tinkerforge 2.1.13 → 2.1.14

data/lib/tinkerforge/brick_silent_stepper.rb

@@ -1,8 +1,8 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2017-05-11.      #
+# This file was automatically generated on 2017-07-27.      #
 #                                                           #
-# Ruby Bindings Version 2.1.13                              #
+# Ruby Bindings Version 2.1.14                              #
 #                                                           #
 # 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  #
@@ -60,7 +60,6 @@ module Tinkerforge
     FUNCTION_STOP = 18 # :nodoc:
     FUNCTION_GET_STACK_INPUT_VOLTAGE = 19 # :nodoc:
     FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE = 20 # :nodoc:
-    FUNCTION_GET_CURRENT_CONSUMPTION = 21 # :nodoc:
     FUNCTION_SET_MOTOR_CURRENT = 22 # :nodoc:
     FUNCTION_GET_MOTOR_CURRENT = 23 # :nodoc:
     FUNCTION_ENABLE = 24 # :nodoc:
@@ -84,7 +83,12 @@ module Tinkerforge
     FUNCTION_GET_ALL_DATA = 44 # :nodoc:
     FUNCTION_SET_ALL_DATA_PERIOD = 45 # :nodoc:
     FUNCTION_GET_ALL_DATA_PERIOD = 46 # :nodoc:
+    FUNCTION_SET_SPITFP_BAUDRATE_CONFIG = 231 # :nodoc:
+    FUNCTION_GET_SPITFP_BAUDRATE_CONFIG = 232 # :nodoc:
     FUNCTION_GET_SEND_TIMEOUT_COUNT = 233 # :nodoc:
+    FUNCTION_SET_SPITFP_BAUDRATE = 234 # :nodoc:
+    FUNCTION_GET_SPITFP_BAUDRATE = 235 # :nodoc:
+    FUNCTION_GET_SPITFP_ERROR_COUNT = 237 # :nodoc:
     FUNCTION_ENABLE_STATUS_LED = 238 # :nodoc:
     FUNCTION_DISABLE_STATUS_LED = 239 # :nodoc:
     FUNCTION_IS_STATUS_LED_ENABLED = 240 # :nodoc:
@@ -173,7 +177,6 @@ module Tinkerforge
       @response_expected[FUNCTION_STOP] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_GET_STACK_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
-      @response_expected[FUNCTION_GET_CURRENT_CONSUMPTION] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_SET_MOTOR_CURRENT] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_GET_MOTOR_CURRENT] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_ENABLE] = RESPONSE_EXPECTED_FALSE
@@ -192,16 +195,17 @@ module Tinkerforge
       @response_expected[FUNCTION_GET_DRIVER_STATUS] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_SET_MINIMUM_VOLTAGE] = RESPONSE_EXPECTED_TRUE
       @response_expected[FUNCTION_GET_MINIMUM_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
-      @response_expected[CALLBACK_UNDER_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_FALSE
-      @response_expected[CALLBACK_POSITION_REACHED] = RESPONSE_EXPECTED_ALWAYS_FALSE
       @response_expected[FUNCTION_SET_TIME_BASE] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_GET_TIME_BASE] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_GET_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_SET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_TRUE
       @response_expected[FUNCTION_GET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
-      @response_expected[CALLBACK_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_FALSE
-      @response_expected[CALLBACK_NEW_STATE] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[FUNCTION_SET_SPITFP_BAUDRATE_CONFIG] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_SPITFP_BAUDRATE_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_GET_SEND_TIMEOUT_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_SPITFP_BAUDRATE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_SPITFP_BAUDRATE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
@@ -214,6 +218,7 @@ module Tinkerforge
       @callback_formats[CALLBACK_POSITION_REACHED] = 'l'
       @callback_formats[CALLBACK_ALL_DATA] = 'S l l S S S'
       @callback_formats[CALLBACK_NEW_STATE] = 'C C'
+
     end
 
     # Sets the maximum velocity of the stepper motor in steps per second.
@@ -222,17 +227,17 @@ module Tinkerforge
     # either BrickSilentStepper#set_target_position, BrickSilentStepper#set_steps, BrickSilentStepper#drive_forward or
     # BrickSilentStepper#drive_backward.
     def set_max_velocity(velocity)
-      send_request(FUNCTION_SET_MAX_VELOCITY, [velocity], 'S', 0, '')
+      send_request FUNCTION_SET_MAX_VELOCITY, [velocity], 'S', 0, ''
     end
 
     # Returns the velocity as set by BrickSilentStepper#set_max_velocity.
     def get_max_velocity
-      send_request(FUNCTION_GET_MAX_VELOCITY, [], '', 2, 'S')
+      send_request FUNCTION_GET_MAX_VELOCITY, [], '', 2, 'S'
     end
 
     # Returns the *current* velocity of the stepper motor in steps per second.
     def get_current_velocity
-      send_request(FUNCTION_GET_CURRENT_VELOCITY, [], '', 2, 'S')
+      send_request FUNCTION_GET_CURRENT_VELOCITY, [], '', 2, 'S'
     end
 
     # Sets the acceleration and deacceleration of the stepper motor. The values
@@ -248,13 +253,13 @@ module Tinkerforge
     # 
     # The default value is 1000 for both
     def set_speed_ramping(acceleration, deacceleration)
-      send_request(FUNCTION_SET_SPEED_RAMPING, [acceleration, deacceleration], 'S S', 0, '')
+      send_request FUNCTION_SET_SPEED_RAMPING, [acceleration, deacceleration], 'S S', 0, ''
     end
 
     # Returns the acceleration and deacceleration as set by
     # BrickSilentStepper#set_speed_ramping.
     def get_speed_ramping
-      send_request(FUNCTION_GET_SPEED_RAMPING, [], '', 4, 'S S')
+      send_request FUNCTION_GET_SPEED_RAMPING, [], '', 4, 'S S'
     end
 
     # Executes an active full brake.
@@ -266,14 +271,14 @@ module Tinkerforge
     # 
     # Call BrickSilentStepper#stop if you just want to stop the motor.
     def full_brake
-      send_request(FUNCTION_FULL_BRAKE, [], '', 0, '')
+      send_request FUNCTION_FULL_BRAKE, [], '', 0, ''
     end
 
     # Sets the current steps of the internal step counter. This can be used to
     # set the current position to 0 when some kind of starting position
     # is reached (e.g. when a CNC machine reaches a corner).
     def set_current_position(position)
-      send_request(FUNCTION_SET_CURRENT_POSITION, [position], 'l', 0, '')
+      send_request FUNCTION_SET_CURRENT_POSITION, [position], 'l', 0, ''
     end
 
     # Returns the current position of the stepper motor in steps. On startup
@@ -282,7 +287,7 @@ module Tinkerforge
     # BrickSilentStepper#drive_backward). It also is possible to reset the steps to 0 or
     # set them to any other desired value with BrickSilentStepper#set_current_position.
     def get_current_position
-      send_request(FUNCTION_GET_CURRENT_POSITION, [], '', 4, 'l')
+      send_request FUNCTION_GET_CURRENT_POSITION, [], '', 4, 'l'
     end
 
     # Sets the target position of the stepper motor in steps. For example,
@@ -295,12 +300,12 @@ module Tinkerforge
     # a call of BrickSilentStepper#set_steps with the parameter
     # (*x* - BrickSilentStepper#get_current_position).
     def set_target_position(position)
-      send_request(FUNCTION_SET_TARGET_POSITION, [position], 'l', 0, '')
+      send_request FUNCTION_SET_TARGET_POSITION, [position], 'l', 0, ''
     end
 
     # Returns the last target position as set by BrickSilentStepper#set_target_position.
     def get_target_position
-      send_request(FUNCTION_GET_TARGET_POSITION, [], '', 4, 'l')
+      send_request FUNCTION_GET_TARGET_POSITION, [], '', 4, 'l'
     end
 
     # Sets the number of steps the stepper motor should run. Positive values
@@ -308,12 +313,12 @@ module Tinkerforge
     # The velocity, acceleration and deacceleration as set by
     # BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.
     def set_steps(steps)
-      send_request(FUNCTION_SET_STEPS, [steps], 'l', 0, '')
+      send_request FUNCTION_SET_STEPS, [steps], 'l', 0, ''
     end
 
     # Returns the last steps as set by BrickSilentStepper#set_steps.
     def get_steps
-      send_request(FUNCTION_GET_STEPS, [], '', 4, 'l')
+      send_request FUNCTION_GET_STEPS, [], '', 4, 'l'
     end
 
     # Returns the remaining steps of the last call of BrickSilentStepper#set_steps.
@@ -321,7 +326,7 @@ module Tinkerforge
     # BrickSilentStepper#get_remaining_steps is called after the motor has run for 500 steps,
     # it will return 1500.
     def get_remaining_steps
-      send_request(FUNCTION_GET_REMAINING_STEPS, [], '', 4, 'l')
+      send_request FUNCTION_GET_REMAINING_STEPS, [], '', 4, 'l'
     end
 
     # Sets the step resolution from full-step up to 1/256-step.
@@ -338,39 +343,39 @@ module Tinkerforge
     # 
     # The default is 1/256-step with interpolation on.
     def set_step_configuration(step_resolution, interpolation)
-      send_request(FUNCTION_SET_STEP_CONFIGURATION, [step_resolution, interpolation], 'C ?', 0, '')
+      send_request FUNCTION_SET_STEP_CONFIGURATION, [step_resolution, interpolation], 'C ?', 0, ''
     end
 
     # Returns the step mode as set by BrickSilentStepper#set_step_configuration.
     def get_step_configuration
-      send_request(FUNCTION_GET_STEP_CONFIGURATION, [], '', 2, 'C ?')
+      send_request FUNCTION_GET_STEP_CONFIGURATION, [], '', 2, 'C ?'
     end
 
     # Drives the stepper motor forward until BrickSilentStepper#drive_backward or
     # BrickSilentStepper#stop is called. The velocity, acceleration and deacceleration as
     # set by BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.
     def drive_forward
-      send_request(FUNCTION_DRIVE_FORWARD, [], '', 0, '')
+      send_request FUNCTION_DRIVE_FORWARD, [], '', 0, ''
     end
 
     # Drives the stepper motor backward until BrickSilentStepper#drive_forward or
     # BrickSilentStepper#stop is triggered. The velocity, acceleration and deacceleration as
     # set by BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.
     def drive_backward
-      send_request(FUNCTION_DRIVE_BACKWARD, [], '', 0, '')
+      send_request FUNCTION_DRIVE_BACKWARD, [], '', 0, ''
     end
 
     # Stops the stepper motor with the deacceleration as set by
     # BrickSilentStepper#set_speed_ramping.
     def stop
-      send_request(FUNCTION_STOP, [], '', 0, '')
+      send_request FUNCTION_STOP, [], '', 0, ''
     end
 
     # Returns the stack input voltage in mV. The stack input voltage is the
     # voltage that is supplied via the stack, i.e. it is given by a
     # Step-Down or Step-Up Power Supply.
     def get_stack_input_voltage
-      send_request(FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 2, 'S')
+      send_request FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 2, 'S'
     end
 
     # Returns the external input voltage in mV. The external input voltage is
@@ -386,12 +391,7 @@ module Tinkerforge
     #  the external connection, it will immediately be driven by the high
     #  stack voltage
     def get_external_input_voltage
-      send_request(FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, [], '', 2, 'S')
-    end
-
-    # Returns the current consumption of the motor in mA.
-    def get_current_consumption
-      send_request(FUNCTION_GET_CURRENT_CONSUMPTION, [], '', 2, 'S')
+      send_request FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, [], '', 2, 'S'
     end
 
     # Sets the current in mA with which the motor will be driven.
@@ -402,29 +402,29 @@ module Tinkerforge
     #  Do not set this value above the specifications of your stepper motor.
     #  Otherwise it may damage your motor.
     def set_motor_current(current)
-      send_request(FUNCTION_SET_MOTOR_CURRENT, [current], 'S', 0, '')
+      send_request FUNCTION_SET_MOTOR_CURRENT, [current], 'S', 0, ''
     end
 
     # Returns the current as set by BrickSilentStepper#set_motor_current.
     def get_motor_current
-      send_request(FUNCTION_GET_MOTOR_CURRENT, [], '', 2, 'S')
+      send_request FUNCTION_GET_MOTOR_CURRENT, [], '', 2, 'S'
     end
 
     # Enables the driver chip. The driver parameters can be configured (maximum velocity,
     # acceleration, etc) before it is enabled.
     def enable
-      send_request(FUNCTION_ENABLE, [], '', 0, '')
+      send_request FUNCTION_ENABLE, [], '', 0, ''
     end
 
     # Disables the driver chip. The configurations are kept (maximum velocity,
     # acceleration, etc) but the motor is not driven until it is enabled again.
     def disable
-      send_request(FUNCTION_DISABLE, [], '', 0, '')
+      send_request FUNCTION_DISABLE, [], '', 0, ''
     end
 
     # Returns *true* if the driver chip is enabled, *false* otherwise.
     def is_enabled
-      send_request(FUNCTION_IS_ENABLED, [], '', 1, '?')
+      send_request FUNCTION_IS_ENABLED, [], '', 1, '?'
     end
 
     # Sets the basic configuration parameters for the different modes (Stealth, Coolstep, Classic).
@@ -480,12 +480,12 @@ module Tinkerforge
     # * Classic Threshold: 1000
     # * High Velocity Shopper Mode: false
     def set_basic_configuration(standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode)
-      send_request(FUNCTION_SET_BASIC_CONFIGURATION, [standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode], 'S S S S S S S ?', 0, '')
+      send_request FUNCTION_SET_BASIC_CONFIGURATION, [standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode], 'S S S S S S S ?', 0, ''
     end
 
     # Returns the configuration as set by BrickSilentStepper#set_basic_configuration.
     def get_basic_configuration
-      send_request(FUNCTION_GET_BASIC_CONFIGURATION, [], '', 15, 'S S S S S S S ?')
+      send_request FUNCTION_GET_BASIC_CONFIGURATION, [], '', 15, 'S S S S S S S ?'
     end
 
     # Note: If you don't know what any of this means you can very likely keep all of
@@ -540,12 +540,12 @@ module Tinkerforge
     # * Comparator Blank Time: 1
     # * Fast Decay Without Comparator: false
     def set_spreadcycle_configuration(slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator)
-      send_request(FUNCTION_SET_SPREADCYCLE_CONFIGURATION, [slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator], 'C ? C C c c C C ?', 0, '')
+      send_request FUNCTION_SET_SPREADCYCLE_CONFIGURATION, [slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator], 'C ? C C c c C C ?', 0, ''
     end
 
     # Returns the configuration as set by BrickSilentStepper#set_basic_configuration.
     def get_spreadcycle_configuration
-      send_request(FUNCTION_GET_SPREADCYCLE_CONFIGURATION, [], '', 9, 'C ? C C c c C C ?')
+      send_request FUNCTION_GET_SPREADCYCLE_CONFIGURATION, [], '', 9, 'C ? C C c c C C ?'
     end
 
     # Note: If you don't know what any of this means you can very likely keep all of
@@ -581,12 +581,12 @@ module Tinkerforge
     # * Force Symmetric: false
     # * Freewheel Mode: 0 (Normal)
     def set_stealth_configuration(enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode)
-      send_request(FUNCTION_SET_STEALTH_CONFIGURATION, [enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode], '? C C ? ? C', 0, '')
+      send_request FUNCTION_SET_STEALTH_CONFIGURATION, [enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode], '? C C ? ? C', 0, ''
     end
 
     # Returns the configuration as set by BrickSilentStepper#set_stealth_configuration.
     def get_stealth_configuration
-      send_request(FUNCTION_GET_STEALTH_CONFIGURATION, [], '', 6, '? C C ? ? C')
+      send_request FUNCTION_GET_STEALTH_CONFIGURATION, [], '', 6, '? C C ? ? C'
     end
 
     # Note: If you don't know what any of this means you can very likely keep all of
@@ -627,12 +627,12 @@ module Tinkerforge
     # * Stallguard Threshold Value: 0
     # * Stallguard Mode: 0
     def set_coolstep_configuration(minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode)
-      send_request(FUNCTION_SET_COOLSTEP_CONFIGURATION, [minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode], 'C C C C C c C', 0, '')
+      send_request FUNCTION_SET_COOLSTEP_CONFIGURATION, [minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode], 'C C C C C c C', 0, ''
     end
 
     # Returns the configuration as set by BrickSilentStepper#set_coolstep_configuration.
     def get_coolstep_configuration
-      send_request(FUNCTION_GET_COOLSTEP_CONFIGURATION, [], '', 7, 'C C C C C c C')
+      send_request FUNCTION_GET_COOLSTEP_CONFIGURATION, [], '', 7, 'C C C C C c C'
     end
 
     # Note: If you don't know what any of this means you can very likely keep all of
@@ -654,12 +654,12 @@ module Tinkerforge
     # * Disable Short To Ground Protection: 0
     # * Synchronize Phase Frequency: 0
     def set_misc_configuration(disable_short_to_ground_protection, synchronize_phase_frequency)
-      send_request(FUNCTION_SET_MISC_CONFIGURATION, [disable_short_to_ground_protection, synchronize_phase_frequency], '? C', 0, '')
+      send_request FUNCTION_SET_MISC_CONFIGURATION, [disable_short_to_ground_protection, synchronize_phase_frequency], '? C', 0, ''
     end
 
     # Returns the configuration as set by BrickSilentStepper#set_misc_configuration.
     def get_misc_configuration
-      send_request(FUNCTION_GET_MISC_CONFIGURATION, [], '', 2, '? C')
+      send_request FUNCTION_GET_MISC_CONFIGURATION, [], '', 2, '? C'
     end
 
     # Returns the current driver status.
@@ -676,7 +676,10 @@ module Tinkerforge
     # 
     # * Motor Stalled: Is true if a motor stall was detected.
     # 
-    # * Actual Motor Current: Indicates the actual current control scaling as used in Coolstep mode.
+    # * Actual Motor Current: Indicates the actual current control scaling as used in Coolstep mode. 
+    #   The returned value is between 0 and 31. It represents a multiplier of 1/32 to 32/32 of the
+    #   ``Motor Run Current`` as set by BrickSilentStepper#set_basic_configuration. Example: If a ``Motor Run Current``
+    #   of 1000mA was set and the returned value is 15, the ``Actual Motor Current`` is 16/32*1000mA = 500mA.
     # 
     # * Stallguard Result: Indicates the load of the motor. A lower value signals a higher load. Per trial and error
     #   you can find out which value corresponds to a suitable torque for the velocity used in your application.
@@ -687,7 +690,7 @@ module Tinkerforge
     # * Stealth Voltage Amplitude: Shows the actual PWM scaling. In Stealth mode it can be used to detect motor load and
     #   stall if autoscale is enabled (see BrickSilentStepper#set_stealth_configuration).
     def get_driver_status
-      send_request(FUNCTION_GET_DRIVER_STATUS, [], '', 8, 'C C C ? C ? C C')
+      send_request FUNCTION_GET_DRIVER_STATUS, [], '', 8, 'C C C ? C ? C C'
     end
 
     # Sets the minimum voltage in mV, below which the CALLBACK_UNDER_VOLTAGE callback
@@ -699,12 +702,12 @@ module Tinkerforge
     # 
     # The default value is 8V.
     def set_minimum_voltage(voltage)
-      send_request(FUNCTION_SET_MINIMUM_VOLTAGE, [voltage], 'S', 0, '')
+      send_request FUNCTION_SET_MINIMUM_VOLTAGE, [voltage], 'S', 0, ''
     end
 
     # Returns the minimum voltage as set by BrickSilentStepper#set_minimum_voltage.
     def get_minimum_voltage
-      send_request(FUNCTION_GET_MINIMUM_VOLTAGE, [], '', 2, 'S')
+      send_request FUNCTION_GET_MINIMUM_VOLTAGE, [], '', 2, 'S'
     end
 
     # Sets the time base of the velocity and the acceleration of the Silent Stepper
@@ -716,32 +719,75 @@ module Tinkerforge
     # 
     # The default value is 1.
     def set_time_base(time_base)
-      send_request(FUNCTION_SET_TIME_BASE, [time_base], 'L', 0, '')
+      send_request FUNCTION_SET_TIME_BASE, [time_base], 'L', 0, ''
     end
 
     # Returns the time base as set by BrickSilentStepper#set_time_base.
     def get_time_base
-      send_request(FUNCTION_GET_TIME_BASE, [], '', 4, 'L')
+      send_request FUNCTION_GET_TIME_BASE, [], '', 4, 'L'
     end
 
     # Returns the following parameters: The current velocity,
     # the current position, the remaining steps, the stack voltage, the external
     # voltage and the current consumption of the stepper motor.
     # 
+    # The current consumption is calculated by multiplying the ``Actual Motor Current``
+    # value (see BrickSilentStepper#set_basic_configuration) with the ``Motor Run Current``
+    # (see BrickSilentStepper#get_driver_status). This is an internal calculation of the
+    # driver, not an independent external measurement.
+    # 
+    # The current consumption calculation was broken up to firmware 2.0.1, it is fixed
+    # since firmware 2.0.2.
+    # 
     # There is also a callback for this function, see CALLBACK_ALL_DATA callback.
     def get_all_data
-      send_request(FUNCTION_GET_ALL_DATA, [], '', 16, 'S l l S S S')
+      send_request FUNCTION_GET_ALL_DATA, [], '', 16, 'S l l S S S'
     end
 
     # Sets the period in ms with which the CALLBACK_ALL_DATA callback is triggered
     # periodically. A value of 0 turns the callback off.
     def set_all_data_period(period)
-      send_request(FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 0, '')
+      send_request FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 0, ''
     end
 
     # Returns the period as set by BrickSilentStepper#set_all_data_period.
     def get_all_data_period
-      send_request(FUNCTION_GET_ALL_DATA_PERIOD, [], '', 4, 'L')
+      send_request FUNCTION_GET_ALL_DATA_PERIOD, [], '', 4, 'L'
+    end
+
+    # 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 exponetially if lots of data is send/receieved 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 
+    # BrickSilentStepper#set_spitfp_baudrate. If the dynamic baudrate is disabled, the baudrate
+    # as set by BrickSilentStepper#set_spitfp_baudrate 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:: 2.0.4$nbsp;(Firmware)
+    def set_spitfp_baudrate_config(enable_dynamic_baudrate, minimum_dynamic_baudrate)
+      send_request FUNCTION_SET_SPITFP_BAUDRATE_CONFIG, [enable_dynamic_baudrate, minimum_dynamic_baudrate], '? L', 0, ''
+    end
+
+    # Returns the baudrate config, see BrickSilentStepper#set_spitfp_baudrate_config.
+    # 
+    # .. versionadded:: 2.0.4$nbsp;(Firmware)
+    def get_spitfp_baudrate_config
+      send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 5, '? L'
     end
 
     # Returns the timeout count for the different communication methods.
@@ -751,7 +797,47 @@ module Tinkerforge
     # This function is mostly used for debugging during development, in normal operation
     # the counters should nearly always stay at 0.
     def get_send_timeout_count(communication_method)
-      send_request(FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 4, 'L')
+      send_request FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 4, 'L'
+    end
+
+    # 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 BrickSilentStepper#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 BrickSilentStepper#set_spitfp_baudrate_config).
+    # 
+    # Regulatory testing is done with the default baudrate. If CE compatability
+    # or similar is necessary in you applications we recommend to not change
+    # the baudrate.
+    # 
+    # The default baudrate for all ports is 1400000.
+    def set_spitfp_baudrate(bricklet_port, baudrate)
+      send_request FUNCTION_SET_SPITFP_BAUDRATE, [bricklet_port, baudrate], 'k L', 0, ''
+    end
+
+    # Returns the baudrate for a given Bricklet port, see BrickSilentStepper#set_spitfp_baudrate.
+    def get_spitfp_baudrate(bricklet_port)
+      send_request FUNCTION_GET_SPITFP_BAUDRATE, [bricklet_port], 'k', 4, 'L'
+    end
+
+    # Returns the error count for the communication between Brick and Bricklet.
+    # 
+    # The errors are divided into
+    # 
+    # * ACK checksum errors,
+    # * message checksum errors,
+    # * frameing 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.
+    def get_spitfp_error_count(bricklet_port)
+      send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [bricklet_port], 'k', 16, 'L L L L'
     end
 
     # Enables the status LED.
@@ -761,7 +847,7 @@ module Tinkerforge
     # 
     # The default state is enabled.
     def enable_status_led
-      send_request(FUNCTION_ENABLE_STATUS_LED, [], '', 0, '')
+      send_request FUNCTION_ENABLE_STATUS_LED, [], '', 0, ''
     end
 
     # Disables the status LED.
@@ -771,12 +857,12 @@ module Tinkerforge
     # 
     # The default state is enabled.
     def disable_status_led
-      send_request(FUNCTION_DISABLE_STATUS_LED, [], '', 0, '')
+      send_request FUNCTION_DISABLE_STATUS_LED, [], '', 0, ''
     end
 
     # Returns *true* if the status LED is enabled, *false* otherwise.
     def is_status_led_enabled
-      send_request(FUNCTION_IS_STATUS_LED_ENABLED, [], '', 1, '?')
+      send_request FUNCTION_IS_STATUS_LED_ENABLED, [], '', 1, '?'
     end
 
     # Returns the firmware and protocol version and the name of the Bricklet for a
@@ -785,7 +871,7 @@ module Tinkerforge
     # This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet
     # plugins.
     def get_protocol1_bricklet_name(port)
-      send_request(FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 44, 'C C3 Z40')
+      send_request FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 44, 'C C3 Z40'
     end
 
     # Returns the temperature in °C/10 as measured inside the microcontroller. The
@@ -795,7 +881,7 @@ module Tinkerforge
     # accuracy of +-15%. Practically it is only useful as an indicator for
     # temperature changes.
     def get_chip_temperature
-      send_request(FUNCTION_GET_CHIP_TEMPERATURE, [], '', 2, 's')
+      send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 2, 's'
     end
 
     # Calling this function will reset the Brick. Calling this function
@@ -805,7 +891,7 @@ module Tinkerforge
     # calling functions on the existing ones will result in
     # undefined behavior!
     def reset
-      send_request(FUNCTION_RESET, [], '', 0, '')
+      send_request FUNCTION_RESET, [], '', 0, ''
     end
 
     # Returns the UID, the UID where the Brick is connected to,
@@ -817,7 +903,7 @@ module Tinkerforge
     # The device identifier numbers can be found :ref:`here <device_identifier>`.
     # |device_identifier_constant|
     def get_identity
-      send_request(FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S')
+      send_request FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S'
     end
 
     # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.