tinkerforge 2.1.21 → 2.1.22

data/lib/tinkerforge/bricklet_joystick_v2.rb

@@ -0,0 +1,294 @@
+# -*- ruby encoding: utf-8 -*-
+#############################################################
+# This file was automatically generated on 2019-05-21.      #
+#                                                           #
+# Ruby Bindings Version 2.1.22                              #
+#                                                           #
+# 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       #
+#############################################################
+
+module Tinkerforge
+  # 2-axis joystick with push-button
+  class BrickletJoystickV2 < Device
+    DEVICE_IDENTIFIER = 2138 # :nodoc:
+    DEVICE_DISPLAY_NAME = 'Joystick Bricklet 2.0' # :nodoc:
+
+    # This callback is triggered periodically according to the configuration set by
+    # BrickletJoystickV2#set_position_callback_configuration.
+    # 
+    # The parameters are the same as with BrickletJoystickV2#get_position.
+    CALLBACK_POSITION = 6
+
+    # This callback is triggered periodically according to the configuration set by
+    # BrickletJoystickV2#set_pressed_callback_configuration.
+    # 
+    # The parameters are the same as with BrickletJoystickV2#is_pressed.
+    CALLBACK_PRESSED = 9
+
+    FUNCTION_GET_POSITION = 1 # :nodoc:
+    FUNCTION_IS_PRESSED = 2 # :nodoc:
+    FUNCTION_CALIBRATE = 3 # :nodoc:
+    FUNCTION_SET_POSITION_CALLBACK_CONFIGURATION = 4 # :nodoc:
+    FUNCTION_GET_POSITION_CALLBACK_CONFIGURATION = 5 # :nodoc:
+    FUNCTION_SET_PRESSED_CALLBACK_CONFIGURATION = 7 # :nodoc:
+    FUNCTION_GET_PRESSED_CALLBACK_CONFIGURATION = 8 # :nodoc:
+    FUNCTION_GET_SPITFP_ERROR_COUNT = 234 # :nodoc:
+    FUNCTION_SET_BOOTLOADER_MODE = 235 # :nodoc:
+    FUNCTION_GET_BOOTLOADER_MODE = 236 # :nodoc:
+    FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237 # :nodoc:
+    FUNCTION_WRITE_FIRMWARE = 238 # :nodoc:
+    FUNCTION_SET_STATUS_LED_CONFIG = 239 # :nodoc:
+    FUNCTION_GET_STATUS_LED_CONFIG = 240 # :nodoc:
+    FUNCTION_GET_CHIP_TEMPERATURE = 242 # :nodoc:
+    FUNCTION_RESET = 243 # :nodoc:
+    FUNCTION_WRITE_UID = 248 # :nodoc:
+    FUNCTION_READ_UID = 249 # :nodoc:
+    FUNCTION_GET_IDENTITY = 255 # :nodoc:
+
+    BOOTLOADER_MODE_BOOTLOADER = 0 # :nodoc:
+    BOOTLOADER_MODE_FIRMWARE = 1 # :nodoc:
+    BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2 # :nodoc:
+    BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3 # :nodoc:
+    BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4 # :nodoc:
+    BOOTLOADER_STATUS_OK = 0 # :nodoc:
+    BOOTLOADER_STATUS_INVALID_MODE = 1 # :nodoc:
+    BOOTLOADER_STATUS_NO_CHANGE = 2 # :nodoc:
+    BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3 # :nodoc:
+    BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4 # :nodoc:
+    BOOTLOADER_STATUS_CRC_MISMATCH = 5 # :nodoc:
+    STATUS_LED_CONFIG_OFF = 0 # :nodoc:
+    STATUS_LED_CONFIG_ON = 1 # :nodoc:
+    STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2 # :nodoc:
+    STATUS_LED_CONFIG_SHOW_STATUS = 3 # :nodoc:
+
+    # Creates an object with the unique device ID <tt>uid</tt> and adds it to
+    # the IP Connection <tt>ipcon</tt>.
+    def initialize(uid, ipcon)
+      super uid, ipcon
+
+      @api_version = [2, 0, 0]
+
+      @response_expected[FUNCTION_GET_POSITION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_IS_PRESSED] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_CALIBRATE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_SET_POSITION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_POSITION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_PRESSED_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_PRESSED_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_WRITE_UID] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+
+      @callback_formats[CALLBACK_POSITION] = 's s'
+      @callback_formats[CALLBACK_PRESSED] = '?'
+
+    end
+
+    # Returns the position of the joystick. The value ranges between -100 and
+    # 100 for both axis. The middle position of the joystick is x=0, y=0. The
+    # returned values are averaged and calibrated (see BrickletJoystickV2#calibrate).
+    # 
+    # If you want to get the position periodically, it is recommended to use the
+    # CALLBACK_POSITION callback and set the period with
+    # BrickletJoystickV2#set_position_callback_configuration.
+    def get_position
+      send_request FUNCTION_GET_POSITION, [], '', 4, 's s'
+    end
+
+    # Returns *true* if the button is pressed and *false* otherwise.
+    # 
+    # If you want to get the press-state periodically, it is recommended to use the
+    # CALLBACK_PRESSED callback and set the period with
+    # BrickletJoystickV2#set_pressed_callback_configuration.
+    def is_pressed
+      send_request FUNCTION_IS_PRESSED, [], '', 1, '?'
+    end
+
+    # Calibrates the middle position of the joystick. If your Joystick Bricklet 2.0
+    # does not return x=0 and y=0 in the middle position, call this function
+    # while the joystick is standing still in the middle position.
+    # 
+    # The resulting calibration will be saved in non-volatile memory,
+    # thus you only have to calibrate it once.
+    def calibrate
+      send_request FUNCTION_CALIBRATE, [], '', 0, ''
+    end
+
+    # The period in ms is the period with which the CALLBACK_POSITION
+    # callback is triggered periodically. A value of 0 turns the callback off.
+    # 
+    # If the `value has to change`-parameter is set to true, the callback is only
+    # triggered after at least one of the values has changed. If the values didn't
+    # change within the period, the callback is triggered immediately on change.
+    # 
+    # If it is set to false, the callback is continuously triggered with the period,
+    # independent of the value.
+    # 
+    # The default value is (0, false).
+    def set_position_callback_configuration(period, value_has_to_change)
+      send_request FUNCTION_SET_POSITION_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 0, ''
+    end
+
+    # Returns the callback configuration as set by
+    # BrickletJoystickV2#set_position_callback_configuration.
+    def get_position_callback_configuration
+      send_request FUNCTION_GET_POSITION_CALLBACK_CONFIGURATION, [], '', 5, 'L ?'
+    end
+
+    # The period in ms is the period with which the CALLBACK_PRESSED
+    # callback is triggered periodically. A value of 0 turns the callback off.
+    # 
+    # If the `value has to change`-parameter is set to true, the callback is only
+    # triggered after at least one of the values has changed. If the values didn't
+    # change within the period, the callback is triggered immediately on change.
+    # 
+    # If it is set to false, the callback is continuously triggered with the period,
+    # independent of the value.
+    # 
+    # The default value is (0, false).
+    def set_pressed_callback_configuration(period, value_has_to_change)
+      send_request FUNCTION_SET_PRESSED_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 0, ''
+    end
+
+    # Returns the callback configuration as set by
+    # BrickletJoystickV2#set_pressed_callback_configuration.
+    def get_pressed_callback_configuration
+      send_request FUNCTION_GET_PRESSED_CALLBACK_CONFIGURATION, [], '', 5, 'L ?'
+    end
+
+    # Returns the error count for the communication between Brick and Bricklet.
+    # 
+    # The errors are divided into
+    # 
+    # * ACK checksum errors,
+    # * message checksum errors,
+    # * framing errors and
+    # * overflow errors.
+    # 
+    # The errors counts are for errors that occur on the Bricklet side. All
+    # Bricks have a similar function that returns the errors on the Brick side.
+    def get_spitfp_error_count
+      send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 16, 'L L L L'
+    end
+
+    # Sets the bootloader mode and returns the status after the requested
+    # mode change was instigated.
+    # 
+    # You can change from bootloader mode to firmware mode and vice versa. A change
+    # from bootloader mode to firmware mode will only take place if the entry function,
+    # device identifier and CRC are present and correct.
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def set_bootloader_mode(mode)
+      send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 1, 'C'
+    end
+
+    # Returns the current bootloader mode, see BrickletJoystickV2#set_bootloader_mode.
+    def get_bootloader_mode
+      send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 1, 'C'
+    end
+
+    # Sets the firmware pointer for BrickletJoystickV2#write_firmware. The pointer has
+    # to be increased by chunks of size 64. The data is written to flash
+    # every 4 chunks (which equals to one page of size 256).
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def set_write_firmware_pointer(pointer)
+      send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 0, ''
+    end
+
+    # Writes 64 Bytes of firmware at the position as written by
+    # BrickletJoystickV2#set_write_firmware_pointer before. The firmware is written
+    # to flash every 4 chunks.
+    # 
+    # You can only write firmware in bootloader mode.
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def write_firmware(data)
+      send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 1, 'C'
+    end
+
+    # Sets the status LED configuration. By default the LED shows
+    # communication traffic between Brick and Bricklet, it flickers once
+    # for every 10 received data packets.
+    # 
+    # You can also turn the LED permanently on/off or show a heartbeat.
+    # 
+    # If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.
+    def set_status_led_config(config)
+      send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 0, ''
+    end
+
+    # Returns the configuration as set by BrickletJoystickV2#set_status_led_config
+    def get_status_led_config
+      send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 1, 'C'
+    end
+
+    # Returns the temperature in °C as measured inside the microcontroller. The
+    # value returned is not the ambient temperature!
+    # 
+    # The temperature is only proportional to the real temperature and it has bad
+    # accuracy. Practically it is only useful as an indicator for
+    # temperature changes.
+    def get_chip_temperature
+      send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 2, 's'
+    end
+
+    # Calling this function will reset the Bricklet. All configurations
+    # will be lost.
+    # 
+    # After a reset you have to create new device objects,
+    # calling functions on the existing ones will result in
+    # undefined behavior!
+    def reset
+      send_request FUNCTION_RESET, [], '', 0, ''
+    end
+
+    # Writes a new UID into flash. If you want to set a new UID
+    # you have to decode the Base58 encoded UID string into an
+    # integer first.
+    # 
+    # We recommend that you use Brick Viewer to change the UID.
+    def write_uid(uid)
+      send_request FUNCTION_WRITE_UID, [uid], 'L', 0, ''
+    end
+
+    # Returns the current UID as an integer. Encode as
+    # Base58 to get the usual string version.
+    def read_uid
+      send_request FUNCTION_READ_UID, [], '', 4, 'L'
+    end
+
+    # Returns the UID, the UID where the Bricklet is connected to,
+    # the position, the hardware and firmware version as well as the
+    # device identifier.
+    # 
+    # The position can be 'a', 'b', 'c' or 'd'.
+    # 
+    # 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'
+    end
+
+    # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.
+    def register_callback(id, &block)
+      callback = block
+      @registered_callbacks[id] = callback
+    end
+  end
+end

data/lib/tinkerforge/bricklet_laser_range_finder.rb

@@ -1,8 +1,8 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2019-01-29.      #
+# This file was automatically generated on 2019-05-21.      #
 #                                                           #
-# Ruby Bindings Version 2.1.21                              #
+# Ruby Bindings Version 2.1.22                              #
 #                                                           #
 # 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  #
@@ -329,7 +329,7 @@ module Tinkerforge
     #  version 3. Use BrickletLaserRangeFinder#set_mode for hardware version 1. You can check
     #  the sensor hardware version using BrickletLaserRangeFinder#get_sensor_hardware_version.
     # 
-    # The **Aquisition Count** defines the number of times the Laser Range Finder Bricklet
+    # The **Acquisition Count** defines the number of times the Laser Range Finder Bricklet
     # will integrate acquisitions to find a correlation record peak. With a higher count,
     # the Bricklet can measure longer distances. With a lower count, the rate increases. The
     # allowed values are 1-255.

data/lib/tinkerforge/bricklet_laser_range_finder_v2.rb

@@ -0,0 +1,447 @@
+# -*- ruby encoding: utf-8 -*-
+#############################################################
+# This file was automatically generated on 2019-05-21.      #
+#                                                           #
+# Ruby Bindings Version 2.1.22                              #
+#                                                           #
+# 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       #
+#############################################################
+
+module Tinkerforge
+  # Measures distance up to 40m with laser light
+  class BrickletLaserRangeFinderV2 < Device
+    DEVICE_IDENTIFIER = 2144 # :nodoc:
+    DEVICE_DISPLAY_NAME = 'Laser Range Finder Bricklet 2.0' # :nodoc:
+
+    # This callback is triggered periodically according to the configuration set by
+    # BrickletLaserRangeFinderV2#set_distance_callback_configuration.
+    # 
+    # The parameter is the same as BrickletLaserRangeFinderV2#get_distance.
+    CALLBACK_DISTANCE = 4
+
+    # This callback is triggered periodically according to the configuration set by
+    # BrickletLaserRangeFinderV2#set_velocity_callback_configuration.
+    # 
+    # The parameter is the same as BrickletLaserRangeFinderV2#get_velocity.
+    CALLBACK_VELOCITY = 8
+
+    FUNCTION_GET_DISTANCE = 1 # :nodoc:
+    FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION = 2 # :nodoc:
+    FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION = 3 # :nodoc:
+    FUNCTION_GET_VELOCITY = 5 # :nodoc:
+    FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION = 6 # :nodoc:
+    FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION = 7 # :nodoc:
+    FUNCTION_SET_ENABLE = 9 # :nodoc:
+    FUNCTION_GET_ENABLE = 10 # :nodoc:
+    FUNCTION_SET_CONFIGURATION = 11 # :nodoc:
+    FUNCTION_GET_CONFIGURATION = 12 # :nodoc:
+    FUNCTION_SET_MOVING_AVERAGE = 13 # :nodoc:
+    FUNCTION_GET_MOVING_AVERAGE = 14 # :nodoc:
+    FUNCTION_SET_OFFSET_CALIBRATION = 15 # :nodoc:
+    FUNCTION_GET_OFFSET_CALIBRATION = 16 # :nodoc:
+    FUNCTION_SET_DISTANCE_LED_CONFIG = 17 # :nodoc:
+    FUNCTION_GET_DISTANCE_LED_CONFIG = 18 # :nodoc:
+    FUNCTION_GET_SPITFP_ERROR_COUNT = 234 # :nodoc:
+    FUNCTION_SET_BOOTLOADER_MODE = 235 # :nodoc:
+    FUNCTION_GET_BOOTLOADER_MODE = 236 # :nodoc:
+    FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237 # :nodoc:
+    FUNCTION_WRITE_FIRMWARE = 238 # :nodoc:
+    FUNCTION_SET_STATUS_LED_CONFIG = 239 # :nodoc:
+    FUNCTION_GET_STATUS_LED_CONFIG = 240 # :nodoc:
+    FUNCTION_GET_CHIP_TEMPERATURE = 242 # :nodoc:
+    FUNCTION_RESET = 243 # :nodoc:
+    FUNCTION_WRITE_UID = 248 # :nodoc:
+    FUNCTION_READ_UID = 249 # :nodoc:
+    FUNCTION_GET_IDENTITY = 255 # :nodoc:
+
+    THRESHOLD_OPTION_OFF = 'x' # :nodoc:
+    THRESHOLD_OPTION_OUTSIDE = 'o' # :nodoc:
+    THRESHOLD_OPTION_INSIDE = 'i' # :nodoc:
+    THRESHOLD_OPTION_SMALLER = '<' # :nodoc:
+    THRESHOLD_OPTION_GREATER = '>' # :nodoc:
+    DISTANCE_LED_CONFIG_OFF = 0 # :nodoc:
+    DISTANCE_LED_CONFIG_ON = 1 # :nodoc:
+    DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2 # :nodoc:
+    DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3 # :nodoc:
+    BOOTLOADER_MODE_BOOTLOADER = 0 # :nodoc:
+    BOOTLOADER_MODE_FIRMWARE = 1 # :nodoc:
+    BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2 # :nodoc:
+    BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3 # :nodoc:
+    BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4 # :nodoc:
+    BOOTLOADER_STATUS_OK = 0 # :nodoc:
+    BOOTLOADER_STATUS_INVALID_MODE = 1 # :nodoc:
+    BOOTLOADER_STATUS_NO_CHANGE = 2 # :nodoc:
+    BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3 # :nodoc:
+    BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4 # :nodoc:
+    BOOTLOADER_STATUS_CRC_MISMATCH = 5 # :nodoc:
+    STATUS_LED_CONFIG_OFF = 0 # :nodoc:
+    STATUS_LED_CONFIG_ON = 1 # :nodoc:
+    STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2 # :nodoc:
+    STATUS_LED_CONFIG_SHOW_STATUS = 3 # :nodoc:
+
+    # Creates an object with the unique device ID <tt>uid</tt> and adds it to
+    # the IP Connection <tt>ipcon</tt>.
+    def initialize(uid, ipcon)
+      super uid, ipcon
+
+      @api_version = [2, 0, 0]
+
+      @response_expected[FUNCTION_GET_DISTANCE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ENABLE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_ENABLE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MOVING_AVERAGE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_MOVING_AVERAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_OFFSET_CALIBRATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_OFFSET_CALIBRATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_DISTANCE_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_DISTANCE_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_WRITE_UID] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+
+      @callback_formats[CALLBACK_DISTANCE] = 's'
+      @callback_formats[CALLBACK_VELOCITY] = 's'
+
+    end
+
+    # Returns the measured distance. The value has a range of 0 to 4000
+    # and is given in cm.
+    # 
+    # The laser has to be enabled, see BrickletLaserRangeFinderV2#set_enable.
+    # 
+    # 
+    # If you want to get the value periodically, it is recommended to use the
+    # CALLBACK_DISTANCE callback. You can set the callback configuration
+    # with BrickletLaserRangeFinderV2#set_distance_callback_configuration.
+    def get_distance
+      send_request FUNCTION_GET_DISTANCE, [], '', 2, 's'
+    end
+
+    # The period in ms is the period with which the CALLBACK_DISTANCE callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    # 
+    # If the `value has to change`-parameter is set to true, the callback is only
+    # triggered after the value has changed. If the value didn't change
+    # within the period, the callback is triggered immediately on change.
+    # 
+    # If it is set to false, the callback is continuously triggered with the period,
+    # independent of the value.
+    # 
+    # It is furthermore possible to constrain the callback with thresholds.
+    # 
+    # The `option`-parameter together with min/max sets a threshold for the CALLBACK_DISTANCE callback.
+    # 
+    # The following options are possible:
+    # 
+    #  "Option", "Description"
+    # 
+    #  "'x'",    "Threshold is turned off"
+    #  "'o'",    "Threshold is triggered when the value is *outside* the min and max values"
+    #  "'i'",    "Threshold is triggered when the value is *inside* or equal to the min and max values"
+    #  "'<'",    "Threshold is triggered when the value is smaller than the min value (max is ignored)"
+    #  "'>'",    "Threshold is triggered when the value is greater than the min value (max is ignored)"
+    # 
+    # If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.
+    # 
+    # The default value is (0, false, 'x', 0, 0).
+    def set_distance_callback_configuration(period, value_has_to_change, option, min, max)
+      send_request FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k s s', 0, ''
+    end
+
+    # Returns the callback configuration as set by BrickletLaserRangeFinderV2#set_distance_callback_configuration.
+    def get_distance_callback_configuration
+      send_request FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION, [], '', 10, 'L ? k s s'
+    end
+
+    # Returns the measured velocity. The value has a range of -12800 to 12700
+    # and is given in 1/100 m/s.
+    # 
+    # The velocity measurement only produces stables results if a fixed
+    # measurement rate (see BrickletLaserRangeFinderV2#set_configuration) is configured. Also the laser
+    # has to be enabled, see BrickletLaserRangeFinderV2#set_enable.
+    # 
+    # 
+    # If you want to get the value periodically, it is recommended to use the
+    # CALLBACK_VELOCITY callback. You can set the callback configuration
+    # with BrickletLaserRangeFinderV2#set_velocity_callback_configuration.
+    def get_velocity
+      send_request FUNCTION_GET_VELOCITY, [], '', 2, 's'
+    end
+
+    # The period in ms is the period with which the CALLBACK_VELOCITY callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    # 
+    # If the `value has to change`-parameter is set to true, the callback is only
+    # triggered after the value has changed. If the value didn't change
+    # within the period, the callback is triggered immediately on change.
+    # 
+    # If it is set to false, the callback is continuously triggered with the period,
+    # independent of the value.
+    # 
+    # It is furthermore possible to constrain the callback with thresholds.
+    # 
+    # The `option`-parameter together with min/max sets a threshold for the CALLBACK_VELOCITY callback.
+    # 
+    # The following options are possible:
+    # 
+    #  "Option", "Description"
+    # 
+    #  "'x'",    "Threshold is turned off"
+    #  "'o'",    "Threshold is triggered when the value is *outside* the min and max values"
+    #  "'i'",    "Threshold is triggered when the value is *inside* or equal to the min and max values"
+    #  "'<'",    "Threshold is triggered when the value is smaller than the min value (max is ignored)"
+    #  "'>'",    "Threshold is triggered when the value is greater than the min value (max is ignored)"
+    # 
+    # If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.
+    # 
+    # The default value is (0, false, 'x', 0, 0).
+    def set_velocity_callback_configuration(period, value_has_to_change, option, min, max)
+      send_request FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k s s', 0, ''
+    end
+
+    # Returns the callback configuration as set by BrickletLaserRangeFinderV2#set_velocity_callback_configuration.
+    def get_velocity_callback_configuration
+      send_request FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION, [], '', 10, 'L ? k s s'
+    end
+
+    # Enables the laser of the LIDAR if set to *true*.
+    # 
+    # We recommend that you wait 250ms after enabling the laser before
+    # the first call of BrickletLaserRangeFinderV2#get_distance to ensure stable measurements.
+    def set_enable(enable)
+      send_request FUNCTION_SET_ENABLE, [enable], '?', 0, ''
+    end
+
+    # Returns the value as set by BrickletLaserRangeFinderV2#set_enable.
+    def get_enable
+      send_request FUNCTION_GET_ENABLE, [], '', 1, '?'
+    end
+
+    # The **Acquisition Count** defines the number of times the Laser Range Finder Bricklet
+    # will integrate acquisitions to find a correlation record peak. With a higher count,
+    # the Bricklet can measure longer distances. With a lower count, the rate increases. The
+    # allowed values are 1-255.
+    # 
+    # If you set **Enable Quick Termination** to true, the distance measurement will be terminated
+    # early if a high peak was already detected. This means that a higher measurement rate can be achieved
+    # and long distances can be measured at the same time. However, the chance of false-positive
+    # distance measurements increases.
+    # 
+    # Normally the distance is calculated with a detection algorithm that uses peak value,
+    # signal strength and noise. You can however also define a fixed **Threshold Value**.
+    # Set this to a low value if you want to measure the distance to something that has
+    # very little reflection (e.g. glass) and set it to a high value if you want to measure
+    # the distance to something with a very high reflection (e.g. mirror). Set this to 0 to
+    # use the default algorithm. The other allowed values are 1-255.
+    # 
+    # Set the **Measurement Frequency** in Hz to force a fixed measurement rate. If set to 0,
+    # the Laser Range Finder Bricklet will use the optimal frequency according to the other
+    # configurations and the actual measured distance. Since the rate is not fixed in this case,
+    # the velocity measurement is not stable. For a stable velocity measurement you should
+    # set a fixed measurement frequency. The lower the frequency, the higher is the resolution
+    # of the calculated velocity. The allowed values are 10Hz-500Hz (and 0 to turn the fixed
+    # frequency off).
+    # 
+    # The default values for Acquisition Count, Enable Quick Termination, Threshold Value and
+    # Measurement Frequency are 128, false, 0 and 0.
+    def set_configuration(acquisition_count, enable_quick_termination, threshold_value, measurement_frequency)
+      send_request FUNCTION_SET_CONFIGURATION, [acquisition_count, enable_quick_termination, threshold_value, measurement_frequency], 'C ? C S', 0, ''
+    end
+
+    # Returns the configuration as set by BrickletLaserRangeFinderV2#set_configuration.
+    def get_configuration
+      send_request FUNCTION_GET_CONFIGURATION, [], '', 5, 'C ? C S'
+    end
+
+    # Sets the length of a `moving averaging <https://en.wikipedia.org/wiki/Moving_average>`__
+    # for the distance and velocity.
+    # 
+    # Setting the length to 0 will turn the averaging completely off. With less
+    # averaging, there is more noise on the data.
+    # 
+    # The range for the averaging is 0-255.
+    # 
+    # The default value is 10.
+    def set_moving_average(distance_average_length, velocity_average_length)
+      send_request FUNCTION_SET_MOVING_AVERAGE, [distance_average_length, velocity_average_length], 'C C', 0, ''
+    end
+
+    # Returns the length moving average as set by BrickletLaserRangeFinderV2#set_moving_average.
+    def get_moving_average
+      send_request FUNCTION_GET_MOVING_AVERAGE, [], '', 2, 'C C'
+    end
+
+    # The offset is given in cm and added to the measured distance. 
+    # It is saved in non-volatile memory, you only have to set it once.
+    # 
+    # The Bricklet comes with a per-sensor factory-calibrated offset value, 
+    # you should not have to call this function.
+    # 
+    # If you want to re-calibrate the offset you first have to set it to 0.
+    # Calculate the offset by measuring the distance to a known distance 
+    # and set it again.
+    def set_offset_calibration(offset)
+      send_request FUNCTION_SET_OFFSET_CALIBRATION, [offset], 's', 0, ''
+    end
+
+    # Returns the offset value as set by BrickletLaserRangeFinderV2#set_offset_calibration.
+    def get_offset_calibration
+      send_request FUNCTION_GET_OFFSET_CALIBRATION, [], '', 2, 's'
+    end
+
+    # Configures the distance LED to be either turned off, turned on, blink in
+    # heartbeat mode or show the distance (brighter = object is nearer).
+    # 
+    # The default value is 3 (show distance).
+    def set_distance_led_config(config)
+      send_request FUNCTION_SET_DISTANCE_LED_CONFIG, [config], 'C', 0, ''
+    end
+
+    # Returns the LED configuration as set by BrickletLaserRangeFinderV2#set_distance_led_config
+    def get_distance_led_config
+      send_request FUNCTION_GET_DISTANCE_LED_CONFIG, [], '', 1, 'C'
+    end
+
+    # Returns the error count for the communication between Brick and Bricklet.
+    # 
+    # The errors are divided into
+    # 
+    # * ACK checksum errors,
+    # * message checksum errors,
+    # * framing errors and
+    # * overflow errors.
+    # 
+    # The errors counts are for errors that occur on the Bricklet side. All
+    # Bricks have a similar function that returns the errors on the Brick side.
+    def get_spitfp_error_count
+      send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 16, 'L L L L'
+    end
+
+    # Sets the bootloader mode and returns the status after the requested
+    # mode change was instigated.
+    # 
+    # You can change from bootloader mode to firmware mode and vice versa. A change
+    # from bootloader mode to firmware mode will only take place if the entry function,
+    # device identifier and CRC are present and correct.
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def set_bootloader_mode(mode)
+      send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 1, 'C'
+    end
+
+    # Returns the current bootloader mode, see BrickletLaserRangeFinderV2#set_bootloader_mode.
+    def get_bootloader_mode
+      send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 1, 'C'
+    end
+
+    # Sets the firmware pointer for BrickletLaserRangeFinderV2#write_firmware. The pointer has
+    # to be increased by chunks of size 64. The data is written to flash
+    # every 4 chunks (which equals to one page of size 256).
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def set_write_firmware_pointer(pointer)
+      send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 0, ''
+    end
+
+    # Writes 64 Bytes of firmware at the position as written by
+    # BrickletLaserRangeFinderV2#set_write_firmware_pointer before. The firmware is written
+    # to flash every 4 chunks.
+    # 
+    # You can only write firmware in bootloader mode.
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def write_firmware(data)
+      send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 1, 'C'
+    end
+
+    # Sets the status LED configuration. By default the LED shows
+    # communication traffic between Brick and Bricklet, it flickers once
+    # for every 10 received data packets.
+    # 
+    # You can also turn the LED permanently on/off or show a heartbeat.
+    # 
+    # If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.
+    def set_status_led_config(config)
+      send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 0, ''
+    end
+
+    # Returns the configuration as set by BrickletLaserRangeFinderV2#set_status_led_config
+    def get_status_led_config
+      send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 1, 'C'
+    end
+
+    # Returns the temperature in °C as measured inside the microcontroller. The
+    # value returned is not the ambient temperature!
+    # 
+    # The temperature is only proportional to the real temperature and it has bad
+    # accuracy. Practically it is only useful as an indicator for
+    # temperature changes.
+    def get_chip_temperature
+      send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 2, 's'
+    end
+
+    # Calling this function will reset the Bricklet. All configurations
+    # will be lost.
+    # 
+    # After a reset you have to create new device objects,
+    # calling functions on the existing ones will result in
+    # undefined behavior!
+    def reset
+      send_request FUNCTION_RESET, [], '', 0, ''
+    end
+
+    # Writes a new UID into flash. If you want to set a new UID
+    # you have to decode the Base58 encoded UID string into an
+    # integer first.
+    # 
+    # We recommend that you use Brick Viewer to change the UID.
+    def write_uid(uid)
+      send_request FUNCTION_WRITE_UID, [uid], 'L', 0, ''
+    end
+
+    # Returns the current UID as an integer. Encode as
+    # Base58 to get the usual string version.
+    def read_uid
+      send_request FUNCTION_READ_UID, [], '', 4, 'L'
+    end
+
+    # Returns the UID, the UID where the Bricklet is connected to,
+    # the position, the hardware and firmware version as well as the
+    # device identifier.
+    # 
+    # The position can be 'a', 'b', 'c' or 'd'.
+    # 
+    # 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'
+    end
+
+    # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.
+    def register_callback(id, &block)
+      callback = block
+      @registered_callbacks[id] = callback
+    end
+  end
+end