tinkerforge 2.1.24 → 2.1.25

data/lib/tinkerforge/brick_imu.rb

@@ -1,14 +1,16 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2019-11-25.      #
+# This file was automatically generated on 2020-04-07.      #
 #                                                           #
-# Ruby Bindings Version 2.1.24                              #
+# Ruby Bindings Version 2.1.25                              #
 #                                                           #
 # 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 BrickIMU < Device
@@ -93,6 +95,8 @@ 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:
 
     CALIBRATION_TYPE_ACCELEROMETER_GAIN = 0 # :nodoc:
@@ -113,7 +117,7 @@ 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, 4]
 
@@ -162,35 +166,42 @@ 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_ALL_DATA] = 's s s s s s s s s s'
-      @callback_formats[CALLBACK_ORIENTATION] = 's s s'
-      @callback_formats[CALLBACK_QUATERNION] = 'e e e e'
+      @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_ALL_DATA] = [28, 's s s s s s s s s s']
+      @callback_formats[CALLBACK_ORIENTATION] = [14, 's s s']
+      @callback_formats[CALLBACK_QUATERNION] = [24, 'e e e e']
 
+      @ipcon.add_device self
     end
 
     # Returns the calibrated acceleration from the accelerometer for the
-    # x, y and z axis in g/1000 (1g = 9.80665m/s²).
+    # x, y and z axis.
     # 
     # If you want to get the acceleration periodically, it is recommended
     # to use the CALLBACK_ACCELERATION callback and set the period with
     # BrickIMU#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 mG (Milligauss or Nanotesla).
+    # 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
     # BrickIMU#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
@@ -201,23 +212,25 @@ module Tinkerforge
     # to use the CALLBACK_ANGULAR_VELOCITY callback and set the period with
     # BrickIMU#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 data from BrickIMU#get_acceleration, BrickIMU#get_magnetic_field
     # and BrickIMU#get_angular_velocity as well as the temperature of the IMU Brick.
     # 
-    # The temperature is given in °C/100.
-    # 
     # If you want to get the data periodically, it is recommended
     # to use the CALLBACK_ALL_DATA callback and set the period with
     # BrickIMU#set_all_data_period.
     def get_all_data
-      send_request FUNCTION_GET_ALL_DATA, [], '', 20, 's s s s s s s s s s'
+      check_validity
+
+      send_request FUNCTION_GET_ALL_DATA, [], '', 28, 's s s s s s s s s s'
     end
 
     # Returns the current orientation (roll, pitch, yaw) of the IMU Brick as Euler
-    # angles in one-hundredth degree. Note that Euler angles always experience a
+    # angles. Note that Euler angles always experience a
     # `gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__.
     # 
     # We recommend that you use quaternions instead.
@@ -229,7 +242,9 @@ module Tinkerforge
     # to use the CALLBACK_ORIENTATION callback and set the period with
     # BrickIMU#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 current orientation (x, y, z, w) of the IMU as
@@ -264,52 +279,69 @@ module Tinkerforge
     # to use the CALLBACK_QUATERNION callback and set the period with
     # BrickIMU#set_quaternion_period.
     def get_quaternion
-      send_request FUNCTION_GET_QUATERNION, [], '', 16, 'e e e e'
+      check_validity
+
+      send_request FUNCTION_GET_QUATERNION, [], '', 24, 'e e e e'
     end
 
-    # Returns the temperature of the IMU Brick. The temperature is given in
-    # °C/100.
+    # Returns the temperature of the IMU Brick.
     def get_imu_temperature
-      send_request FUNCTION_GET_IMU_TEMPERATURE, [], '', 2, 's'
+      check_validity
+
+      send_request FUNCTION_GET_IMU_TEMPERATURE, [], '', 10, 's'
     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
 
     # Not implemented yet.
     def set_acceleration_range(range)
-      send_request FUNCTION_SET_ACCELERATION_RANGE, [range], 'C', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_ACCELERATION_RANGE, [range], 'C', 8, ''
     end
 
     # Not implemented yet.
     def get_acceleration_range
-      send_request FUNCTION_GET_ACCELERATION_RANGE, [], '', 1, 'C'
+      check_validity
+
+      send_request FUNCTION_GET_ACCELERATION_RANGE, [], '', 9, 'C'
     end
 
     # Not implemented yet.
     def set_magnetometer_range(range)
-      send_request FUNCTION_SET_MAGNETOMETER_RANGE, [range], 'C', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_MAGNETOMETER_RANGE, [range], 'C', 8, ''
     end
 
     # Not implemented yet.
     def get_magnetometer_range
-      send_request FUNCTION_GET_MAGNETOMETER_RANGE, [], '', 1, 'C'
+      check_validity
+
+      send_request FUNCTION_GET_MAGNETOMETER_RANGE, [], '', 9, 'C'
     end
 
-    # Sets the convergence speed of the IMU Brick in °/s. The convergence speed
+    # Sets the convergence speed of the IMU Brick. The convergence speed
     # determines how the different sensor measurements are fused.
     # 
     # If the orientation of the IMU Brick is off by 10° and the convergence speed is
@@ -334,15 +366,17 @@ module Tinkerforge
     # 
     # You might want to play around with the convergence speed in the Brick Viewer to
     # get a feeling for a good value for your application.
-    # 
-    # The default value is 30.
     def set_convergence_speed(speed)
-      send_request FUNCTION_SET_CONVERGENCE_SPEED, [speed], 'S', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_CONVERGENCE_SPEED, [speed], 'S', 8, ''
     end
 
     # Returns the convergence speed as set by BrickIMU#set_convergence_speed.
     def get_convergence_speed
-      send_request FUNCTION_GET_CONVERGENCE_SPEED, [], '', 2, 'S'
+      check_validity
+
+      send_request FUNCTION_GET_CONVERGENCE_SPEED, [], '', 10, 'S'
     end
 
     # There are several different types that can be calibrated:
@@ -378,78 +412,106 @@ module Tinkerforge
     #  We highly recommend that you use the Brick Viewer to calibrate your
     #  IMU Brick.
     def set_calibration(typ, data)
-      send_request FUNCTION_SET_CALIBRATION, [typ, data], 'C s10', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_CALIBRATION, [typ, data], 'C s10', 8, ''
     end
 
     # Returns the calibration for a given type as set by BrickIMU#set_calibration.
     def get_calibration(typ)
-      send_request FUNCTION_GET_CALIBRATION, [typ], 'C', 20, 's10'
+      check_validity
+
+      send_request FUNCTION_GET_CALIBRATION, [typ], 'C', 28, 's10'
     end
 
     # Sets the period with which the CALLBACK_ACCELERATION callback is triggered
     # periodically. A value of 0 turns the callback off.
     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 BrickIMU#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 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 BrickIMU#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 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 BrickIMU#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 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 BrickIMU#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 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 BrickIMU#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 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 BrickIMU#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
 
     # Turns the orientation calculation of the IMU Brick on.
@@ -458,7 +520,9 @@ module Tinkerforge
     # 
     # .. versionadded:: 2.0.2$nbsp;(Firmware)
     def orientation_calculation_on
-      send_request FUNCTION_ORIENTATION_CALCULATION_ON, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_ORIENTATION_CALCULATION_ON, [], '', 8, ''
     end
 
     # Turns the orientation calculation of the IMU Brick off.
@@ -475,7 +539,9 @@ module Tinkerforge
     # 
     # .. versionadded:: 2.0.2$nbsp;(Firmware)
     def orientation_calculation_off
-      send_request FUNCTION_ORIENTATION_CALCULATION_OFF, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_ORIENTATION_CALCULATION_OFF, [], '', 8, ''
     end
 
     # Returns *true* if the orientation calculation of the IMU Brick
@@ -483,15 +549,17 @@ module Tinkerforge
     # 
     # .. versionadded:: 2.0.2$nbsp;(Firmware)
     def is_orientation_calculation_on
-      send_request FUNCTION_IS_ORIENTATION_CALCULATION_ON, [], '', 1, '?'
+      check_validity
+
+      send_request FUNCTION_IS_ORIENTATION_CALCULATION_ON, [], '', 9, '?'
     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
@@ -505,20 +573,20 @@ module Tinkerforge
     # BrickIMU#set_spitfp_baudrate. If the dynamic baudrate is disabled, the baudrate
     # as set by BrickIMU#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:: 2.3.5$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 BrickIMU#set_spitfp_baudrate_config.
     # 
     # .. versionadded:: 2.3.5$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.
@@ -530,11 +598,12 @@ module Tinkerforge
     # 
     # .. versionadded:: 2.3.3$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
@@ -548,18 +617,20 @@ module Tinkerforge
     # or similar is necessary in you applications we recommend to not change
     # the baudrate.
     # 
-    # The default baudrate for all ports is 1400000.
-    # 
     # .. versionadded:: 2.3.3$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 BrickIMU#set_spitfp_baudrate.
     # 
     # .. versionadded:: 2.3.3$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.
@@ -576,7 +647,9 @@ module Tinkerforge
     # 
     # .. versionadded:: 2.3.3$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.
@@ -588,7 +661,9 @@ module Tinkerforge
     # 
     # .. versionadded:: 2.3.1$nbsp;(Firmware)
     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.
@@ -600,14 +675,18 @@ module Tinkerforge
     # 
     # .. versionadded:: 2.3.1$nbsp;(Firmware)
     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.
     # 
     # .. versionadded:: 2.3.1$nbsp;(Firmware)
     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
@@ -616,17 +695,21 @@ 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
     # 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
@@ -636,19 +719,43 @@ 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>.