tinkerforge 2.1.22 → 2.1.27

data/lib/tinkerforge/brick_imu_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
   # Full fledged AHRS with 9 degrees of freedom
   class BrickIMUV2 < Device
@@ -52,7 +54,7 @@ module Tinkerforge
 
     # This callback is triggered periodically with the period that is set by
     # BrickIMUV2#set_quaternion_period. The parameters are the orientation
-    # (x, y, z, w) of the IMU Brick in quaternions. See BrickIMUV2#get_quaternion
+    # (w, x, y, z) of the IMU Brick in quaternions. See BrickIMUV2#get_quaternion
     # for details.
     CALLBACK_QUATERNION = 39
 
@@ -108,6 +110,8 @@ module Tinkerforge
     FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241 # :nodoc:
     FUNCTION_GET_CHIP_TEMPERATURE = 242 # :nodoc:
     FUNCTION_RESET = 243 # :nodoc:
+    FUNCTION_WRITE_BRICKLET_PLUGIN = 246 # :nodoc:
+    FUNCTION_READ_BRICKLET_PLUGIN = 247 # :nodoc:
     FUNCTION_GET_IDENTITY = 255 # :nodoc:
 
     MAGNETOMETER_RATE_2HZ = 0 # :nodoc:
@@ -159,7 +163,7 @@ 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, 3]
 
@@ -210,78 +214,88 @@ module Tinkerforge
       @response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = 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_BRICKLET_PLUGIN] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_READ_BRICKLET_PLUGIN] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
 
-      @callback_formats[CALLBACK_ACCELERATION] = 's s s'
-      @callback_formats[CALLBACK_MAGNETIC_FIELD] = 's s s'
-      @callback_formats[CALLBACK_ANGULAR_VELOCITY] = 's s s'
-      @callback_formats[CALLBACK_TEMPERATURE] = 'c'
-      @callback_formats[CALLBACK_LINEAR_ACCELERATION] = 's s s'
-      @callback_formats[CALLBACK_GRAVITY_VECTOR] = 's s s'
-      @callback_formats[CALLBACK_ORIENTATION] = 's s s'
-      @callback_formats[CALLBACK_QUATERNION] = 's s s s'
-      @callback_formats[CALLBACK_ALL_DATA] = 's3 s3 s3 s3 s4 s3 s3 c C'
+      @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 in 1/100 m/s².
+    # x, y and z axis. The acceleration is in the range configured with
+    # BrickIMUV2#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
     # BrickIMUV2#set_acceleration_period.
     def get_acceleration
-      send_request FUNCTION_GET_ACCELERATION, [], '', 6, 's s s'
+      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 in 1/16 µT (Microtesla).
+    # 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
     # BrickIMUV2#set_magnetic_field_period.
     def get_magnetic_field
-      send_request FUNCTION_GET_MAGNETIC_FIELD, [], '', 6, 's s s'
+      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 in 1/16 °/s.
+    # x, y and z axis. The angular velocity is in the range configured with
+    # BrickIMUV2#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
     # BrickIMUV2#set_angular_velocity_period.
     def get_angular_velocity
-      send_request FUNCTION_GET_ANGULAR_VELOCITY, [], '', 6, 's s s'
+      check_validity
+
+      send_request FUNCTION_GET_ANGULAR_VELOCITY, [], '', 14, 's s s'
     end
 
-    # Returns the temperature of the IMU Brick. The temperature is given in
-    # °C. The temperature is measured in the core of the BNO055 IC, it is not the
+    # 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
-      send_request FUNCTION_GET_TEMPERATURE, [], '', 1, 'c'
+      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 in 1/16 degree. Note that Euler angles always
+    # 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.
     # 
-    # The rotation angle has the following ranges:
-    # 
-    # * heading: 0° to 360°
-    # * roll: -90° to +90°
-    # * pitch: -180° to +180°
-    # 
     # If you want to get the orientation periodically, it is recommended
     # to use the CALLBACK_ORIENTATION callback and set the period with
     # BrickIMUV2#set_orientation_period.
     def get_orientation
-      send_request FUNCTION_GET_ORIENTATION, [], '', 6, 's s s'
+      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 in 1/100 m/s².
+    # x, y and z axis. The acceleration is in the range configured with
+    # BrickIMUV2#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.
@@ -293,11 +307,13 @@ module Tinkerforge
     # to use the CALLBACK_LINEAR_ACCELERATION callback and set the period with
     # BrickIMUV2#set_linear_acceleration_period.
     def get_linear_acceleration
-      send_request FUNCTION_GET_LINEAR_ACCELERATION, [], '', 6, 's s s'
+      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 in 1/100 m/s².
+    # x, y and z axis.
     # 
     # The gravity vector is the acceleration that occurs due to gravity.
     # Influences of additional linear acceleration are removed.
@@ -309,32 +325,36 @@ module Tinkerforge
     # to use the CALLBACK_GRAVITY_VECTOR callback and set the period with
     # BrickIMUV2#set_gravity_vector_period.
     def get_gravity_vector
-      send_request FUNCTION_GET_GRAVITY_VECTOR, [], '', 6, 's s s'
+      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 returns values by 16383 (14 bit) to get
+    # 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
     # BrickIMUV2#set_quaternion_period.
     def get_quaternion
-      send_request FUNCTION_GET_QUATERNION, [], '', 8, 's s s s'
+      check_validity
+
+      send_request FUNCTION_GET_QUATERNION, [], '', 16, 's s s s'
     end
 
     # Return all of the available data of the IMU Brick.
     # 
-    # * acceleration in 1/100 m/s² (see BrickIMUV2#get_acceleration)
-    # * magnetic field in 1/16 µT (see BrickIMUV2#get_magnetic_field)
-    # * angular velocity in 1/16 °/s (see BrickIMUV2#get_angular_velocity)
-    # * Euler angles in 1/16 ° (see BrickIMUV2#get_orientation)
-    # * quaternion 1/16383 (see BrickIMUV2#get_quaternion)
-    # * linear acceleration 1/100 m/s² (see BrickIMUV2#get_linear_acceleration)
-    # * gravity vector 1/100 m/s² (see BrickIMUV2#get_gravity_vector)
-    # * temperature in 1 °C (see BrickIMUV2#get_temperature)
+    # * acceleration (see BrickIMUV2#get_acceleration)
+    # * magnetic field (see BrickIMUV2#get_magnetic_field)
+    # * angular velocity (see BrickIMUV2#get_angular_velocity)
+    # * Euler angles (see BrickIMUV2#get_orientation)
+    # * quaternion (see BrickIMUV2#get_quaternion)
+    # * linear acceleration (see BrickIMUV2#get_linear_acceleration)
+    # * gravity vector (see BrickIMUV2#get_gravity_vector)
+    # * temperature (see BrickIMUV2#get_temperature)
     # * calibration status (see below)
     # 
     # The calibration status consists of four pairs of two bits. Each pair
@@ -356,23 +376,31 @@ module Tinkerforge
     # to use the CALLBACK_ALL_DATA callback and set the period with
     # BrickIMUV2#set_all_data_period.
     def get_all_data
-      send_request FUNCTION_GET_ALL_DATA, [], '', 46, 's3 s3 s3 s3 s4 s3 s3 c C'
+      check_validity
+
+      send_request FUNCTION_GET_ALL_DATA, [], '', 54, 's3 s3 s3 s3 s4 s3 s3 c C'
     end
 
     # Turns the orientation and direction LEDs of the IMU Brick on.
     def leds_on
-      send_request FUNCTION_LEDS_ON, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_LEDS_ON, [], '', 8, ''
     end
 
     # Turns the orientation and direction LEDs of the IMU Brick off.
     def leds_off
-      send_request FUNCTION_LEDS_OFF, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_LEDS_OFF, [], '', 8, ''
     end
 
     # Returns *true* if the orientation and direction LEDs of the IMU Brick
     # are on, *false* otherwise.
     def are_leds_on
-      send_request FUNCTION_ARE_LEDS_ON, [], '', 1, '?'
+      check_validity
+
+      send_request FUNCTION_ARE_LEDS_ON, [], '', 9, '?'
     end
 
     # A call of this function saves the current calibration to be used
@@ -386,132 +414,164 @@ module Tinkerforge
     # 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
-      send_request FUNCTION_SAVE_CALIBRATION, [], '', 1, '?'
+      check_validity
+
+      send_request FUNCTION_SAVE_CALIBRATION, [], '', 9, '?'
     end
 
-    # Sets the period in ms with which the CALLBACK_ACCELERATION callback is triggered
+    # Sets the period with which the CALLBACK_ACCELERATION callback is triggered
     # periodically. A value of 0 turns the callback off.
-    # 
-    # The default value is 0.
     def set_acceleration_period(period)
-      send_request FUNCTION_SET_ACCELERATION_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_ACCELERATION_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickIMUV2#set_acceleration_period.
     def get_acceleration_period
-      send_request FUNCTION_GET_ACCELERATION_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_ACCELERATION_PERIOD, [], '', 12, 'L'
     end
 
-    # Sets the period in ms with which the CALLBACK_MAGNETIC_FIELD callback is triggered
+    # Sets the period with which the CALLBACK_MAGNETIC_FIELD callback is triggered
     # periodically. A value of 0 turns the callback off.
     def set_magnetic_field_period(period)
-      send_request FUNCTION_SET_MAGNETIC_FIELD_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_MAGNETIC_FIELD_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickIMUV2#set_magnetic_field_period.
     def get_magnetic_field_period
-      send_request FUNCTION_GET_MAGNETIC_FIELD_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_MAGNETIC_FIELD_PERIOD, [], '', 12, 'L'
     end
 
-    # Sets the period in ms with which the CALLBACK_ANGULAR_VELOCITY callback is
+    # Sets the period with which the CALLBACK_ANGULAR_VELOCITY callback is
     # triggered periodically. A value of 0 turns the callback off.
     def set_angular_velocity_period(period)
-      send_request FUNCTION_SET_ANGULAR_VELOCITY_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_ANGULAR_VELOCITY_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickIMUV2#set_angular_velocity_period.
     def get_angular_velocity_period
-      send_request FUNCTION_GET_ANGULAR_VELOCITY_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_ANGULAR_VELOCITY_PERIOD, [], '', 12, 'L'
     end
 
-    # Sets the period in ms with which the CALLBACK_TEMPERATURE callback is triggered
+    # Sets the period with which the CALLBACK_TEMPERATURE callback is triggered
     # periodically. A value of 0 turns the callback off.
     def set_temperature_period(period)
-      send_request FUNCTION_SET_TEMPERATURE_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_TEMPERATURE_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickIMUV2#set_temperature_period.
     def get_temperature_period
-      send_request FUNCTION_GET_TEMPERATURE_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_TEMPERATURE_PERIOD, [], '', 12, 'L'
     end
 
-    # Sets the period in ms with which the CALLBACK_ORIENTATION callback is triggered
+    # Sets the period with which the CALLBACK_ORIENTATION callback is triggered
     # periodically. A value of 0 turns the callback off.
     def set_orientation_period(period)
-      send_request FUNCTION_SET_ORIENTATION_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_ORIENTATION_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickIMUV2#set_orientation_period.
     def get_orientation_period
-      send_request FUNCTION_GET_ORIENTATION_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_ORIENTATION_PERIOD, [], '', 12, 'L'
     end
 
-    # Sets the period in ms with which the CALLBACK_LINEAR_ACCELERATION callback is
+    # Sets the period with which the CALLBACK_LINEAR_ACCELERATION callback is
     # triggered periodically. A value of 0 turns the callback off.
     def set_linear_acceleration_period(period)
-      send_request FUNCTION_SET_LINEAR_ACCELERATION_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_LINEAR_ACCELERATION_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickIMUV2#set_linear_acceleration_period.
     def get_linear_acceleration_period
-      send_request FUNCTION_GET_LINEAR_ACCELERATION_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_LINEAR_ACCELERATION_PERIOD, [], '', 12, 'L'
     end
 
-    # Sets the period in ms with which the CALLBACK_GRAVITY_VECTOR callback is triggered
+    # Sets the period with which the CALLBACK_GRAVITY_VECTOR callback is triggered
     # periodically. A value of 0 turns the callback off.
     def set_gravity_vector_period(period)
-      send_request FUNCTION_SET_GRAVITY_VECTOR_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_GRAVITY_VECTOR_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickIMUV2#set_gravity_vector_period.
     def get_gravity_vector_period
-      send_request FUNCTION_GET_GRAVITY_VECTOR_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_GRAVITY_VECTOR_PERIOD, [], '', 12, 'L'
     end
 
-    # Sets the period in ms with which the CALLBACK_QUATERNION callback is triggered
+    # Sets the period with which the CALLBACK_QUATERNION callback is triggered
     # periodically. A value of 0 turns the callback off.
     def set_quaternion_period(period)
-      send_request FUNCTION_SET_QUATERNION_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_QUATERNION_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickIMUV2#set_quaternion_period.
     def get_quaternion_period
-      send_request FUNCTION_GET_QUATERNION_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_QUATERNION_PERIOD, [], '', 12, 'L'
     end
 
-    # Sets the period in ms with which the CALLBACK_ALL_DATA callback is triggered
+    # Sets the period 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, ''
+      check_validity
+
+      send_request FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickIMUV2#set_all_data_period.
     def get_all_data_period
-      send_request FUNCTION_GET_ALL_DATA_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_ALL_DATA_PERIOD, [], '', 12, 'L'
     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.
     # 
-    # The default values are:
-    # 
-    # * Magnetometer Rate 20Hz
-    # * Gyroscope Range 2000°/s
-    # * Gyroscope Bandwidth 32Hz
-    # * Accelerometer Range +/-4G
-    # * Accelerometer Bandwidth 62.5Hz
-    # 
     # .. versionadded:: 2.0.5$nbsp;(Firmware)
     def set_sensor_configuration(magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth)
-      send_request FUNCTION_SET_SENSOR_CONFIGURATION, [magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth], 'C C C C C', 0, ''
+      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 BrickIMUV2#set_sensor_configuration.
     # 
     # .. versionadded:: 2.0.5$nbsp;(Firmware)
     def get_sensor_configuration
-      send_request FUNCTION_GET_SENSOR_CONFIGURATION, [], '', 5, 'C C C C C'
+      check_validity
+
+      send_request FUNCTION_GET_SENSOR_CONFIGURATION, [], '', 13, 'C C C C C'
     end
 
     # If the fusion mode is turned off, the functions BrickIMUV2#get_acceleration,
@@ -529,26 +589,28 @@ module Tinkerforge
     # the first time will likely take longer, but small magnetic influences might
     # not affect the automatic calibration as much.
     # 
-    # By default sensor fusion is on.
-    # 
     # .. versionadded:: 2.0.5$nbsp;(Firmware)
     def set_sensor_fusion_mode(mode)
-      send_request FUNCTION_SET_SENSOR_FUSION_MODE, [mode], 'C', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_SENSOR_FUSION_MODE, [mode], 'C', 8, ''
     end
 
     # Returns the sensor fusion mode as set by BrickIMUV2#set_sensor_fusion_mode.
     # 
     # .. versionadded:: 2.0.5$nbsp;(Firmware)
     def get_sensor_fusion_mode
-      send_request FUNCTION_GET_SENSOR_FUSION_MODE, [], '', 1, 'C'
+      check_validity
+
+      send_request FUNCTION_GET_SENSOR_FUSION_MODE, [], '', 9, 'C'
     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 exponentially if lots of data is send/received and
-    # decreased linearly if little data is send/received.
+    # The baudrate will be increased exponentially if lots of data is sent/received and
+    # decreased linearly if little data is sent/received.
     # 
     # This lowers the baudrate in applications where little data is transferred (e.g.
     # a weather station) and increases the robustness. If there is lots of data to transfer
@@ -562,20 +624,20 @@ module Tinkerforge
     # BrickIMUV2#set_spitfp_baudrate. If the dynamic baudrate is disabled, the baudrate
     # as set by BrickIMUV2#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:: 2.0.10$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, ''
+      check_validity
+
+      send_request FUNCTION_SET_SPITFP_BAUDRATE_CONFIG, [enable_dynamic_baudrate, minimum_dynamic_baudrate], '? L', 8, ''
     end
 
     # Returns the baudrate config, see BrickIMUV2#set_spitfp_baudrate_config.
     # 
     # .. versionadded:: 2.0.10$nbsp;(Firmware)
     def get_spitfp_baudrate_config
-      send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 5, '? L'
+      check_validity
+
+      send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 13, '? L'
     end
 
     # Returns the timeout count for the different communication methods.
@@ -587,11 +649,12 @@ module Tinkerforge
     # 
     # .. versionadded:: 2.0.7$nbsp;(Firmware)
     def get_send_timeout_count(communication_method)
-      send_request FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 12, 'L'
     end
 
-    # Sets the baudrate for a specific Bricklet port ('a' - 'd'). The
-    # baudrate can be in the range 400000 to 2000000.
+    # Sets the baudrate for a specific Bricklet port.
     # 
     # If you want to increase the throughput of Bricklets you can increase
     # the baudrate. If you get a high error count because of high
@@ -602,21 +665,23 @@ module Tinkerforge
     # function corresponds to the maximum baudrate (see BrickIMUV2#set_spitfp_baudrate_config).
     # 
     # Regulatory testing is done with the default baudrate. If CE compatibility
-    # or similar is necessary in you applications we recommend to not change
+    # or similar is necessary in your applications we recommend to not change
     # the baudrate.
     # 
-    # The default baudrate for all ports is 1400000.
-    # 
     # .. versionadded:: 2.0.5$nbsp;(Firmware)
     def set_spitfp_baudrate(bricklet_port, baudrate)
-      send_request FUNCTION_SET_SPITFP_BAUDRATE, [bricklet_port, baudrate], 'k L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_SPITFP_BAUDRATE, [bricklet_port, baudrate], 'k L', 8, ''
     end
 
     # Returns the baudrate for a given Bricklet port, see BrickIMUV2#set_spitfp_baudrate.
     # 
     # .. versionadded:: 2.0.5$nbsp;(Firmware)
     def get_spitfp_baudrate(bricklet_port)
-      send_request FUNCTION_GET_SPITFP_BAUDRATE, [bricklet_port], 'k', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_SPITFP_BAUDRATE, [bricklet_port], 'k', 12, 'L'
     end
 
     # Returns the error count for the communication between Brick and Bricklet.
@@ -633,7 +698,9 @@ module Tinkerforge
     # 
     # .. versionadded:: 2.0.5$nbsp;(Firmware)
     def get_spitfp_error_count(bricklet_port)
-      send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [bricklet_port], 'k', 16, 'L L L L'
+      check_validity
+
+      send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [bricklet_port], 'k', 24, 'L L L L'
     end
 
     # Enables the status LED.
@@ -643,7 +710,9 @@ module Tinkerforge
     # 
     # The default state is enabled.
     def enable_status_led
-      send_request FUNCTION_ENABLE_STATUS_LED, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_ENABLE_STATUS_LED, [], '', 8, ''
     end
 
     # Disables the status LED.
@@ -653,12 +722,16 @@ module Tinkerforge
     # 
     # The default state is enabled.
     def disable_status_led
-      send_request FUNCTION_DISABLE_STATUS_LED, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_DISABLE_STATUS_LED, [], '', 8, ''
     end
 
     # Returns *true* if the status LED is enabled, *false* otherwise.
     def is_status_led_enabled
-      send_request FUNCTION_IS_STATUS_LED_ENABLED, [], '', 1, '?'
+      check_validity
+
+      send_request FUNCTION_IS_STATUS_LED_ENABLED, [], '', 9, '?'
     end
 
     # Returns the firmware and protocol version and the name of the Bricklet for a
@@ -667,17 +740,21 @@ 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'
+      check_validity
+
+      send_request FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 52, 'C C3 Z40'
     end
 
-    # Returns the temperature in °C/10 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 an
-    # accuracy of +-15%. Practically it is only useful as an indicator for
+    # 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'
+      check_validity
+
+      send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's'
     end
 
     # Calling this function will reset the Brick. Calling this function
@@ -687,19 +764,43 @@ 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 32 bytes of firmware to the bricklet attached at the given port.
+    # The bytes are written to the position offset * 32.
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def write_bricklet_plugin(port, offset, chunk)
+      check_validity
+
+      send_request FUNCTION_WRITE_BRICKLET_PLUGIN, [port, offset, chunk], 'k C C32', 8, ''
+    end
+
+    # Reads 32 bytes of firmware from the bricklet attached at the given port.
+    # The bytes are read starting at the position offset * 32.
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def read_bricklet_plugin(port, offset)
+      check_validity
+
+      send_request FUNCTION_READ_BRICKLET_PLUGIN, [port, offset], 'k C', 40, 'C32'
     end
 
     # Returns the UID, the UID where the Brick is connected to,
     # the position, the hardware and firmware version as well as the
     # device identifier.
     # 
-    # The position can be '0'-'8' (stack position).
+    # The position is the position in the stack from '0' (bottom) to '8' (top).
     # 
     # The device identifier numbers can be found :ref:`here <device_identifier>`.
     # |device_identifier_constant|
     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>.