Firmware Version 0.1

API Reference

Firmware Version:

C / C++ API Reference

IMU.IMU()

IMU::IMU(uint32_t device_id, Interface *interface)

Description

Construct a new IMU object.

Parameters

Datatype	Variable	Description
uint32_t	device_id	Device ID for the IMU device
Interface*	interface	CAN Interface object connected to the IMU

IMU.getNodeId()

ret_status_t IMU::getNodeId(uint32_t *node_id)

Description

Get current CAN Node ID of NIMU.

Parameters

Datatype	Variable	Description
uint32_t *	node_id	Pointer to the variable to which the current CAN Node ID of the NIMU is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.setNodeId()

ret_status_t IMU::setNodeId(uint32_t id)

Description

Set the node id for the IMU.

Parameters

Datatype	Variable	Description
uint32_t	id	CAN Node ID of the IMU

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableRotationVector()

ret_status_t IMU::enableRotationVector(uint16_t report_interval)

Description

Enable rotation vector data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableRotationVector()

ret_status_t IMU::disableRotationVector()

Description

Disable rotation vector data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableRawAccelerometer()

ret_status_t IMU::enableRawAccelerometer(uint16_t report_interval)

Description

Enable raw accelerometer data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableRawAccelerometer()

ret_status_t IMU::disableRawAccelerometer()

Description

Disable raw accelerometer data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableRawGyro()

ret_status_t IMU::enableRawGyro(uint16_t report_interval)

Description

Enable raw gyroscope data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableRawGyro()

ret_status_t IMU::disableRawGyro()

Description

Disable raw gyroscope data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableRawMagnetometer()

ret_status_t IMU::enableRawMagnetometer(uint16_t report_interval)

Description

Enable raw magnetometer data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableRawMagnetometer()

ret_status_t IMU::disableRawMagnetometer()

Description

Disable raw magnetometer data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableLinearAccelerometer()

ret_status_t IMU::enableLinearAccelerometer(uint16_t report_interval)

Description

Enable linear accelerometer data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableLinearAccelerometer()

ret_status_t IMU::disableLinearAccelerometer()

Description

Disable linear accelerometer data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableAccelerometer()

ret_status_t IMU::enableAccelerometer(uint16_t report_interval)

Description

Enable accelerometer data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableAccelerometer()

ret_status_t IMU::disableAccelerometer()

Description

Disable accelerometer data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableGyro()

ret_status_t IMU::enableGyro(uint16_t report_interval)

Description

Enable gyroscope data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableGyro()

ret_status_t IMU::disableGyro()

Description

Disable gyroscope data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableMagnetometer()

ret_status_t IMU::enableMagnetometer(uint16_t report_interval)

Description

Enable magnetometer data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableMagnetometer()

ret_status_t IMU::disableMagnetometer()

Description

Disable magnetometer data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableUncalibratedGyro()

ret_status_t IMU::enableUncalibratedGyro(uint16_t report_interval)

Description

Enable uncalibrated gyroscope data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableUncalibratedGyro()

ret_status_t IMU::disableUncalibratedGyro()

Description

Disable uncalibrated gyroscope data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableGravity()

ret_status_t IMU::enableGravity(uint16_t report_interval)

Description

Enable gravity data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableGravity()

ret_status_t IMU::disableGravity()

Description

Disable gravity data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getRotationVectorData()

ret_status_t IMU::getRotationVectorData(float* quat_i, float* quat_j, float* quat_k, float* quat_real)

Description

Retrieves the rotation vector data from the IMU.

Parameters

Datatype	Variable	Description
float*	quat_i	i component of the quaternion
float*	quat_j	j component of the quaternion
float*	quat_k	k component of the quaternion
float*	quat_real	real component of the quaternion

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getRawAccelerometerData()

ret_status_t IMU::getRawAccelerometerData(int16_t* x, int16_t* y, int16_t* z)

Description

Retrieves the raw accelerometer data from the IMU.

Parameters

Datatype	Variable	Description
int16_t*	x	raw accelerometer value in x axis
int16_t*	y	raw accelerometer value in y axis
int16_t*	z	raw accelerometer value in z axis

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getRawGyroData()

ret_status_t IMU::getRawGyroData(int16_t* x, int16_t* y, int16_t* z)

Description

Retrieves the raw gyroscope data from the IMU.

Parameters

Datatype	Variable	Description
int16_t*	x	raw gyro value in x axis
int16_t*	y	raw gyro value in y axis
int16_t*	z	raw gyro value in z axis

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getRawMagnetometerData()

ret_status_t IMU::getRawMagnetometerData(int16_t* x, int16_t* y, int16_t* z)

Description

Retrieves the raw magnetometer data from the IMU.

Parameters

Datatype	Variable	Description
int16_t*	x	raw magnetometer value in x axis
int16_t*	y	raw magnetometer value in y axis
int16_t*	z	raw magnetometer value in z axis

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getLinearAccelerometerData()

ret_status_t IMU::getLinearAccelerometerData(float* x, float* y, float* z, uint8_t* accuracy)

Description

Retrieves the linear accelerometer data from the IMU.

Parameters

Datatype	Variable	Description
float*	x	linear acceleration in x axis (m/s²)
float*	y	linear acceleration in y axis (m/s²)
float*	z	linear acceleration in z axis (m/s²)
uint8_t*	accuracy	accuracy of the linear acceleration data

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getAccelerometerData()

ret_status_t IMU::getAccelerometerData(float* x, float* y, float* z, uint8_t* accuracy)

Description

Retrieves the accelerometer data from the IMU.

Parameters

Datatype	Variable	Description
float*	x	acceleration in x axis (m/s²)
float*	y	acceleration in y axis (m/s²)
float*	z	acceleration in z axis (m/s²)
uint8_t*	accuracy	accuracy of the acceleration data

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getGyroData()

ret_status_t IMU::getGyroData(float* x, float* y, float* z, uint8_t* accuracy)

Description

Retrieves the gyroscope data from the IMU.

Parameters

Datatype	Variable	Description
float*	x	gyro value in x axis (radians per second)
float*	y	gyro value in y axis (radians per second)
float*	z	gyro value in z axis (radians per second)
uint8_t*	accuracy	accuracy of the gyro data

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getMagnetometerData()

ret_status_t IMU::getMagnetometerData(float* x, float* y, float* z, uint8_t* accuracy)

Description

Retrieves the magnetometer data from the IMU.

Parameters

Datatype	Variable	Description
float*	x	magnetometer value in x axis (uTesla)
float*	y	magnetometer value in y axis (uTesla)
float*	z	magnetometer value in z axis (uTesla)
uint8_t*	accuracy	accuracy of the magnetometer data

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getUncalibratedGyroData()

ret_status_t IMU::getUncalibratedGyroData(float* x, float* y, float* z)

Description

Retrieves the uncalibrated gyroscope data from the IMU.

Parameters

Datatype	Variable	Description
float*	x	uncalibrated gyro value in x axis (radians per second)
float*	y	uncalibrated gyro value in y axis (radians per second)
float*	z	uncalibrated gyro value in z axis (radians per second)

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getUncalibratedGyroBiasData()

ret_status_t IMU::getUncalibratedGyroBiasData(float* x, float* y, float* z)

Description

Retrieves the uncalibrated gyroscope bias data from the IMU.

Parameters

Datatype	Variable	Description
float*	x	uncalibrated gyro bias in x axis (radians per second)
float*	y	uncalibrated gyro bias in y axis (radians per second)
float*	z	uncalibrated gyro bias in z axis (radians per second)

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getEulerAngles()

ret_status_t IMU::getEulerAngles(float* yaw, float* pitch, float* roll)

Description

Retrieves the Euler angles from the IMU.

Parameters

Datatype	Variable	Description
float*	yaw	yaw angle (degrees)
float*	pitch	pitch angle (degrees)
float*	roll	roll angle (degrees)

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getGravityData()

ret_status_t IMU::getGravityData(float* x, float* y, float* z)

Description

Retrieves the gravity data from the IMU.

Parameters

Datatype	Variable	Description
float*	x	gravity in x axis (g)
float*	y	gravity in y axis (g)
float*	z	gravity in z axis (g)

Returns

Datatype	Description
ret_status_t	Return Status

IMU.isConnected()

bool IMU::isConnected()

Description

Check if the device is still connected.

Returns

Datatype	Description
bool	true if connected, false otherwise

Python API Reference

IMU.__init__()

__init__(id: int, interface: USBInterface) 

Description

IMU class constructor.

Parameters

Datatype	Variable	Description
int	id	CAN Node ID of IMU
USBInterface	interface	Initialised CANInterface or USBInterface object

IMU.getNodeId()

getNodeId() ->  'tuple[int, int]'

Description

Get current CAN Node ID of the IMU.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing return status and the current CAN Node ID.

IMU.setNodeId()

setNodeId(id: int) -> int

Description

Set the node id for the IMU.

Parameters

Datatype	Variable	Description
int	id	CAN Device ID of the IMU

Returns

Datatype	Description
int	Return Status

IMU.getRotationVectorData

getRotationVectorData() ->  'tuple[float, float, float, float]'

Description

Retrieve the rotation vector data from the IMU.

Returns

Datatype	Description
'tuple[float, float, float, float]'	Tuple containing quaternion components (quat_i, quat_j, quat_k, quat_real).

IMU.getRawAccelerometerData

getRawAccelerometerData() ->  'tuple[int16_t, int16_t, int16_t]'

Description

Retrieve the raw accelerometer data from the IMU.

Returns

Datatype	Description
'tuple[int16_t, int16_t, int16_t]'	Raw accelerometer values (x, y, z).

IMU.getRawGyroData

getRawGyroData() ->  'tuple[int16_t, int16_t, int16_t]'

Description

Retrieve the raw gyroscope data from the IMU.

Returns

Datatype	Description
'tuple[int16_t, int16_t, int16_t]'	Raw gyroscope values (x, y, z).

IMU.getRawMagnetometerData

getRawMagnetometerData() ->  'tuple[int16_t, int16_t, int16_t]'

Description

Retrieve the raw magnetometer data from the IMU.

Returns

Datatype	Description
'tuple[int16_t, int16_t, int16_t]'	Raw magnetometer values (x, y, z).

IMU.getLinearAccelerometerData

getLinearAccelerometerData() ->  'tuple[float, float, float, uint8_t]'

Description

Retrieve the linear accelerometer data from the IMU.

Returns

Datatype	Description
'tuple[float, float, float, uint8_t]'	Linear acceleration values (x, y, z) in m/s² and accuracy.

IMU.getAccelerometerData

getAccelerometerData() ->  'tuple[float, float, float, uint8_t]'

Description

Retrieve the accelerometer data from the IMU.

Returns

Datatype	Description
'tuple[float, float, float, uint8_t]'	Acceleration values (x, y, z) in m/s² and accuracy.

IMU.getGyroData

getGyroData() ->  'tuple[float, float, float, uint8_t]'

Description

Retrieve the gyroscope data from the IMU.

Returns

Datatype	Description
'tuple[float, float, float, uint8_t]'	Gyroscope values (x, y, z) in radians per second and accuracy.

IMU.getMagnetometerData

getMagnetometerData() ->  'tuple[float, float, float, uint8_t]'

Description

Retrieve the magnetometer data from the IMU.

Returns

Datatype	Description
'tuple[float, float, float, uint8_t]'	Magnetometer values (x, y, z) in µT and accuracy.

IMU.getUncalibratedGyroData

getUncalibratedGyroData() ->  'tuple[float, float, float]'

Description

Retrieve the uncalibrated gyroscope data from the IMU.

Returns

Datatype	Description
'tuple[float, float, float]'	Uncalibrated gyroscope values (x, y, z) in radians per second.

IMU.getUncalibratedGyroBiasData

getUncalibratedGyroBiasData() ->  'tuple[float, float, float]'

Description

Retrieve the uncalibrated gyroscope bias data from the IMU.

Returns

Datatype	Description
'tuple[float, float, float]'	Uncalibrated gyroscope bias values (x, y, z) in radians per second.

IMU.getEulerAngles

getEulerAngles() ->  'tuple[float, float, float]'

Description

Retrieve the Euler angles from the IMU.

Returns

Datatype	Description
'tuple[float, float, float]'	Euler angles (yaw, pitch, roll) in degrees.

IMU.getGravityData

getGravityData() ->  'tuple[float, float, float]'

Description

Retrieve the gravity data from the IMU.

Returns

Datatype	Description
'tuple[float, float, float]'	Gravity vector values (x, y, z) in g.

IMU.enableRotationVector

enableRotationVector(time_interval: int) -> int

Description

Enable Quaternion rotation vector data and configure report interval.

Returns

Datatype	Description
int	Status code.

IMU.disableRotationVector

disableRotationVector() -> int

Description

Disable Quaternion rotation vector data stream.

Returns

Datatype	Description
int	Status code.

IMU.enableRawAccelerometer

enableRawAccelerometer(time_interval: int) -> int

Description

Enable Raw accelerometer data and configure report interval.

Returns

Datatype	Description
int	Status code.

IMU.disableRawAccelerometer

disableRawAccelerometer() -> int

Description

Disable Raw accelerometer data stream.

Returns

Datatype	Description
int	Status code.

IMU.enableRawGyro

enableRawGyro(time_interval: int) -> int

Description

Enable Raw gyroscope data and configure report interval.

Returns

Datatype	Description
int	Status code.

IMU.disableRawGyro

disableRawGyro() -> int

Description

Disable Raw gyroscope data stream.

Returns

Datatype	Description
int	Status code.

IMU.enableRawMagnetometer

enableRawMagnetometer(time_interval: int) -> int

Description

Enable Raw magnetometer data and configure report interval.

Returns

Datatype	Description
int	Status code.

IMU.disableRawMagnetometer

disableRawMagnetometer() -> int

Description

Disable Raw magnetometer data stream.

Returns

Datatype	Description
int	Status code.

IMU.enableLinearAccelerometer

enableLinearAccelerometer(time_interval: int) -> int

Description

Enable Linear accelerometer data and configure report interval.

Returns

Datatype	Description
int	Status code.

IMU.disableLinearAccelerometer

disableLinearAccelerometer() -> int

Description

Disable Linear accelerometer data stream.

Returns

Datatype	Description
int	Status code.

IMU.enableAccelerometer

enableAccelerometer(time_interval: int) -> int

Description

Enable Calibrated accelerometer data and configure report interval.

Returns

Datatype	Description
int	Status code.

IMU.disableAccelerometer

disableAccelerometer() -> int

Description

Disable Calibrated accelerometer data stream.

Returns

Datatype	Description
int	Status code.

IMU.enableGyro

enableGyro(time_interval: int) -> int

Description

Enable Calibrated gyroscope data and configure report interval.

Returns

Datatype	Description
int	Status code.

IMU.disableGyro

disableGyro() -> int

Description

Disable Calibrated gyroscope data stream.

Returns

Datatype	Description
int	Status code.

IMU.enableMagnetometer

enableMagnetometer(time_interval: int) -> int

Description

Enable Calibrated magnetometer data and configure report interval.

Returns

Datatype	Description
int	Status code.

IMU.disableMagnetometer

disableMagnetometer() -> int

Description

Disable Calibrated magnetometer data stream.

Returns

Datatype	Description
int	Status code.

IMU.enableUncalibratedGyro

enableUncalibratedGyro(time_interval: int) -> int

Description

Enable Uncalibrated gyroscope data and configure report interval.

Returns

Datatype	Description
int	Status code.

IMU.disableUncalibratedGyro

disableUncalibratedGyro() -> int

Description

Disable Uncalibrated gyroscope data stream.

Returns

Datatype	Description
int	Status code.

IMU.enableGravity

enableGravity(time_interval: int) -> int

Description

Enable Gravity sensor data and configure report interval.

Returns

Datatype	Description
int	Status code.

IMU.disableGravity

disableGravity() -> int

Description

Disable Gravity sensor data stream.

Returns

Datatype	Description
int	Status code.