/* ***********************************************************
 * This file was automatically generated on 2021-03-02.      *
 *                                                           *
 * JavaScript Bindings Version 2.1.33                        *
 *                                                           *
 * 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       *
 *************************************************************/

var Device = require('./Device');
var IPConnection = require('./IPConnection');

BrickIMU.DEVICE_IDENTIFIER = 16;
BrickIMU.DEVICE_DISPLAY_NAME = 'IMU Brick';
BrickIMU.CALLBACK_ACCELERATION = 31;
BrickIMU.CALLBACK_MAGNETIC_FIELD = 32;
BrickIMU.CALLBACK_ANGULAR_VELOCITY = 33;
BrickIMU.CALLBACK_ALL_DATA = 34;
BrickIMU.CALLBACK_ORIENTATION = 35;
BrickIMU.CALLBACK_QUATERNION = 36;
BrickIMU.FUNCTION_GET_ACCELERATION = 1;
BrickIMU.FUNCTION_GET_MAGNETIC_FIELD = 2;
BrickIMU.FUNCTION_GET_ANGULAR_VELOCITY = 3;
BrickIMU.FUNCTION_GET_ALL_DATA = 4;
BrickIMU.FUNCTION_GET_ORIENTATION = 5;
BrickIMU.FUNCTION_GET_QUATERNION = 6;
BrickIMU.FUNCTION_GET_IMU_TEMPERATURE = 7;
BrickIMU.FUNCTION_LEDS_ON = 8;
BrickIMU.FUNCTION_LEDS_OFF = 9;
BrickIMU.FUNCTION_ARE_LEDS_ON = 10;
BrickIMU.FUNCTION_SET_ACCELERATION_RANGE = 11;
BrickIMU.FUNCTION_GET_ACCELERATION_RANGE = 12;
BrickIMU.FUNCTION_SET_MAGNETOMETER_RANGE = 13;
BrickIMU.FUNCTION_GET_MAGNETOMETER_RANGE = 14;
BrickIMU.FUNCTION_SET_CONVERGENCE_SPEED = 15;
BrickIMU.FUNCTION_GET_CONVERGENCE_SPEED = 16;
BrickIMU.FUNCTION_SET_CALIBRATION = 17;
BrickIMU.FUNCTION_GET_CALIBRATION = 18;
BrickIMU.FUNCTION_SET_ACCELERATION_PERIOD = 19;
BrickIMU.FUNCTION_GET_ACCELERATION_PERIOD = 20;
BrickIMU.FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 21;
BrickIMU.FUNCTION_GET_MAGNETIC_FIELD_PERIOD = 22;
BrickIMU.FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 23;
BrickIMU.FUNCTION_GET_ANGULAR_VELOCITY_PERIOD = 24;
BrickIMU.FUNCTION_SET_ALL_DATA_PERIOD = 25;
BrickIMU.FUNCTION_GET_ALL_DATA_PERIOD = 26;
BrickIMU.FUNCTION_SET_ORIENTATION_PERIOD = 27;
BrickIMU.FUNCTION_GET_ORIENTATION_PERIOD = 28;
BrickIMU.FUNCTION_SET_QUATERNION_PERIOD = 29;
BrickIMU.FUNCTION_GET_QUATERNION_PERIOD = 30;
BrickIMU.FUNCTION_ORIENTATION_CALCULATION_ON = 37;
BrickIMU.FUNCTION_ORIENTATION_CALCULATION_OFF = 38;
BrickIMU.FUNCTION_IS_ORIENTATION_CALCULATION_ON = 39;
BrickIMU.FUNCTION_SET_SPITFP_BAUDRATE_CONFIG = 231;
BrickIMU.FUNCTION_GET_SPITFP_BAUDRATE_CONFIG = 232;
BrickIMU.FUNCTION_GET_SEND_TIMEOUT_COUNT = 233;
BrickIMU.FUNCTION_SET_SPITFP_BAUDRATE = 234;
BrickIMU.FUNCTION_GET_SPITFP_BAUDRATE = 235;
BrickIMU.FUNCTION_GET_SPITFP_ERROR_COUNT = 237;
BrickIMU.FUNCTION_ENABLE_STATUS_LED = 238;
BrickIMU.FUNCTION_DISABLE_STATUS_LED = 239;
BrickIMU.FUNCTION_IS_STATUS_LED_ENABLED = 240;
BrickIMU.FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241;
BrickIMU.FUNCTION_GET_CHIP_TEMPERATURE = 242;
BrickIMU.FUNCTION_RESET = 243;
BrickIMU.FUNCTION_WRITE_BRICKLET_PLUGIN = 246;
BrickIMU.FUNCTION_READ_BRICKLET_PLUGIN = 247;
BrickIMU.FUNCTION_GET_IDENTITY = 255;
BrickIMU.CALIBRATION_TYPE_ACCELEROMETER_GAIN = 0;
BrickIMU.CALIBRATION_TYPE_ACCELEROMETER_BIAS = 1;
BrickIMU.CALIBRATION_TYPE_MAGNETOMETER_GAIN = 2;
BrickIMU.CALIBRATION_TYPE_MAGNETOMETER_BIAS = 3;
BrickIMU.CALIBRATION_TYPE_GYROSCOPE_GAIN = 4;
BrickIMU.CALIBRATION_TYPE_GYROSCOPE_BIAS = 5;
BrickIMU.COMMUNICATION_METHOD_NONE = 0;
BrickIMU.COMMUNICATION_METHOD_USB = 1;
BrickIMU.COMMUNICATION_METHOD_SPI_STACK = 2;
BrickIMU.COMMUNICATION_METHOD_CHIBI = 3;
BrickIMU.COMMUNICATION_METHOD_RS485 = 4;
BrickIMU.COMMUNICATION_METHOD_WIFI = 5;
BrickIMU.COMMUNICATION_METHOD_ETHERNET = 6;
BrickIMU.COMMUNICATION_METHOD_WIFI_V2 = 7;

function BrickIMU(uid, ipcon) {
	//Full fledged AHRS with 9 degrees of freedom

	/*
	Creates an object with the unique device ID *uid* and adds it to
	the IP Connection *ipcon*.
	*/
	Device.call(this, this, uid, ipcon, BrickIMU.DEVICE_IDENTIFIER, BrickIMU.DEVICE_DISPLAY_NAME);
	BrickIMU.prototype = Object.create(Device);
	this.APIVersion = [2, 0, 4];
	this.responseExpected[BrickIMU.FUNCTION_GET_ACCELERATION] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_MAGNETIC_FIELD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_ANGULAR_VELOCITY] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_ALL_DATA] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_ORIENTATION] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_QUATERNION] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_IMU_TEMPERATURE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_LEDS_ON] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_LEDS_OFF] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_ARE_LEDS_ON] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_ACCELERATION_RANGE] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_GET_ACCELERATION_RANGE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_MAGNETOMETER_RANGE] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_GET_MAGNETOMETER_RANGE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_CONVERGENCE_SPEED] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_GET_CONVERGENCE_SPEED] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_CALIBRATION] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_GET_CALIBRATION] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_ACCELERATION_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_ACCELERATION_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_MAGNETIC_FIELD_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_MAGNETIC_FIELD_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_ANGULAR_VELOCITY_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_ANGULAR_VELOCITY_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_ALL_DATA_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_ALL_DATA_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_ORIENTATION_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_ORIENTATION_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_QUATERNION_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_QUATERNION_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_ORIENTATION_CALCULATION_ON] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_ORIENTATION_CALCULATION_OFF] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_IS_ORIENTATION_CALCULATION_ON] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_SPITFP_BAUDRATE_CONFIG] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_GET_SPITFP_BAUDRATE_CONFIG] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_SEND_TIMEOUT_COUNT] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_SET_SPITFP_BAUDRATE] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_GET_SPITFP_BAUDRATE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_SPITFP_ERROR_COUNT] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_ENABLE_STATUS_LED] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_DISABLE_STATUS_LED] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_IS_STATUS_LED_ENABLED] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_CHIP_TEMPERATURE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_RESET] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_WRITE_BRICKLET_PLUGIN] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickIMU.FUNCTION_READ_BRICKLET_PLUGIN] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickIMU.FUNCTION_GET_IDENTITY] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.callbackFormats[BrickIMU.CALLBACK_ACCELERATION] = [14, 'h h h'];
	this.callbackFormats[BrickIMU.CALLBACK_MAGNETIC_FIELD] = [14, 'h h h'];
	this.callbackFormats[BrickIMU.CALLBACK_ANGULAR_VELOCITY] = [14, 'h h h'];
	this.callbackFormats[BrickIMU.CALLBACK_ALL_DATA] = [28, 'h h h h h h h h h h'];
	this.callbackFormats[BrickIMU.CALLBACK_ORIENTATION] = [14, 'h h h'];
	this.callbackFormats[BrickIMU.CALLBACK_QUATERNION] = [24, 'f f f f'];



	this.getAcceleration = function(returnCallback, errorCallback) {
		/*
		Returns the calibrated acceleration from the accelerometer for the
		x, y and z axis.
		
		If you want to get the acceleration periodically, it is recommended
		to use the :cb:`Acceleration` callback and set the period with
		:func:`Set Acceleration Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_ACCELERATION, [], '', 14, 'h h h', returnCallback, errorCallback, false, true);
	};
	this.getMagneticField = function(returnCallback, errorCallback) {
		/*
		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 :cb:`Magnetic Field` callback and set the period with
		:func:`Set Magnetic Field Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_MAGNETIC_FIELD, [], '', 14, 'h h h', returnCallback, errorCallback, false, true);
	};
	this.getAngularVelocity = function(returnCallback, errorCallback) {
		/*
		Returns the calibrated angular velocity from the gyroscope for the
		x, y and z axis in °/14.375s (you have to divide by 14.375 to
		get the value in °/s).
		
		If you want to get the angular velocity periodically, it is recommended
		to use the :cb:`Angular Velocity` callback and set the period with
		:func:`Set Angular Velocity Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_ANGULAR_VELOCITY, [], '', 14, 'h h h', returnCallback, errorCallback, false, true);
	};
	this.getAllData = function(returnCallback, errorCallback) {
		/*
		Returns the data from :func:`Get Acceleration`, :func:`Get Magnetic Field`
		and :func:`Get Angular Velocity` as well as the temperature of the IMU Brick.
		
		If you want to get the data periodically, it is recommended
		to use the :cb:`All Data` callback and set the period with
		:func:`Set All Data Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_ALL_DATA, [], '', 28, 'h h h h h h h h h h', returnCallback, errorCallback, false, true);
	};
	this.getOrientation = function(returnCallback, errorCallback) {
		/*
		Returns the current orientation (roll, pitch, yaw) of the IMU Brick as Euler
		angles. Note that Euler angles always experience a
		`gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__.
		
		We recommend that you use quaternions instead.
		
		The order to sequence in which the orientation values should be applied is
		roll, yaw, pitch.
		
		If you want to get the orientation periodically, it is recommended
		to use the :cb:`Orientation` callback and set the period with
		:func:`Set Orientation Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_ORIENTATION, [], '', 14, 'h h h', returnCallback, errorCallback, false, true);
	};
	this.getQuaternion = function(returnCallback, errorCallback) {
		/*
		Returns the current orientation (x, y, z, w) of the IMU as
		`quaternions <https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
		
		You can go from quaternions to Euler angles with the following formula::
		
		 xAngle = atan2(2*y*w - 2*x*z, 1 - 2*y*y - 2*z*z)
		 yAngle = atan2(2*x*w - 2*y*z, 1 - 2*x*x - 2*z*z)
		 zAngle =  asin(2*x*y + 2*z*w)
		
		This process is not reversible, because of the
		`gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__.
		
		It is also possible to calculate independent angles. You can calculate
		yaw, pitch and roll in a right-handed vehicle coordinate system according to
		DIN70000 with::
		
		 yaw   =  atan2(2*x*y + 2*w*z, w*w + x*x - y*y - z*z)
		 pitch = -asin(2*w*y - 2*x*z)
		 roll  = -atan2(2*y*z + 2*w*x, -w*w + x*x + y*y - z*z))
		
		Converting the quaternions to an OpenGL transformation matrix is
		possible with the following formula::
		
		 matrix = [[1 - 2*(y*y + z*z),     2*(x*y - w*z),     2*(x*z + w*y), 0],
		           [    2*(x*y + w*z), 1 - 2*(x*x + z*z),     2*(y*z - w*x), 0],
		           [    2*(x*z - w*y),     2*(y*z + w*x), 1 - 2*(x*x + y*y), 0],
		           [                0,                 0,                 0, 1]]
		
		If you want to get the quaternions periodically, it is recommended
		to use the :cb:`Quaternion` callback and set the period with
		:func:`Set Quaternion Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_QUATERNION, [], '', 24, 'f f f f', returnCallback, errorCallback, false, true);
	};
	this.getIMUTemperature = function(returnCallback, errorCallback) {
		/*
		Returns the temperature of the IMU Brick.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_IMU_TEMPERATURE, [], '', 10, 'h', returnCallback, errorCallback, false, true);
	};
	this.ledsOn = function(returnCallback, errorCallback) {
		/*
		Turns the orientation and direction LEDs of the IMU Brick on.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_LEDS_ON, [], '', 0, '', returnCallback, errorCallback, false, true);
	};
	this.ledsOff = function(returnCallback, errorCallback) {
		/*
		Turns the orientation and direction LEDs of the IMU Brick off.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_LEDS_OFF, [], '', 0, '', returnCallback, errorCallback, false, true);
	};
	this.areLedsOn = function(returnCallback, errorCallback) {
		/*
		Returns *true* if the orientation and direction LEDs of the IMU Brick
		are on, *false* otherwise.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_ARE_LEDS_ON, [], '', 9, '?', returnCallback, errorCallback, false, true);
	};
	this.setAccelerationRange = function(range, returnCallback, errorCallback) {
		/*
		Not implemented yet.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_ACCELERATION_RANGE, [range], 'B', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getAccelerationRange = function(returnCallback, errorCallback) {
		/*
		Not implemented yet.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_ACCELERATION_RANGE, [], '', 9, 'B', returnCallback, errorCallback, false, true);
	};
	this.setMagnetometerRange = function(range, returnCallback, errorCallback) {
		/*
		Not implemented yet.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_MAGNETOMETER_RANGE, [range], 'B', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getMagnetometerRange = function(returnCallback, errorCallback) {
		/*
		Not implemented yet.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_MAGNETOMETER_RANGE, [], '', 9, 'B', returnCallback, errorCallback, false, true);
	};
	this.setConvergenceSpeed = function(speed, returnCallback, errorCallback) {
		/*
		Sets the convergence speed of the IMU Brick. The convergence speed
		determines how the different sensor measurements are fused.
		
		If the orientation of the IMU Brick is off by 10° and the convergence speed is
		set to 20°/s, it will take 0.5s until the orientation is corrected. However,
		if the correct orientation is reached and the convergence speed is too high,
		the orientation will fluctuate with the fluctuations of the accelerometer and
		the magnetometer.
		
		If you set the convergence speed to 0, practically only the gyroscope is used
		to calculate the orientation. This gives very smooth movements, but errors of the
		gyroscope will not be corrected. If you set the convergence speed to something
		above 500, practically only the magnetometer and the accelerometer are used to
		calculate the orientation. In this case the movements are abrupt and the values
		will fluctuate, but there won't be any errors that accumulate over time.
		
		In an application with high angular velocities, we recommend a high convergence
		speed, so the errors of the gyroscope can be corrected fast. In applications with
		only slow movements we recommend a low convergence speed. You can change the
		convergence speed on the fly. So it is possible (and recommended) to increase
		the convergence speed before an abrupt movement and decrease it afterwards
		again.
		
		You might want to play around with the convergence speed in the Brick Viewer to
		get a feeling for a good value for your application.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_CONVERGENCE_SPEED, [speed], 'H', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getConvergenceSpeed = function(returnCallback, errorCallback) {
		/*
		Returns the convergence speed as set by :func:`Set Convergence Speed`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_CONVERGENCE_SPEED, [], '', 10, 'H', returnCallback, errorCallback, false, true);
	};
	this.setCalibration = function(typ, data, returnCallback, errorCallback) {
		/*
		There are several different types that can be calibrated:
		
		.. csv-table::
		 :header: "Type", "Description", "Values"
		 :widths: 10, 30, 110
		
		 "0",    "Accelerometer Gain", "``[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]``"
		 "1",    "Accelerometer Bias", "``[bias x, bias y, bias z, 0, 0, 0, 0, 0, 0, 0]``"
		 "2",    "Magnetometer Gain",  "``[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]``"
		 "3",    "Magnetometer Bias",  "``[bias x, bias y, bias z, 0, 0, 0, 0, 0, 0, 0]``"
		 "4",    "Gyroscope Gain",     "``[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]``"
		 "5",    "Gyroscope Bias",     "``[bias xl, bias yl, bias zl, temp l, bias xh, bias yh, bias zh, temp h, 0, 0]``"
		
		The calibration via gain and bias is done with the following formula::
		
		 new_value = (bias + orig_value) * gain_mul / gain_div
		
		If you really want to write your own calibration software, please keep
		in mind that you first have to undo the old calibration (set bias to 0 and
		gain to 1/1) and that you have to average over several thousand values
		to obtain a usable result in the end.
		
		The gyroscope bias is highly dependent on the temperature, so you have to
		calibrate the bias two times with different temperatures. The values ``xl``,
		``yl``, ``zl`` and ``temp l`` are the bias for ``x``, ``y``, ``z`` and the
		corresponding temperature for a low temperature. The values ``xh``, ``yh``,
		``zh`` and ``temp h`` are the same for a high temperatures. The temperature
		difference should be at least 5°C. If you have a temperature where the
		IMU Brick is mostly used, you should use this temperature for one of the
		sampling points.
		
		.. note::
		 We highly recommend that you use the Brick Viewer to calibrate your
		 IMU Brick.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_CALIBRATION, [typ, data], 'B h10', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getCalibration = function(typ, returnCallback, errorCallback) {
		/*
		Returns the calibration for a given type as set by :func:`Set Calibration`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_CALIBRATION, [typ], 'B', 28, 'h10', returnCallback, errorCallback, false, true);
	};
	this.setAccelerationPeriod = function(period, returnCallback, errorCallback) {
		/*
		Sets the period with which the :cb:`Acceleration` callback is triggered
		periodically. A value of 0 turns the callback off.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_ACCELERATION_PERIOD, [period], 'I', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getAccelerationPeriod = function(returnCallback, errorCallback) {
		/*
		Returns the period as set by :func:`Set Acceleration Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_ACCELERATION_PERIOD, [], '', 12, 'I', returnCallback, errorCallback, false, true);
	};
	this.setMagneticFieldPeriod = function(period, returnCallback, errorCallback) {
		/*
		Sets the period with which the :cb:`Magnetic Field` callback is
		triggered periodically. A value of 0 turns the callback off.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_MAGNETIC_FIELD_PERIOD, [period], 'I', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getMagneticFieldPeriod = function(returnCallback, errorCallback) {
		/*
		Returns the period as set by :func:`Set Magnetic Field Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_MAGNETIC_FIELD_PERIOD, [], '', 12, 'I', returnCallback, errorCallback, false, true);
	};
	this.setAngularVelocityPeriod = function(period, returnCallback, errorCallback) {
		/*
		Sets the period with which the :cb:`Angular Velocity` callback is
		triggered periodically. A value of 0 turns the callback off.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_ANGULAR_VELOCITY_PERIOD, [period], 'I', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getAngularVelocityPeriod = function(returnCallback, errorCallback) {
		/*
		Returns the period as set by :func:`Set Angular Velocity Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_ANGULAR_VELOCITY_PERIOD, [], '', 12, 'I', returnCallback, errorCallback, false, true);
	};
	this.setAllDataPeriod = function(period, returnCallback, errorCallback) {
		/*
		Sets the period with which the :cb:`All Data` callback is triggered
		periodically. A value of 0 turns the callback off.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_ALL_DATA_PERIOD, [period], 'I', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getAllDataPeriod = function(returnCallback, errorCallback) {
		/*
		Returns the period as set by :func:`Set All Data Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_ALL_DATA_PERIOD, [], '', 12, 'I', returnCallback, errorCallback, false, true);
	};
	this.setOrientationPeriod = function(period, returnCallback, errorCallback) {
		/*
		Sets the period with which the :cb:`Orientation` callback is triggered
		periodically. A value of 0 turns the callback off.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_ORIENTATION_PERIOD, [period], 'I', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getOrientationPeriod = function(returnCallback, errorCallback) {
		/*
		Returns the period as set by :func:`Set Orientation Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_ORIENTATION_PERIOD, [], '', 12, 'I', returnCallback, errorCallback, false, true);
	};
	this.setQuaternionPeriod = function(period, returnCallback, errorCallback) {
		/*
		Sets the period with which the :cb:`Quaternion` callback is triggered
		periodically. A value of 0 turns the callback off.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_QUATERNION_PERIOD, [period], 'I', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getQuaternionPeriod = function(returnCallback, errorCallback) {
		/*
		Returns the period as set by :func:`Set Quaternion Period`.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_QUATERNION_PERIOD, [], '', 12, 'I', returnCallback, errorCallback, false, true);
	};
	this.orientationCalculationOn = function(returnCallback, errorCallback) {
		/*
		Turns the orientation calculation of the IMU Brick on.
		
		As default the calculation is on.
		
		.. versionadded:: 2.0.2$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_ORIENTATION_CALCULATION_ON, [], '', 0, '', returnCallback, errorCallback, false, true);
	};
	this.orientationCalculationOff = function(returnCallback, errorCallback) {
		/*
		Turns the orientation calculation of the IMU Brick off.
		
		If the calculation is off, :func:`Get Orientation` will return
		the last calculated value until the calculation is turned on again.
		
		The trigonometric functions that are needed to calculate the orientation
		are very expensive. We recommend to turn the orientation calculation
		off if the orientation is not needed, to free calculation time for the
		sensor fusion algorithm.
		
		As default the calculation is on.
		
		.. versionadded:: 2.0.2$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_ORIENTATION_CALCULATION_OFF, [], '', 0, '', returnCallback, errorCallback, false, true);
	};
	this.isOrientationCalculationOn = function(returnCallback, errorCallback) {
		/*
		Returns *true* if the orientation calculation of the IMU Brick
		is on, *false* otherwise.
		
		.. versionadded:: 2.0.2$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_IS_ORIENTATION_CALCULATION_ON, [], '', 9, '?', returnCallback, errorCallback, false, true);
	};
	this.setSPITFPBaudrateConfig = function(enableDynamicBaudrate, minimumDynamicBaudrate, returnCallback, errorCallback) {
		/*
		The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is
		enabled, the Brick will try to adapt the baudrate for the communication
		between Bricks and Bricklets according to the amount of data that is transferred.
		
		The baudrate will be increased exponentially if lots of data is sent/received and
		decreased linearly if little data is sent/received.
		
		This lowers the baudrate in applications where little data is transferred (e.g.
		a weather station) and increases the robustness. If there is lots of data to transfer
		(e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.
		
		In cases where some data has to transferred as fast as possible every few seconds
		(e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn
		the dynamic baudrate off to get the highest possible performance.
		
		The maximum value of the baudrate can be set per port with the function
		:func:`Set SPITFP Baudrate`. If the dynamic baudrate is disabled, the baudrate
		as set by :func:`Set SPITFP Baudrate` will be used statically.
		
		.. versionadded:: 2.3.5$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_SPITFP_BAUDRATE_CONFIG, [enableDynamicBaudrate, minimumDynamicBaudrate], '? I', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getSPITFPBaudrateConfig = function(returnCallback, errorCallback) {
		/*
		Returns the baudrate config, see :func:`Set SPITFP Baudrate Config`.
		
		.. versionadded:: 2.3.5$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 13, '? I', returnCallback, errorCallback, false, true);
	};
	this.getSendTimeoutCount = function(communicationMethod, returnCallback, errorCallback) {
		/*
		Returns the timeout count for the different communication methods.
		
		The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.
		
		This function is mostly used for debugging during development, in normal operation
		the counters should nearly always stay at 0.
		
		.. versionadded:: 2.3.3$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_SEND_TIMEOUT_COUNT, [communicationMethod], 'B', 12, 'I', returnCallback, errorCallback, false, true);
	};
	this.setSPITFPBaudrate = function(brickletPort, baudrate, returnCallback, errorCallback) {
		/*
		Sets the baudrate for a specific Bricklet port.
		
		If you want to increase the throughput of Bricklets you can increase
		the baudrate. If you get a high error count because of high
		interference (see :func:`Get SPITFP Error Count`) you can decrease the
		baudrate.
		
		If the dynamic baudrate feature is enabled, the baudrate set by this
		function corresponds to the maximum baudrate (see :func:`Set SPITFP Baudrate Config`).
		
		Regulatory testing is done with the default baudrate. If CE compatibility
		or similar is necessary in your applications we recommend to not change
		the baudrate.
		
		.. versionadded:: 2.3.3$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_SET_SPITFP_BAUDRATE, [brickletPort, baudrate], 'c I', 0, '', returnCallback, errorCallback, false, true);
	};
	this.getSPITFPBaudrate = function(brickletPort, returnCallback, errorCallback) {
		/*
		Returns the baudrate for a given Bricklet port, see :func:`Set SPITFP Baudrate`.
		
		.. versionadded:: 2.3.3$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_SPITFP_BAUDRATE, [brickletPort], 'c', 12, 'I', returnCallback, errorCallback, false, true);
	};
	this.getSPITFPErrorCount = function(brickletPort, returnCallback, errorCallback) {
		/*
		Returns the error count for the communication between Brick and Bricklet.
		
		The errors are divided into
		
		* ACK checksum errors,
		* message checksum errors,
		* framing errors and
		* overflow errors.
		
		The errors counts are for errors that occur on the Brick side. All
		Bricklets have a similar function that returns the errors on the Bricklet side.
		
		.. versionadded:: 2.3.3$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_SPITFP_ERROR_COUNT, [brickletPort], 'c', 24, 'I I I I', returnCallback, errorCallback, false, true);
	};
	this.enableStatusLED = function(returnCallback, errorCallback) {
		/*
		Enables the status LED.
		
		The status LED is the blue LED next to the USB connector. If enabled is is
		on and it flickers if data is transfered. If disabled it is always off.
		
		The default state is enabled.
		
		.. versionadded:: 2.3.1$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_ENABLE_STATUS_LED, [], '', 0, '', returnCallback, errorCallback, false, true);
	};
	this.disableStatusLED = function(returnCallback, errorCallback) {
		/*
		Disables the status LED.
		
		The status LED is the blue LED next to the USB connector. If enabled is is
		on and it flickers if data is transfered. If disabled it is always off.
		
		The default state is enabled.
		
		.. versionadded:: 2.3.1$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_DISABLE_STATUS_LED, [], '', 0, '', returnCallback, errorCallback, false, true);
	};
	this.isStatusLEDEnabled = function(returnCallback, errorCallback) {
		/*
		Returns *true* if the status LED is enabled, *false* otherwise.
		
		.. versionadded:: 2.3.1$nbsp;(Firmware)
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_IS_STATUS_LED_ENABLED, [], '', 9, '?', returnCallback, errorCallback, false, true);
	};
	this.getProtocol1BrickletName = function(port, returnCallback, errorCallback) {
		/*
		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.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'c', 52, 'B B3 s40', returnCallback, errorCallback, false, true);
	};
	this.getChipTemperature = function(returnCallback, errorCallback) {
		/*
		Returns the temperature as measured inside the microcontroller. The
		value returned is not the ambient temperature!
		
		The temperature is only proportional to the real temperature and it has an
		accuracy of ±15%. Practically it is only useful as an indicator for
		temperature changes.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 'h', returnCallback, errorCallback, false, true);
	};
	this.reset = function(returnCallback, errorCallback) {
		/*
		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!
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_RESET, [], '', 0, '', returnCallback, errorCallback, false, true);
	};
	this.writeBrickletPlugin = function(port, offset, chunk, returnCallback, errorCallback) {
		/*
		Writes 32 bytes of firmware to the bricklet attached at the given port.
		The bytes are written to the position offset * 32.
		
		This function is used by Brick Viewer during flashing. It should not be
		necessary to call it in a normal user program.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_WRITE_BRICKLET_PLUGIN, [port, offset, chunk], 'c B B32', 0, '', returnCallback, errorCallback, false, true);
	};
	this.readBrickletPlugin = function(port, offset, returnCallback, errorCallback) {
		/*
		Reads 32 bytes of firmware from the bricklet attached at the given port.
		The bytes are read starting at the position offset * 32.
		
		This function is used by Brick Viewer during flashing. It should not be
		necessary to call it in a normal user program.
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_READ_BRICKLET_PLUGIN, [port, offset], 'c B', 40, 'B32', returnCallback, errorCallback, false, true);
	};
	this.getIdentity = function(returnCallback, errorCallback) {
		/*
		Returns the UID, the UID where the Brick is connected to,
		the position, the hardware and firmware version as well as the
		device identifier.
		
		The position is the position in the stack from '0' (bottom) to '8' (top).
		
		The device identifier numbers can be found :ref:`here <device_identifier>`.
		|device_identifier_constant|
		*/
		this.ipcon.sendRequest(this, BrickIMU.FUNCTION_GET_IDENTITY, [], '', 33, 's8 s8 c B3 B3 H', returnCallback, errorCallback, false, false);
	};

	this.ipcon.addDevice(this);
}

module.exports = BrickIMU;
