tinkerforge 2.1.22 → 2.1.27

data/lib/tinkerforge/bricklet_humidity_v2.rb

@@ -1,14 +1,16 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2019-05-21.      #
+# This file was automatically generated on 2020-11-02.      #
 #                                                           #
-# Ruby Bindings Version 2.1.22                              #
+# Ruby Bindings Version 2.1.27                              #
 #                                                           #
 # 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       #
 #############################################################
 
+require_relative './ip_connection'
+
 module Tinkerforge
   # Measures relative humidity
   class BrickletHumidityV2 < Device
@@ -84,7 +86,7 @@ module Tinkerforge
     # 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
+      super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME
 
       @api_version = [2, 0, 2]
 
@@ -113,24 +115,25 @@ module Tinkerforge
       @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
 
-      @callback_formats[CALLBACK_HUMIDITY] = 'S'
-      @callback_formats[CALLBACK_TEMPERATURE] = 's'
+      @callback_formats[CALLBACK_HUMIDITY] = [10, 'S']
+      @callback_formats[CALLBACK_TEMPERATURE] = [10, 's']
 
+      @ipcon.add_device self
     end
 
-    # Returns the humidity measured by the sensor. The value
-    # has a range of 0 to 10000 and is given in %RH/100 (Relative Humidity),
-    # i.e. a value of 4223 means that a humidity of 42.23 %RH is measured.
+    # Returns the humidity measured by the sensor.
     # 
     # 
     # If you want to get the value periodically, it is recommended to use the
     # CALLBACK_HUMIDITY callback. You can set the callback configuration
     # with BrickletHumidityV2#set_humidity_callback_configuration.
     def get_humidity
-      send_request FUNCTION_GET_HUMIDITY, [], '', 2, 'S'
+      check_validity
+
+      send_request FUNCTION_GET_HUMIDITY, [], '', 10, 'S'
     end
 
-    # The period in ms is the period with which the CALLBACK_HUMIDITY callback is triggered
+    # The period is the period with which the CALLBACK_HUMIDITY 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
@@ -155,30 +158,32 @@ module Tinkerforge
     #  "'>'",    "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_humidity_callback_configuration(period, value_has_to_change, option, min, max)
-      send_request FUNCTION_SET_HUMIDITY_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k S S', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_HUMIDITY_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k S S', 8, ''
     end
 
     # Returns the callback configuration as set by BrickletHumidityV2#set_humidity_callback_configuration.
     def get_humidity_callback_configuration
-      send_request FUNCTION_GET_HUMIDITY_CALLBACK_CONFIGURATION, [], '', 10, 'L ? k S S'
+      check_validity
+
+      send_request FUNCTION_GET_HUMIDITY_CALLBACK_CONFIGURATION, [], '', 18, 'L ? k S S'
     end
 
-    # Returns the temperature measured by the sensor. The value
-    # has a range of -4000 to 16500 and is given in °C/100,
-    # i.e. a value of 3200 means that a temperature of 32.00 °C is measured.
+    # Returns the temperature measured by the sensor.
     # 
     # 
     # If you want to get the value periodically, it is recommended to use the
     # CALLBACK_TEMPERATURE callback. You can set the callback configuration
     # with BrickletHumidityV2#set_temperature_callback_configuration.
     def get_temperature
-      send_request FUNCTION_GET_TEMPERATURE, [], '', 2, 's'
+      check_validity
+
+      send_request FUNCTION_GET_TEMPERATURE, [], '', 10, 's'
     end
 
-    # The period in ms is the period with which the CALLBACK_TEMPERATURE callback is triggered
+    # The period is the period with which the CALLBACK_TEMPERATURE 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
@@ -203,28 +208,32 @@ module Tinkerforge
     #  "'>'",    "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_temperature_callback_configuration(period, value_has_to_change, option, min, max)
-      send_request FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k s s', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k s s', 8, ''
     end
 
     # Returns the callback configuration as set by BrickletHumidityV2#set_temperature_callback_configuration.
     def get_temperature_callback_configuration
-      send_request FUNCTION_GET_TEMPERATURE_CALLBACK_CONFIGURATION, [], '', 10, 'L ? k s s'
+      check_validity
+
+      send_request FUNCTION_GET_TEMPERATURE_CALLBACK_CONFIGURATION, [], '', 18, 'L ? k s s'
     end
 
     # Enables/disables the heater. The heater can be used to dry the sensor in
     # extremely wet conditions.
-    # 
-    # By default the heater is disabled.
     def set_heater_configuration(heater_config)
-      send_request FUNCTION_SET_HEATER_CONFIGURATION, [heater_config], 'C', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_HEATER_CONFIGURATION, [heater_config], 'C', 8, ''
     end
 
     # Returns the heater configuration as set by BrickletHumidityV2#set_heater_configuration.
     def get_heater_configuration
-      send_request FUNCTION_GET_HEATER_CONFIGURATION, [], '', 1, 'C'
+      check_validity
+
+      send_request FUNCTION_GET_HEATER_CONFIGURATION, [], '', 9, 'C'
     end
 
     # Sets the length of a `moving averaging <https://en.wikipedia.org/wiki/Moving_average>`__
@@ -233,25 +242,25 @@ module Tinkerforge
     # Setting the length to 1 will turn the averaging off. With less
     # averaging, there is more noise on the data.
     # 
-    # The range for the averaging is 1-1000.
-    # 
     # New data is gathered every 50ms*. With a moving average of length 1000 the resulting
     # averaging window has a length of 50s. If you want to do long term measurements the longest
     # moving average will give the cleanest results.
     # 
-    # The default value is 5.
-    # 
     # \* In firmware version 2.0.3 we added the BrickletHumidityV2#set_samples_per_second function. It
     # configures the measurement frequency. Since high frequencies can result in self-heating
     # of th IC, changed the default value from 20 samples per second to 1. With 1 sample per second
     # a moving average length of 1000 would result in an averaging window of 1000 seconds!
     def set_moving_average_configuration(moving_average_length_humidity, moving_average_length_temperature)
-      send_request FUNCTION_SET_MOVING_AVERAGE_CONFIGURATION, [moving_average_length_humidity, moving_average_length_temperature], 'S S', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_MOVING_AVERAGE_CONFIGURATION, [moving_average_length_humidity, moving_average_length_temperature], 'S S', 8, ''
     end
 
     # Returns the moving average configuration as set by BrickletHumidityV2#set_moving_average_configuration.
     def get_moving_average_configuration
-      send_request FUNCTION_GET_MOVING_AVERAGE_CONFIGURATION, [], '', 4, 'S S'
+      check_validity
+
+      send_request FUNCTION_GET_MOVING_AVERAGE_CONFIGURATION, [], '', 12, 'S S'
     end
 
     # Sets the samples per second that are gathered by the humidity/temperature sensor HDC1080.
@@ -266,14 +275,18 @@ module Tinkerforge
     # 
     # .. versionadded:: 2.0.3$nbsp;(Plugin)
     def set_samples_per_second(sps)
-      send_request FUNCTION_SET_SAMPLES_PER_SECOND, [sps], 'C', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_SAMPLES_PER_SECOND, [sps], 'C', 8, ''
     end
 
     # Returnes the samples per second, as set by BrickletHumidityV2#set_samples_per_second.
     # 
     # .. versionadded:: 2.0.3$nbsp;(Plugin)
     def get_samples_per_second
-      send_request FUNCTION_GET_SAMPLES_PER_SECOND, [], '', 1, 'C'
+      check_validity
+
+      send_request FUNCTION_GET_SAMPLES_PER_SECOND, [], '', 9, 'C'
     end
 
     # Returns the error count for the communication between Brick and Bricklet.
@@ -288,7 +301,9 @@ module Tinkerforge
     # 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'
+      check_validity
+
+      send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L'
     end
 
     # Sets the bootloader mode and returns the status after the requested
@@ -301,12 +316,16 @@ module Tinkerforge
     # 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'
+      check_validity
+
+      send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C'
     end
 
     # Returns the current bootloader mode, see BrickletHumidityV2#set_bootloader_mode.
     def get_bootloader_mode
-      send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 1, 'C'
+      check_validity
+
+      send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C'
     end
 
     # Sets the firmware pointer for BrickletHumidityV2#write_firmware. The pointer has
@@ -316,7 +335,9 @@ module Tinkerforge
     # 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, ''
+      check_validity
+
+      send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, ''
     end
 
     # Writes 64 Bytes of firmware at the position as written by
@@ -328,7 +349,9 @@ module Tinkerforge
     # 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'
+      check_validity
+
+      send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C'
     end
 
     # Sets the status LED configuration. By default the LED shows
@@ -339,22 +362,28 @@ module Tinkerforge
     # 
     # 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, ''
+      check_validity
+
+      send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, ''
     end
 
     # Returns the configuration as set by BrickletHumidityV2#set_status_led_config
     def get_status_led_config
-      send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 1, 'C'
+      check_validity
+
+      send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C'
     end
 
-    # Returns the temperature in °C as measured inside the microcontroller. The
+    # 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 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'
+      check_validity
+
+      send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's'
     end
 
     # Calling this function will reset the Bricklet. All configurations
@@ -364,7 +393,9 @@ module Tinkerforge
     # calling functions on the existing ones will result in
     # undefined behavior!
     def reset
-      send_request FUNCTION_RESET, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_RESET, [], '', 8, ''
     end
 
     # Writes a new UID into flash. If you want to set a new UID
@@ -373,25 +404,31 @@ module Tinkerforge
     # 
     # We recommend that you use Brick Viewer to change the UID.
     def write_uid(uid)
-      send_request FUNCTION_WRITE_UID, [uid], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_WRITE_UID, [uid], 'L', 8, ''
     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'
+      check_validity
+
+      send_request FUNCTION_READ_UID, [], '', 12, '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 position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port).
+    # A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at
+    # position 'z'.
     # 
     # 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, [], '', 33, 'Z8 Z8 k C3 C3 S'
     end
 
     # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.

data/lib/tinkerforge/bricklet_imu_v3.rb

@@ -0,0 +1,784 @@
+# -*- ruby encoding: utf-8 -*-
+#############################################################
+# This file was automatically generated on 2020-11-02.      #
+#                                                           #
+# Ruby Bindings Version 2.1.27                              #
+#                                                           #
+# 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       #
+#############################################################
+
+require_relative './ip_connection'
+
+module Tinkerforge
+  # Full fledged AHRS with 9 degrees of freedom
+  class BrickletIMUV3 < Device
+    DEVICE_IDENTIFIER = 2161 # :nodoc:
+    DEVICE_DISPLAY_NAME = 'IMU Bricklet 3.0' # :nodoc:
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletIMUV3#set_acceleration_callback_configuration. The parameters are the acceleration
+    # for the x, y and z axis.
+    CALLBACK_ACCELERATION = 33
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletIMUV3#set_magnetic_field_callback_configuration. The parameters are the magnetic
+    # field for the x, y and z axis.
+    CALLBACK_MAGNETIC_FIELD = 34
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletIMUV3#set_angular_velocity_callback_configuration. The parameters are the angular
+    # velocity for the x, y and z axis.
+    CALLBACK_ANGULAR_VELOCITY = 35
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletIMUV3#set_temperature_callback_configuration. The parameter is the temperature.
+    CALLBACK_TEMPERATURE = 36
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletIMUV3#set_linear_acceleration_callback_configuration. The parameters are the
+    # linear acceleration for the x, y and z axis.
+    CALLBACK_LINEAR_ACCELERATION = 37
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletIMUV3#set_gravity_vector_callback_configuration. The parameters gravity vector
+    # for the x, y and z axis.
+    CALLBACK_GRAVITY_VECTOR = 38
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletIMUV3#set_orientation_callback_configuration. The parameters are the orientation
+    # (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See
+    # BrickletIMUV3#get_orientation for details.
+    CALLBACK_ORIENTATION = 39
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletIMUV3#set_quaternion_callback_configuration. The parameters are the orientation
+    # (w, x, y, z) of the IMU Brick in quaternions. See BrickletIMUV3#get_quaternion
+    # for details.
+    CALLBACK_QUATERNION = 40
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletIMUV3#set_all_data_callback_configuration. The parameters are as for
+    # BrickletIMUV3#get_all_data.
+    CALLBACK_ALL_DATA = 41
+
+    FUNCTION_GET_ACCELERATION = 1 # :nodoc:
+    FUNCTION_GET_MAGNETIC_FIELD = 2 # :nodoc:
+    FUNCTION_GET_ANGULAR_VELOCITY = 3 # :nodoc:
+    FUNCTION_GET_TEMPERATURE = 4 # :nodoc:
+    FUNCTION_GET_ORIENTATION = 5 # :nodoc:
+    FUNCTION_GET_LINEAR_ACCELERATION = 6 # :nodoc:
+    FUNCTION_GET_GRAVITY_VECTOR = 7 # :nodoc:
+    FUNCTION_GET_QUATERNION = 8 # :nodoc:
+    FUNCTION_GET_ALL_DATA = 9 # :nodoc:
+    FUNCTION_SAVE_CALIBRATION = 10 # :nodoc:
+    FUNCTION_SET_SENSOR_CONFIGURATION = 11 # :nodoc:
+    FUNCTION_GET_SENSOR_CONFIGURATION = 12 # :nodoc:
+    FUNCTION_SET_SENSOR_FUSION_MODE = 13 # :nodoc:
+    FUNCTION_GET_SENSOR_FUSION_MODE = 14 # :nodoc:
+    FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION = 15 # :nodoc:
+    FUNCTION_GET_ACCELERATION_CALLBACK_CONFIGURATION = 16 # :nodoc:
+    FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION = 17 # :nodoc:
+    FUNCTION_GET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION = 18 # :nodoc:
+    FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION = 19 # :nodoc:
+    FUNCTION_GET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION = 20 # :nodoc:
+    FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION = 21 # :nodoc:
+    FUNCTION_GET_TEMPERATURE_CALLBACK_CONFIGURATION = 22 # :nodoc:
+    FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION = 23 # :nodoc:
+    FUNCTION_GET_ORIENTATION_CALLBACK_CONFIGURATION = 24 # :nodoc:
+    FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION = 25 # :nodoc:
+    FUNCTION_GET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION = 26 # :nodoc:
+    FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION = 27 # :nodoc:
+    FUNCTION_GET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION = 28 # :nodoc:
+    FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION = 29 # :nodoc:
+    FUNCTION_GET_QUATERNION_CALLBACK_CONFIGURATION = 30 # :nodoc:
+    FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION = 31 # :nodoc:
+    FUNCTION_GET_ALL_DATA_CALLBACK_CONFIGURATION = 32 # :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:
+
+    MAGNETOMETER_RATE_2HZ = 0 # :nodoc:
+    MAGNETOMETER_RATE_6HZ = 1 # :nodoc:
+    MAGNETOMETER_RATE_8HZ = 2 # :nodoc:
+    MAGNETOMETER_RATE_10HZ = 3 # :nodoc:
+    MAGNETOMETER_RATE_15HZ = 4 # :nodoc:
+    MAGNETOMETER_RATE_20HZ = 5 # :nodoc:
+    MAGNETOMETER_RATE_25HZ = 6 # :nodoc:
+    MAGNETOMETER_RATE_30HZ = 7 # :nodoc:
+    GYROSCOPE_RANGE_2000DPS = 0 # :nodoc:
+    GYROSCOPE_RANGE_1000DPS = 1 # :nodoc:
+    GYROSCOPE_RANGE_500DPS = 2 # :nodoc:
+    GYROSCOPE_RANGE_250DPS = 3 # :nodoc:
+    GYROSCOPE_RANGE_125DPS = 4 # :nodoc:
+    GYROSCOPE_BANDWIDTH_523HZ = 0 # :nodoc:
+    GYROSCOPE_BANDWIDTH_230HZ = 1 # :nodoc:
+    GYROSCOPE_BANDWIDTH_116HZ = 2 # :nodoc:
+    GYROSCOPE_BANDWIDTH_47HZ = 3 # :nodoc:
+    GYROSCOPE_BANDWIDTH_23HZ = 4 # :nodoc:
+    GYROSCOPE_BANDWIDTH_12HZ = 5 # :nodoc:
+    GYROSCOPE_BANDWIDTH_64HZ = 6 # :nodoc:
+    GYROSCOPE_BANDWIDTH_32HZ = 7 # :nodoc:
+    ACCELEROMETER_RANGE_2G = 0 # :nodoc:
+    ACCELEROMETER_RANGE_4G = 1 # :nodoc:
+    ACCELEROMETER_RANGE_8G = 2 # :nodoc:
+    ACCELEROMETER_RANGE_16G = 3 # :nodoc:
+    ACCELEROMETER_BANDWIDTH_7_81HZ = 0 # :nodoc:
+    ACCELEROMETER_BANDWIDTH_15_63HZ = 1 # :nodoc:
+    ACCELEROMETER_BANDWIDTH_31_25HZ = 2 # :nodoc:
+    ACCELEROMETER_BANDWIDTH_62_5HZ = 3 # :nodoc:
+    ACCELEROMETER_BANDWIDTH_125HZ = 4 # :nodoc:
+    ACCELEROMETER_BANDWIDTH_250HZ = 5 # :nodoc:
+    ACCELEROMETER_BANDWIDTH_500HZ = 6 # :nodoc:
+    ACCELEROMETER_BANDWIDTH_1000HZ = 7 # :nodoc:
+    SENSOR_FUSION_OFF = 0 # :nodoc:
+    SENSOR_FUSION_ON = 1 # :nodoc:
+    SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2 # :nodoc:
+    SENSOR_FUSION_ON_WITHOUT_FAST_MAGNETOMETER_CALIBRATION = 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, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME
+
+      @api_version = [2, 0, 0]
+
+      @response_expected[FUNCTION_GET_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_MAGNETIC_FIELD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_ANGULAR_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_ORIENTATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_LINEAR_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_GRAVITY_VECTOR] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_QUATERNION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SAVE_CALIBRATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_SENSOR_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_SENSOR_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_SENSOR_FUSION_MODE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_SENSOR_FUSION_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_ACCELERATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_TEMPERATURE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_ORIENTATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_QUATERNION_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_ALL_DATA_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_ACCELERATION] = [14, 's s s']
+      @callback_formats[CALLBACK_MAGNETIC_FIELD] = [14, 's s s']
+      @callback_formats[CALLBACK_ANGULAR_VELOCITY] = [14, 's s s']
+      @callback_formats[CALLBACK_TEMPERATURE] = [9, 'c']
+      @callback_formats[CALLBACK_LINEAR_ACCELERATION] = [14, 's s s']
+      @callback_formats[CALLBACK_GRAVITY_VECTOR] = [14, 's s s']
+      @callback_formats[CALLBACK_ORIENTATION] = [14, 's s s']
+      @callback_formats[CALLBACK_QUATERNION] = [16, 's s s s']
+      @callback_formats[CALLBACK_ALL_DATA] = [54, 's3 s3 s3 s3 s4 s3 s3 c C']
+
+      @ipcon.add_device self
+    end
+
+    # Returns the calibrated acceleration from the accelerometer for the
+    # x, y and z axis. The acceleration is in the range configured with
+    # BrickletIMUV3#set_sensor_configuration.
+    # 
+    # If you want to get the acceleration periodically, it is recommended
+    # to use the CALLBACK_ACCELERATION callback and set the period with
+    # BrickletIMUV3#set_acceleration_callback_configuration.
+    def get_acceleration
+      check_validity
+
+      send_request FUNCTION_GET_ACCELERATION, [], '', 14, 's s s'
+    end
+
+    # 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 CALLBACK_MAGNETIC_FIELD callback and set the period with
+    # BrickletIMUV3#set_magnetic_field_callback_configuration.
+    def get_magnetic_field
+      check_validity
+
+      send_request FUNCTION_GET_MAGNETIC_FIELD, [], '', 14, 's s s'
+    end
+
+    # Returns the calibrated angular velocity from the gyroscope for the
+    # x, y and z axis. The angular velocity is in the range configured with
+    # BrickletIMUV3#set_sensor_configuration.
+    # 
+    # If you want to get the angular velocity periodically, it is recommended
+    # to use the CALLBACK_ANGULAR_VELOCITY acallback nd set the period with
+    # BrickletIMUV3#set_angular_velocity_callback_configuration.
+    def get_angular_velocity
+      check_validity
+
+      send_request FUNCTION_GET_ANGULAR_VELOCITY, [], '', 14, 's s s'
+    end
+
+    # Returns the temperature of the IMU Brick.
+    # The temperature is measured in the core of the BNO055 IC, it is not the
+    # ambient temperature
+    def get_temperature
+      check_validity
+
+      send_request FUNCTION_GET_TEMPERATURE, [], '', 9, 'c'
+    end
+
+    # Returns the current orientation (heading, roll, pitch) of the IMU Brick as
+    # independent 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, if you need the absolute
+    # orientation.
+    # 
+    # If you want to get the orientation periodically, it is recommended
+    # to use the CALLBACK_ORIENTATION callback and set the period with
+    # BrickletIMUV3#set_orientation_callback_configuration.
+    def get_orientation
+      check_validity
+
+      send_request FUNCTION_GET_ORIENTATION, [], '', 14, 's s s'
+    end
+
+    # Returns the linear acceleration of the IMU Brick for the
+    # x, y and z axis. The acceleration is in the range configured with
+    # BrickletIMUV3#set_sensor_configuration.
+    # 
+    # The linear acceleration is the acceleration in each of the three
+    # axis of the IMU Brick with the influences of gravity removed.
+    # 
+    # It is also possible to get the gravity vector with the influence of linear
+    # acceleration removed, see BrickletIMUV3#get_gravity_vector.
+    # 
+    # If you want to get the linear acceleration periodically, it is recommended
+    # to use the CALLBACK_LINEAR_ACCELERATION callback and set the period with
+    # BrickletIMUV3#set_linear_acceleration_callback_configuration.
+    def get_linear_acceleration
+      check_validity
+
+      send_request FUNCTION_GET_LINEAR_ACCELERATION, [], '', 14, 's s s'
+    end
+
+    # Returns the current gravity vector of the IMU Brick for the
+    # x, y and z axis.
+    # 
+    # The gravity vector is the acceleration that occurs due to gravity.
+    # Influences of additional linear acceleration are removed.
+    # 
+    # It is also possible to get the linear acceleration with the influence
+    # of gravity removed, see BrickletIMUV3#get_linear_acceleration.
+    # 
+    # If you want to get the gravity vector periodically, it is recommended
+    # to use the CALLBACK_GRAVITY_VECTOR callback and set the period with
+    # BrickletIMUV3#set_gravity_vector_callback_configuration.
+    def get_gravity_vector
+      check_validity
+
+      send_request FUNCTION_GET_GRAVITY_VECTOR, [], '', 14, 's s s'
+    end
+
+    # Returns the current orientation (w, x, y, z) of the IMU Brick as
+    # `quaternions <https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
+    # 
+    # You have to divide the return values by 16383 (14 bit) to get
+    # the usual range of -1.0 to +1.0 for quaternions.
+    # 
+    # If you want to get the quaternions periodically, it is recommended
+    # to use the CALLBACK_QUATERNION callback and set the period with
+    # BrickletIMUV3#set_quaternion_callback_configuration.
+    def get_quaternion
+      check_validity
+
+      send_request FUNCTION_GET_QUATERNION, [], '', 16, 's s s s'
+    end
+
+    # Return all of the available data of the IMU Brick.
+    # 
+    # * acceleration (see BrickletIMUV3#get_acceleration)
+    # * magnetic field (see BrickletIMUV3#get_magnetic_field)
+    # * angular velocity (see BrickletIMUV3#get_angular_velocity)
+    # * Euler angles (see BrickletIMUV3#get_orientation)
+    # * quaternion (see BrickletIMUV3#get_quaternion)
+    # * linear acceleration (see BrickletIMUV3#get_linear_acceleration)
+    # * gravity vector (see BrickletIMUV3#get_gravity_vector)
+    # * temperature (see BrickletIMUV3#get_temperature)
+    # * calibration status (see below)
+    # 
+    # The calibration status consists of four pairs of two bits. Each pair
+    # of bits represents the status of the current calibration.
+    # 
+    # * bit 0-1: Magnetometer
+    # * bit 2-3: Accelerometer
+    # * bit 4-5: Gyroscope
+    # * bit 6-7: System
+    # 
+    # A value of 0 means for "not calibrated" and a value of 3 means
+    # "fully calibrated". In your program you should always be able to
+    # ignore the calibration status, it is used by the calibration
+    # window of the Brick Viewer and it can be ignored after the first
+    # calibration. See the documentation in the calibration window for
+    # more information regarding the calibration of the IMU Brick.
+    # 
+    # If you want to get the data periodically, it is recommended
+    # to use the CALLBACK_ALL_DATA callback and set the period with
+    # BrickletIMUV3#set_all_data_callback_configuration.
+    def get_all_data
+      check_validity
+
+      send_request FUNCTION_GET_ALL_DATA, [], '', 54, 's3 s3 s3 s3 s4 s3 s3 c C'
+    end
+
+    # A call of this function saves the current calibration to be used
+    # as a starting point for the next restart of continuous calibration
+    # of the IMU Brick.
+    # 
+    # A return value of *true* means that the calibration could be used and
+    # *false* means that it could not be used (this happens if the calibration
+    # status is not "fully calibrated").
+    # 
+    # This function is used by the calibration window of the Brick Viewer, you
+    # should not need to call it in your program.
+    def save_calibration
+      check_validity
+
+      send_request FUNCTION_SAVE_CALIBRATION, [], '', 9, '?'
+    end
+
+    # Sets the available sensor configuration for the Magnetometer, Gyroscope and
+    # Accelerometer. The Accelerometer Range is user selectable in all fusion modes,
+    # all other configurations are auto-controlled in fusion mode.
+    def set_sensor_configuration(magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth)
+      check_validity
+
+      send_request FUNCTION_SET_SENSOR_CONFIGURATION, [magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth], 'C C C C C', 8, ''
+    end
+
+    # Returns the sensor configuration as set by BrickletIMUV3#set_sensor_configuration.
+    def get_sensor_configuration
+      check_validity
+
+      send_request FUNCTION_GET_SENSOR_CONFIGURATION, [], '', 13, 'C C C C C'
+    end
+
+    # If the fusion mode is turned off, the functions BrickletIMUV3#get_acceleration,
+    # BrickletIMUV3#get_magnetic_field and BrickletIMUV3#get_angular_velocity return uncalibrated
+    # and uncompensated sensor data. All other sensor data getters return no data.
+    # 
+    # Since firmware version 2.0.6 you can also use a fusion mode without magnetometer.
+    # In this mode the calculated orientation is relative (with magnetometer it is
+    # absolute with respect to the earth). However, the calculation can't be influenced
+    # by spurious magnetic fields.
+    # 
+    # Since firmware version 2.0.13 you can also use a fusion mode without fast
+    # magnetometer calibration. This mode is the same as the normal fusion mode,
+    # but the fast magnetometer calibration is turned off. So to find the orientation
+    # the first time will likely take longer, but small magnetic influences might
+    # not affect the automatic calibration as much.
+    def set_sensor_fusion_mode(mode)
+      check_validity
+
+      send_request FUNCTION_SET_SENSOR_FUSION_MODE, [mode], 'C', 8, ''
+    end
+
+    # Returns the sensor fusion mode as set by BrickletIMUV3#set_sensor_fusion_mode.
+    def get_sensor_fusion_mode
+      check_validity
+
+      send_request FUNCTION_GET_SENSOR_FUSION_MODE, [], '', 9, 'C'
+    end
+
+    # The period is the period with which the CALLBACK_ACCELERATION 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.
+    def set_acceleration_callback_configuration(period, value_has_to_change)
+      check_validity
+
+      send_request FUNCTION_SET_ACCELERATION_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
+    end
+
+    # Returns the callback configuration as set by BrickletIMUV3#set_acceleration_callback_configuration.
+    def get_acceleration_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_ACCELERATION_CALLBACK_CONFIGURATION, [], '', 13, 'L ?'
+    end
+
+    # The period is the period with which the CALLBACK_MAGNETIC_FIELD 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.
+    def set_magnetic_field_callback_configuration(period, value_has_to_change)
+      check_validity
+
+      send_request FUNCTION_SET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
+    end
+
+    # Returns the callback configuration as set by BrickletIMUV3#set_magnetic_field_callback_configuration.
+    def get_magnetic_field_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_MAGNETIC_FIELD_CALLBACK_CONFIGURATION, [], '', 13, 'L ?'
+    end
+
+    # The period is the period with which the CALLBACK_ANGULAR_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.
+    def set_angular_velocity_callback_configuration(period, value_has_to_change)
+      check_validity
+
+      send_request FUNCTION_SET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
+    end
+
+    # Returns the callback configuration as set by BrickletIMUV3#set_angular_velocity_callback_configuration.
+    def get_angular_velocity_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_ANGULAR_VELOCITY_CALLBACK_CONFIGURATION, [], '', 13, 'L ?'
+    end
+
+    # The period is the period with which the CALLBACK_TEMPERATURE 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.
+    def set_temperature_callback_configuration(period, value_has_to_change)
+      check_validity
+
+      send_request FUNCTION_SET_TEMPERATURE_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
+    end
+
+    # Returns the callback configuration as set by BrickletIMUV3#set_temperature_callback_configuration.
+    def get_temperature_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_TEMPERATURE_CALLBACK_CONFIGURATION, [], '', 13, 'L ?'
+    end
+
+    # The period is the period with which the CALLBACK_ORIENTATION 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.
+    def set_orientation_callback_configuration(period, value_has_to_change)
+      check_validity
+
+      send_request FUNCTION_SET_ORIENTATION_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
+    end
+
+    # Returns the callback configuration as set by BrickletIMUV3#set_orientation_callback_configuration.
+    def get_orientation_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_ORIENTATION_CALLBACK_CONFIGURATION, [], '', 13, 'L ?'
+    end
+
+    # The period is the period with which the CALLBACK_LINEAR_ACCELERATION 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.
+    def set_linear_acceleration_callback_configuration(period, value_has_to_change)
+      check_validity
+
+      send_request FUNCTION_SET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
+    end
+
+    # Returns the callback configuration as set by BrickletIMUV3#set_linear_acceleration_callback_configuration.
+    def get_linear_acceleration_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_LINEAR_ACCELERATION_CALLBACK_CONFIGURATION, [], '', 13, 'L ?'
+    end
+
+    # The period is the period with which the CALLBACK_GRAVITY_VECTOR 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.
+    def set_gravity_vector_callback_configuration(period, value_has_to_change)
+      check_validity
+
+      send_request FUNCTION_SET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
+    end
+
+    # Returns the callback configuration as set by BrickletIMUV3#set_gravity_vector_callback_configuration.
+    def get_gravity_vector_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_GRAVITY_VECTOR_CALLBACK_CONFIGURATION, [], '', 13, 'L ?'
+    end
+
+    # The period is the period with which the CALLBACK_QUATERNION 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.
+    def set_quaternion_callback_configuration(period, value_has_to_change)
+      check_validity
+
+      send_request FUNCTION_SET_QUATERNION_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
+    end
+
+    # Returns the callback configuration as set by BrickletIMUV3#set_quaternion_callback_configuration.
+    def get_quaternion_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_QUATERNION_CALLBACK_CONFIGURATION, [], '', 13, 'L ?'
+    end
+
+    # The period is the period with which the CALLBACK_ALL_DATA 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.
+    def set_all_data_callback_configuration(period, value_has_to_change)
+      check_validity
+
+      send_request FUNCTION_SET_ALL_DATA_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
+    end
+
+    # Returns the callback configuration as set by BrickletIMUV3#set_all_data_callback_configuration.
+    def get_all_data_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_ALL_DATA_CALLBACK_CONFIGURATION, [], '', 13, '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
+      check_validity
+
+      send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, '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)
+      check_validity
+
+      send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C'
+    end
+
+    # Returns the current bootloader mode, see BrickletIMUV3#set_bootloader_mode.
+    def get_bootloader_mode
+      check_validity
+
+      send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C'
+    end
+
+    # Sets the firmware pointer for BrickletIMUV3#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)
+      check_validity
+
+      send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, ''
+    end
+
+    # Writes 64 Bytes of firmware at the position as written by
+    # BrickletIMUV3#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)
+      check_validity
+
+      send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, '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)
+      check_validity
+
+      send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, ''
+    end
+
+    # Returns the configuration as set by BrickletIMUV3#set_status_led_config
+    def get_status_led_config
+      check_validity
+
+      send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C'
+    end
+
+    # 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 bad
+    # accuracy. Practically it is only useful as an indicator for
+    # temperature changes.
+    def get_chip_temperature
+      check_validity
+
+      send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, '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
+      check_validity
+
+      send_request FUNCTION_RESET, [], '', 8, ''
+    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)
+      check_validity
+
+      send_request FUNCTION_WRITE_UID, [uid], 'L', 8, ''
+    end
+
+    # Returns the current UID as an integer. Encode as
+    # Base58 to get the usual string version.
+    def read_uid
+      check_validity
+
+      send_request FUNCTION_READ_UID, [], '', 12, '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', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port).
+    # A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at
+    # position 'z'.
+    # 
+    # The device identifier numbers can be found :ref:`here <device_identifier>`.
+    # |device_identifier_constant|
+    def get_identity
+      send_request FUNCTION_GET_IDENTITY, [], '', 33, '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