATA_PERIOD, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long period = IPConnection.unsignedInt(bb.getInt());
return period;
}
/**
* 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.
*
* The default values are:
*
* * Magnetometer Rate 20Hz
* * Gyroscope Range 2000°/s
* * Gyroscope Bandwidth 32Hz
* * Accelerometer Range +/-4G
* * Accelerometer Bandwidth 62.5Hz
*
* .. versionadded:: 2.0.5$nbsp;(Firmware)
*/
public void setSensorConfiguration(short magnetometerRate, short gyroscopeRange, short gyroscopeBandwidth, short accelerometerRange, short accelerometerBandwidth) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)13, FUNCTION_SET_SENSOR_CONFIGURATION, this);
bb.put((byte)magnetometerRate);
bb.put((byte)gyroscopeRange);
bb.put((byte)gyroscopeBandwidth);
bb.put((byte)accelerometerRange);
bb.put((byte)accelerometerBandwidth);
sendRequest(bb.array());
}
/**
* Returns the sensor configuration as set by {@link BrickIMUV2#setSensorConfiguration(short, short, short, short, short)}.
*
* .. versionadded:: 2.0.5$nbsp;(Firmware)
*/
public SensorConfiguration getSensorConfiguration() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_SENSOR_CONFIGURATION, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
SensorConfiguration obj = new SensorConfiguration();
obj.magnetometerRate = IPConnection.unsignedByte(bb.get());
obj.gyroscopeRange = IPConnection.unsignedByte(bb.get());
obj.gyroscopeBandwidth = IPConnection.unsignedByte(bb.get());
obj.accelerometerRange = IPConnection.unsignedByte(bb.get());
obj.accelerometerBandwidth = IPConnection.unsignedByte(bb.get());
return obj;
}
/**
* If the fusion mode is turned off, the functions {@link BrickIMUV2#getAcceleration()},
* {@link BrickIMUV2#getMagneticField()} and {@link BrickIMUV2#getAngularVelocity()} return uncalibrated
* and uncompensated sensor data. All other sensor data getters return no data.
*
* Since firmware version 2.0.6 you can also use a fusion mode without magnetometer.
* In this mode the calculated orientation is relative (with magnetometer it is
* absolute with respect to the earth). However, the calculation can't be influenced
* by spurious magnetic fields.
*
* Since firmware version 2.0.13 you can also use a fusion mode without fast
* magnetometer calibration. This mode is the same as the normal fusion mode,
* but the fast magnetometer calibration is turned off. So to find the orientation
* the first time will likely take longer, but small magnetic influences might
* not affect the automatic calibration as much.
*
* By default sensor fusion is on.
*
* .. versionadded:: 2.0.5$nbsp;(Firmware)
*/
public void setSensorFusionMode(short mode) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)9, FUNCTION_SET_SENSOR_FUSION_MODE, this);
bb.put((byte)mode);
sendRequest(bb.array());
}
/**
* Returns the sensor fusion mode as set by {@link BrickIMUV2#setSensorFusionMode(short)}.
*
* .. versionadded:: 2.0.5$nbsp;(Firmware)
*/
public short getSensorFusionMode() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_SENSOR_FUSION_MODE, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
short mode = IPConnection.unsignedByte(bb.get());
return mode;
}
/**
* 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 send/received and
* decreased linearly if little data is send/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
* {@link BrickIMUV2#setSPITFPBaudrate(char, long)}. If the dynamic baudrate is disabled, the baudrate
* as set by {@link BrickIMUV2#setSPITFPBaudrate(char, long)} will be used statically.
*
* The minimum dynamic baudrate has a value range of 400000 to 2000000 baud.
*
* By default dynamic baudrate is enabled and the minimum dynamic baudrate is 400000.
*
* .. versionadded:: 2.0.10$nbsp;(Firmware)
*/
public void setSPITFPBaudrateConfig(boolean enableDynamicBaudrate, long minimumDynamicBaudrate) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)13, FUNCTION_SET_SPITFP_BAUDRATE_CONFIG, this);
bb.put((byte)(enableDynamicBaudrate ? 1 : 0));
bb.putInt((int)minimumDynamicBaudrate);
sendRequest(bb.array());
}
/**
* Returns the baudrate config, see {@link BrickIMUV2#setSPITFPBaudrateConfig(boolean, long)}.
*
* .. versionadded:: 2.0.10$nbsp;(Firmware)
*/
public SPITFPBaudrateConfig getSPITFPBaudrateConfig() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
SPITFPBaudrateConfig obj = new SPITFPBaudrateConfig();
obj.enableDynamicBaudrate = (bb.get()) != 0;
obj.minimumDynamicBaudrate = IPConnection.unsignedInt(bb.getInt());
return obj;
}
/**
* 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$nbsp;(Firmware)
*/
public long getSendTimeoutCount(short communicationMethod) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)9, FUNCTION_GET_SEND_TIMEOUT_COUNT, this);
bb.put((byte)communicationMethod);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long timeoutCount = IPConnection.unsignedInt(bb.getInt());
return timeoutCount;
}
/**
* Sets the baudrate for a specific Bricklet port ('a' - 'd'). The
* baudrate can be in the range 400000 to 2000000.
*
* If you want to increase the throughput of Bricklets you can increase
* the baudrate. If you get a high error count because of high
* interference (see {@link BrickIMUV2#getSPITFPErrorCount(char)}) you can decrease the
* baudrate.
*
* If the dynamic baudrate feature is enabled, the baudrate set by this
* function corresponds to the maximum baudrate (see {@link BrickIMUV2#setSPITFPBaudrateConfig(boolean, long)}).
*
* Regulatory testing is done with the default baudrate. If CE compatibility
* or similar is necessary in you applications we recommend to not change
* the baudrate.
*
* The default baudrate for all ports is 1400000.
*
* .. versionadded:: 2.0.5$nbsp;(Firmware)
*/
public void setSPITFPBaudrate(char brickletPort, long baudrate) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)13, FUNCTION_SET_SPITFP_BAUDRATE, this);
bb.put((byte)brickletPort);
bb.putInt((int)baudrate);
sendRequest(bb.array());
}
/**
* Returns the baudrate for a given Bricklet port, see {@link BrickIMUV2#setSPITFPBaudrate(char, long)}.
*
* .. versionadded:: 2.0.5$nbsp;(Firmware)
*/
public long getSPITFPBaudrate(char brickletPort) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)9, FUNCTION_GET_SPITFP_BAUDRATE, this);
bb.put((byte)brickletPort);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
long baudrate = IPConnection.unsignedInt(bb.getInt());
return baudrate;
}
/**
* Returns the error count for the communication between Brick and Bricklet.
*
* The errors are divided into
*
* * ACK checksum errors,
* * message checksum errors,
* * framing errors and
* * overflow errors.
*
* The errors counts are for errors that occur on the Brick side. All
* Bricklets have a similar function that returns the errors on the Bricklet side.
*
* .. versionadded:: 2.0.5$nbsp;(Firmware)
*/
public SPITFPErrorCount getSPITFPErrorCount(char brickletPort) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)9, FUNCTION_GET_SPITFP_ERROR_COUNT, this);
bb.put((byte)brickletPort);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
SPITFPErrorCount obj = new SPITFPErrorCount();
obj.errorCountACKChecksum = IPConnection.unsignedInt(bb.getInt());
obj.errorCountMessageChecksum = IPConnection.unsignedInt(bb.getInt());
obj.errorCountFrame = IPConnection.unsignedInt(bb.getInt());
obj.errorCountOverflow = IPConnection.unsignedInt(bb.getInt());
return obj;
}
/**
* 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.
*/
public void enableStatusLED() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_ENABLE_STATUS_LED, this);
sendRequest(bb.array());
}
/**
* 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.
*/
public void disableStatusLED() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_DISABLE_STATUS_LED, this);
sendRequest(bb.array());
}
/**
* Returns *true* if the status LED is enabled, *false* otherwise.
*/
public boolean isStatusLEDEnabled() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_IS_STATUS_LED_ENABLED, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
boolean enabled = (bb.get()) != 0;
return enabled;
}
/**
* 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.
*/
public Protocol1BrickletName getProtocol1BrickletName(char port) throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)9, FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, this);
bb.put((byte)port);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
Protocol1BrickletName obj = new Protocol1BrickletName();
obj.protocolVersion = IPConnection.unsignedByte(bb.get());
for (int i = 0; i < 3; i++) {
obj.firmwareVersion[i] = IPConnection.unsignedByte(bb.get());
}
obj.name = IPConnection.string(bb, 40);
return obj;
}
/**
* 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.
*/
public short getChipTemperature() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_CHIP_TEMPERATURE, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
short temperature = (bb.getShort());
return temperature;
}
/**
* 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!
*/
public void reset() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_RESET, this);
sendRequest(bb.array());
}
/**
* 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|
*/
public Identity getIdentity() throws TinkerforgeException {
ByteBuffer bb = ipcon.createRequestPacket((byte)8, FUNCTION_GET_IDENTITY, this);
byte[] response = sendRequest(bb.array());
bb = ByteBuffer.wrap(response, 8, response.length - 8);
bb.order(ByteOrder.LITTLE_ENDIAN);
Identity obj = new Identity();
obj.uid = IPConnection.string(bb, 8);
obj.connectedUid = IPConnection.string(bb, 8);
obj.position = (char)(bb.get());
for (int i = 0; i < 3; i++) {
obj.hardwareVersion[i] = IPConnection.unsignedByte(bb.get());
}
for (int i = 0; i < 3; i++) {
obj.firmwareVersion[i] = IPConnection.unsignedByte(bb.get());
}
obj.deviceIdentifier = IPConnection.unsignedShort(bb.getShort());
return obj;
}
/**
* Adds a Acceleration listener.
*/
public void addAccelerationListener(AccelerationListener listener) {
listenerAcceleration.add(listener);
}
/**
* Removes a Acceleration listener.
*/
public void removeAccelerationListener(AccelerationListener listener) {
listenerAcceleration.remove(listener);
}
/**
* Adds a MagneticField listener.
*/
public void addMagneticFieldListener(MagneticFieldListener listener) {
listenerMagneticField.add(listener);
}
/**
* Removes a MagneticField listener.
*/
public void removeMagneticFieldListener(MagneticFieldListener listener) {
listenerMagneticField.remove(listener);
}
/**
* Adds a AngularVelocity listener.
*/
public void addAngularVelocityListener(AngularVelocityListener listener) {
listenerAngularVelocity.add(listener);
}
/**
* Removes a AngularVelocity listener.
*/
public void removeAngularVelocityListener(AngularVelocityListener listener) {
listenerAngularVelocity.remove(listener);
}
/**
* Adds a Temperature listener.
*/
public void addTemperatureListener(TemperatureListener listener) {
listenerTemperature.add(listener);
}
/**
* Removes a Temperature listener.
*/
public void removeTemperatureListener(TemperatureListener listener) {
listenerTemperature.remove(listener);
}
/**
* Adds a LinearAcceleration listener.
*/
public void addLinearAccelerationListener(LinearAccelerationListener listener) {
listenerLinearAcceleration.add(listener);
}
/**
* Removes a LinearAcceleration listener.
*/
public void removeLinearAccelerationListener(LinearAccelerationListener listener) {
listenerLinearAcceleration.remove(listener);
}
/**
* Adds a GravityVector listener.
*/
public void addGravityVectorListener(GravityVectorListener listener) {
listenerGravityVector.add(listener);
}
/**
* Removes a GravityVector listener.
*/
public void removeGravityVectorListener(GravityVectorListener listener) {
listenerGravityVector.remove(listener);
}
/**
* Adds a Orientation listener.
*/
public void addOrientationListener(OrientationListener listener) {
listenerOrientation.add(listener);
}
/**
* Removes a Orientation listener.
*/
public void removeOrientationListener(OrientationListener listener) {
listenerOrientation.remove(listener);
}
/**
* Adds a Quaternion listener.
*/
public void addQuaternionListener(QuaternionListener listener) {
listenerQuaternion.add(listener);
}
/**
* Removes a Quaternion listener.
*/
public void removeQuaternionListener(QuaternionListener listener) {
listenerQuaternion.remove(listener);
}
/**
* Adds a AllData listener.
*/
public void addAllDataListener(AllDataListener listener) {
listenerAllData.add(listener);
}
/**
* Removes a AllData listener.
*/
public void removeAllDataListener(AllDataListener listener) {
listenerAllData.remove(listener);
}
}
