tinkerforge 2.1.24 → 2.1.25

data/lib/tinkerforge/brick_silent_stepper.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
   # Silently drives one bipolar stepper motor with up to 46V and 1.6A per phase
   class BrickSilentStepper < Device
@@ -16,8 +18,7 @@ module Tinkerforge
     DEVICE_DISPLAY_NAME = 'Silent Stepper Brick' # :nodoc:
 
     # This callback is triggered when the input voltage drops below the value set by
-    # BrickSilentStepper#set_minimum_voltage. The parameter is the current voltage given
-    # in mV.
+    # BrickSilentStepper#set_minimum_voltage. The parameter is the current voltage.
     CALLBACK_UNDER_VOLTAGE = 40
 
     # This callback is triggered when a position set by BrickSilentStepper#set_steps or
@@ -95,6 +96,8 @@ 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:
 
     STEP_RESOLUTION_1 = 8 # :nodoc:
@@ -153,7 +156,7 @@ 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, 1]
 
@@ -212,36 +215,45 @@ 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_UNDER_VOLTAGE] = 'S'
-      @callback_formats[CALLBACK_POSITION_REACHED] = 'l'
-      @callback_formats[CALLBACK_ALL_DATA] = 'S l l S S S'
-      @callback_formats[CALLBACK_NEW_STATE] = 'C C'
+      @callback_formats[CALLBACK_UNDER_VOLTAGE] = [10, 'S']
+      @callback_formats[CALLBACK_POSITION_REACHED] = [12, 'l']
+      @callback_formats[CALLBACK_ALL_DATA] = [24, 'S l l S S S']
+      @callback_formats[CALLBACK_NEW_STATE] = [10, 'C C']
 
+      @ipcon.add_device self
     end
 
-    # Sets the maximum velocity of the stepper motor in steps per second.
+    # Sets the maximum velocity of the stepper motor.
     # This function does *not* start the motor, it merely sets the maximum
     # velocity the stepper motor is accelerated to. To get the motor running use
     # either BrickSilentStepper#set_target_position, BrickSilentStepper#set_steps, BrickSilentStepper#drive_forward or
     # BrickSilentStepper#drive_backward.
     def set_max_velocity(velocity)
-      send_request FUNCTION_SET_MAX_VELOCITY, [velocity], 'S', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_MAX_VELOCITY, [velocity], 'S', 8, ''
     end
 
     # Returns the velocity as set by BrickSilentStepper#set_max_velocity.
     def get_max_velocity
-      send_request FUNCTION_GET_MAX_VELOCITY, [], '', 2, 'S'
+      check_validity
+
+      send_request FUNCTION_GET_MAX_VELOCITY, [], '', 10, 'S'
     end
 
-    # Returns the *current* velocity of the stepper motor in steps per second.
+    # Returns the *current* velocity of the stepper motor.
     def get_current_velocity
-      send_request FUNCTION_GET_CURRENT_VELOCITY, [], '', 2, 'S'
+      check_validity
+
+      send_request FUNCTION_GET_CURRENT_VELOCITY, [], '', 10, 'S'
     end
 
-    # Sets the acceleration and deacceleration of the stepper motor. The values
-    # are given in *steps/s²*. An acceleration of 1000 means, that
+    # Sets the acceleration and deacceleration of the stepper motor.
+    # An acceleration of 1000 means, that
     # every second the velocity is increased by 1000 *steps/s*.
     # 
     # For example: If the current velocity is 0 and you want to accelerate to a
@@ -250,16 +262,18 @@ module Tinkerforge
     # 
     # An acceleration/deacceleration of 0 means instantaneous
     # acceleration/deacceleration (not recommended)
-    # 
-    # The default value is 1000 for both
     def set_speed_ramping(acceleration, deacceleration)
-      send_request FUNCTION_SET_SPEED_RAMPING, [acceleration, deacceleration], 'S S', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_SPEED_RAMPING, [acceleration, deacceleration], 'S S', 8, ''
     end
 
     # Returns the acceleration and deacceleration as set by
     # BrickSilentStepper#set_speed_ramping.
     def get_speed_ramping
-      send_request FUNCTION_GET_SPEED_RAMPING, [], '', 4, 'S S'
+      check_validity
+
+      send_request FUNCTION_GET_SPEED_RAMPING, [], '', 12, 'S S'
     end
 
     # Executes an active full brake.
@@ -271,14 +285,18 @@ module Tinkerforge
     # 
     # Call BrickSilentStepper#stop if you just want to stop the motor.
     def full_brake
-      send_request FUNCTION_FULL_BRAKE, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_FULL_BRAKE, [], '', 8, ''
     end
 
     # Sets the current steps of the internal step counter. This can be used to
     # set the current position to 0 when some kind of starting position
     # is reached (e.g. when a CNC machine reaches a corner).
     def set_current_position(position)
-      send_request FUNCTION_SET_CURRENT_POSITION, [position], 'l', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_CURRENT_POSITION, [position], 'l', 8, ''
     end
 
     # Returns the current position of the stepper motor in steps. On startup
@@ -287,7 +305,9 @@ module Tinkerforge
     # BrickSilentStepper#drive_backward). It also is possible to reset the steps to 0 or
     # set them to any other desired value with BrickSilentStepper#set_current_position.
     def get_current_position
-      send_request FUNCTION_GET_CURRENT_POSITION, [], '', 4, 'l'
+      check_validity
+
+      send_request FUNCTION_GET_CURRENT_POSITION, [], '', 12, 'l'
     end
 
     # Sets the target position of the stepper motor in steps. For example,
@@ -300,12 +320,16 @@ module Tinkerforge
     # a call of BrickSilentStepper#set_steps with the parameter
     # (*x* - BrickSilentStepper#get_current_position).
     def set_target_position(position)
-      send_request FUNCTION_SET_TARGET_POSITION, [position], 'l', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_TARGET_POSITION, [position], 'l', 8, ''
     end
 
     # Returns the last target position as set by BrickSilentStepper#set_target_position.
     def get_target_position
-      send_request FUNCTION_GET_TARGET_POSITION, [], '', 4, 'l'
+      check_validity
+
+      send_request FUNCTION_GET_TARGET_POSITION, [], '', 12, 'l'
     end
 
     # Sets the number of steps the stepper motor should run. Positive values
@@ -313,12 +337,16 @@ module Tinkerforge
     # The velocity, acceleration and deacceleration as set by
     # BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.
     def set_steps(steps)
-      send_request FUNCTION_SET_STEPS, [steps], 'l', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_STEPS, [steps], 'l', 8, ''
     end
 
     # Returns the last steps as set by BrickSilentStepper#set_steps.
     def get_steps
-      send_request FUNCTION_GET_STEPS, [], '', 4, 'l'
+      check_validity
+
+      send_request FUNCTION_GET_STEPS, [], '', 12, 'l'
     end
 
     # Returns the remaining steps of the last call of BrickSilentStepper#set_steps.
@@ -326,7 +354,9 @@ module Tinkerforge
     # BrickSilentStepper#get_remaining_steps is called after the motor has run for 500 steps,
     # it will return 1500.
     def get_remaining_steps
-      send_request FUNCTION_GET_REMAINING_STEPS, [], '', 4, 'l'
+      check_validity
+
+      send_request FUNCTION_GET_REMAINING_STEPS, [], '', 12, 'l'
     end
 
     # Sets the step resolution from full-step up to 1/256-step.
@@ -340,45 +370,55 @@ module Tinkerforge
     # 
     # If you often change the speed with high acceleration you should turn the
     # interpolation off.
-    # 
-    # The default is 1/256-step with interpolation on.
     def set_step_configuration(step_resolution, interpolation)
-      send_request FUNCTION_SET_STEP_CONFIGURATION, [step_resolution, interpolation], 'C ?', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_STEP_CONFIGURATION, [step_resolution, interpolation], 'C ?', 8, ''
     end
 
     # Returns the step mode as set by BrickSilentStepper#set_step_configuration.
     def get_step_configuration
-      send_request FUNCTION_GET_STEP_CONFIGURATION, [], '', 2, 'C ?'
+      check_validity
+
+      send_request FUNCTION_GET_STEP_CONFIGURATION, [], '', 10, 'C ?'
     end
 
     # Drives the stepper motor forward until BrickSilentStepper#drive_backward or
     # BrickSilentStepper#stop is called. The velocity, acceleration and deacceleration as
     # set by BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.
     def drive_forward
-      send_request FUNCTION_DRIVE_FORWARD, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_DRIVE_FORWARD, [], '', 8, ''
     end
 
     # Drives the stepper motor backward until BrickSilentStepper#drive_forward or
     # BrickSilentStepper#stop is triggered. The velocity, acceleration and deacceleration as
     # set by BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.
     def drive_backward
-      send_request FUNCTION_DRIVE_BACKWARD, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_DRIVE_BACKWARD, [], '', 8, ''
     end
 
     # Stops the stepper motor with the deacceleration as set by
     # BrickSilentStepper#set_speed_ramping.
     def stop
-      send_request FUNCTION_STOP, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_STOP, [], '', 8, ''
     end
 
-    # Returns the stack input voltage in mV. The stack input voltage is the
+    # Returns the stack input voltage. The stack input voltage is the
     # voltage that is supplied via the stack, i.e. it is given by a
     # Step-Down or Step-Up Power Supply.
     def get_stack_input_voltage
-      send_request FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 2, 'S'
+      check_validity
+
+      send_request FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 10, 'S'
     end
 
-    # Returns the external input voltage in mV. The external input voltage is
+    # Returns the external input voltage. The external input voltage is
     # given via the black power input connector on the Silent Stepper Brick.
     # 
     # If there is an external input voltage and a stack input voltage, the motor
@@ -391,40 +431,58 @@ module Tinkerforge
     #  the external connection, it will immediately be driven by the high
     #  stack voltage
     def get_external_input_voltage
-      send_request FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, [], '', 2, 'S'
+      check_validity
+
+      send_request FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, [], '', 10, 'S'
     end
 
-    # Sets the current in mA with which the motor will be driven.
-    # The minimum value is 360mA, the maximum value 1640mA and the
-    # default value is 800mA.
+    # Sets the current with which the motor will be driven.
     # 
     # .. warning::
     #  Do not set this value above the specifications of your stepper motor.
     #  Otherwise it may damage your motor.
     def set_motor_current(current)
-      send_request FUNCTION_SET_MOTOR_CURRENT, [current], 'S', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_MOTOR_CURRENT, [current], 'S', 8, ''
     end
 
     # Returns the current as set by BrickSilentStepper#set_motor_current.
     def get_motor_current
-      send_request FUNCTION_GET_MOTOR_CURRENT, [], '', 2, 'S'
+      check_validity
+
+      send_request FUNCTION_GET_MOTOR_CURRENT, [], '', 10, 'S'
     end
 
     # Enables the driver chip. The driver parameters can be configured (maximum velocity,
     # acceleration, etc) before it is enabled.
     def enable
-      send_request FUNCTION_ENABLE, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_ENABLE, [], '', 8, ''
     end
 
     # Disables the driver chip. The configurations are kept (maximum velocity,
     # acceleration, etc) but the motor is not driven until it is enabled again.
+    # 
+    # .. warning::
+    #  Disabling the driver chip while the motor is still turning can damage the
+    #  driver chip. The motor should be stopped calling BrickSilentStepper#stop function
+    #  before disabling the motor power. The BrickSilentStepper#stop function will **not**
+    #  wait until the motor is actually stopped. You have to explicitly wait for the
+    #  appropriate time after calling the BrickSilentStepper#stop function before calling
+    #  the BrickSilentStepper#disable function.
     def disable
-      send_request FUNCTION_DISABLE, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_DISABLE, [], '', 8, ''
     end
 
     # Returns *true* if the driver chip is enabled, *false* otherwise.
     def is_enabled
-      send_request FUNCTION_IS_ENABLED, [], '', 1, '?'
+      check_validity
+
+      send_request FUNCTION_IS_ENABLED, [], '', 9, '?'
     end
 
     # Sets the basic configuration parameters for the different modes (Stealth, Coolstep, Classic).
@@ -434,12 +492,12 @@ module Tinkerforge
     #   the configured motor phase current will be driven until the configured
     #   Power Down Time is elapsed. After that the phase current will be reduced to the standstill
     #   current. The elapsed time for this reduction can be configured with the Standstill Delay Time.
-    #   The unit is in mA and the maximum allowed value is the configured maximum motor current
+    #   The maximum allowed value is the configured maximum motor current
     #   (see BrickSilentStepper#set_motor_current).
     # 
     # * Motor Run Current: The value sets the motor current when the motor is running.
     #   Use a value of at least one half of the global maximum motor current for a good
-    #   microstep performance. The unit is in mA and the maximum allowed value is the current
+    #   microstep performance. The maximum allowed value is the current
     #   motor current. The API maps the entered value to 1/32 ... 32/32 of the maximum
     #   motor current. This value should be used to change the motor current during motor movement,
     #   whereas the global maximum motor current should not be changed while the motor is moving
@@ -448,44 +506,35 @@ module Tinkerforge
     # * Standstill Delay Time: Controls the duration for motor power down after a motion
     #   as soon as standstill is detected and the Power Down Time is expired. A high Standstill Delay
     #   Time results in a smooth transition that avoids motor jerk during power down.
-    #   The value range is 0 to 307ms
     # 
     # * Power Down Time: Sets the delay time after a stand still.
-    #   The value range is 0 to 5222ms.
     # 
-    # * Stealth Threshold: Sets the upper threshold for Stealth mode in steps/s. The value range is
-    #   0-65536 steps/s. If the velocity of the motor goes above this value, Stealth mode is turned
+    # * Stealth Threshold: Sets the upper threshold for Stealth mode.
+    #   If the velocity of the motor goes above this value, Stealth mode is turned
     #   off. Otherwise it is turned on. In Stealth mode the torque declines with high speed.
     # 
-    # * Coolstep Threshold: Sets the lower threshold for Coolstep mode in steps/s. The value range is
-    #   0-65536 steps/s. The Coolstep Threshold needs to be above the Stealth Threshold.
+    # * Coolstep Threshold: Sets the lower threshold for Coolstep mode.
+    #   The Coolstep Threshold needs to be above the Stealth Threshold.
     # 
-    # * Classic Threshold: Sets the lower threshold for classic mode. The value range is
-    #   0-65536 steps/s. In classic mode the stepper becomes more noisy, but the torque is maximized.
+    # * Classic Threshold: Sets the lower threshold for classic mode.
+    #   In classic mode the stepper becomes more noisy, but the torque is maximized.
     # 
-    # * High Velocity Shopper Mode: If High Velocity Shopper Mode is enabled, the stepper control
+    # * High Velocity Chopper Mode: If High Velocity Chopper Mode is enabled, the stepper control
     #   is optimized to run the stepper motors at high velocities.
     # 
     # If you want to use all three thresholds make sure that
     # Stealth Threshold < Coolstep Threshold < Classic Threshold.
-    # 
-    # The default values are:
-    # 
-    # * Standstill Current: 200
-    # * Motor Run Current: 800
-    # * Standstill Delay Time: 0
-    # * Power Down Time: 1000
-    # * Stealth Threshold: 500
-    # * Coolstep Threshold: 500
-    # * Classic Threshold: 1000
-    # * High Velocity Shopper Mode: false
     def set_basic_configuration(standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode)
-      send_request FUNCTION_SET_BASIC_CONFIGURATION, [standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode], 'S S S S S S S ?', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_BASIC_CONFIGURATION, [standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode], 'S S S S S S S ?', 8, ''
     end
 
     # Returns the configuration as set by BrickSilentStepper#set_basic_configuration.
     def get_basic_configuration
-      send_request FUNCTION_GET_BASIC_CONFIGURATION, [], '', 15, 'S S S S S S S ?'
+      check_validity
+
+      send_request FUNCTION_GET_BASIC_CONFIGURATION, [], '', 23, 'S S S S S S S ?'
     end
 
     # Note: If you don't know what any of this means you can very likely keep all of
@@ -495,22 +544,22 @@ module Tinkerforge
     # controls the motor current flow. More information can be found in the TMC2130 datasheet on page
     # 47 (7 spreadCycle and Classic Chopper).
     # 
-    # * Slow Decay Duration: Controls duration of off time setting of slow decay phase. The value
-    #   range is 0-15. 0 = driver disabled, all bridges off. Use 1 only with Comparator Blank time >= 2.
+    # * Slow Decay Duration: Controls duration of off time setting of slow decay phase.
+    #   0 = driver disabled, all bridges off. Use 1 only with Comparator Blank time >= 2.
     # 
     # * Enable Random Slow Decay: Set to false to fix chopper off time as set by Slow Decay Duration.
     #   If you set it to true, Decay Duration is randomly modulated.
     # 
-    # * Fast Decay Duration: Sets the fast decay duration. The value range is 0-15. This parameters is
+    # * Fast Decay Duration: Sets the fast decay duration. This parameters is
     #   only used if the Chopper Mode is set to Fast Decay.
     # 
-    # * Hysteresis Start Value: Sets the hysteresis start value. The value range is 0-7. This parameter is
+    # * Hysteresis Start Value: Sets the hysteresis start value. This parameter is
     #   only used if the Chopper Mode is set to Spread Cycle.
     # 
-    # * Hysteresis End Value: Sets the hysteresis end value. The value range is -3 to 12. This parameter is
+    # * Hysteresis End Value: Sets the hysteresis end value. This parameter is
     #   only used if the Chopper Mode is set to Spread Cycle.
     # 
-    # * Sine Wave Offset: Sets the sine wave offset. The value range is -3 to 12. This parameters is
+    # * Sine Wave Offset: Sets the sine wave offset. This parameters is
     #   only used if the Chopper Mode is set to Fast Decay. 1/512 of the value becomes added to the absolute
     #   value of the sine wave.
     # 
@@ -527,25 +576,17 @@ module Tinkerforge
     # 
     # * Fast Decay Without Comparator: If set to true the current comparator usage for termination of the
     #   fast decay cycle is disabled.
-    # 
-    # The default values are:
-    # 
-    # * Slow Decay Duration: 4
-    # * Enable Random Slow Decay: 0
-    # * Fast Decay Duration: 0
-    # * Hysteresis Start Value: 0
-    # * Hysteresis End Value: 0
-    # * Sine Wave Offset: 0
-    # * Chopper Mode: 0
-    # * Comparator Blank Time: 1
-    # * Fast Decay Without Comparator: false
     def set_spreadcycle_configuration(slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator)
-      send_request FUNCTION_SET_SPREADCYCLE_CONFIGURATION, [slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator], 'C ? C C c c C C ?', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_SPREADCYCLE_CONFIGURATION, [slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator], 'C ? C C c c C C ?', 8, ''
     end
 
     # Returns the configuration as set by BrickSilentStepper#set_basic_configuration.
     def get_spreadcycle_configuration
-      send_request FUNCTION_GET_SPREADCYCLE_CONFIGURATION, [], '', 9, 'C ? C C c c C C ?'
+      check_validity
+
+      send_request FUNCTION_GET_SPREADCYCLE_CONFIGURATION, [], '', 17, 'C ? C C c c C C ?'
     end
 
     # Note: If you don't know what any of this means you can very likely keep all of
@@ -557,11 +598,11 @@ module Tinkerforge
     #   stealth mode is disabled, even if the speed is below the threshold set in BrickSilentStepper#set_basic_configuration.
     # 
     # * Amplitude: If autoscale is disabled, the PWM amplitude is scaled by this value. If autoscale is enabled,
-    #   this value defines the maximum PWM amplitude change per half wave. The value range is 0-255.
+    #   this value defines the maximum PWM amplitude change per half wave.
     # 
     # * Gradient: If autoscale is disabled, the PWM gradient is scaled by this value. If autoscale is enabled,
     #   this value defines the maximum PWM gradient. With autoscale a value above 64 is recommended,
-    #   otherwise the regulation might not be able to measure the current. The value range is 0-255.
+    #   otherwise the regulation might not be able to measure the current.
     # 
     # * Enable Autoscale: If set to true, automatic current control is used. Otherwise the user defined
     #   amplitude and gradient are used.
@@ -571,22 +612,17 @@ module Tinkerforge
     # 
     # * Freewheel Mode: The freewheel mode defines the behavior in stand still if the Standstill Current
     #   (see BrickSilentStepper#set_basic_configuration) is set to 0.
-    # 
-    # The default values are:
-    # 
-    # * Enable Stealth: true
-    # * Amplitude: 128
-    # * Gradient: 4
-    # * Enable Autoscale: true
-    # * Force Symmetric: false
-    # * Freewheel Mode: 0 (Normal)
     def set_stealth_configuration(enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode)
-      send_request FUNCTION_SET_STEALTH_CONFIGURATION, [enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode], '? C C ? ? C', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_STEALTH_CONFIGURATION, [enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode], '? C C ? ? C', 8, ''
     end
 
     # Returns the configuration as set by BrickSilentStepper#set_stealth_configuration.
     def get_stealth_configuration
-      send_request FUNCTION_GET_STEALTH_CONFIGURATION, [], '', 6, '? C C ? ? C'
+      check_validity
+
+      send_request FUNCTION_GET_STEALTH_CONFIGURATION, [], '', 14, '? C C ? ? C'
     end
 
     # Note: If you don't know what any of this means you can very likely keep all of
@@ -595,7 +631,7 @@ module Tinkerforge
     # Sets the configuration relevant for Coolstep.
     # 
     # * Minimum Stallguard Value: If the Stallguard result falls below this value*32, the motor current
-    #   is increased to reduce motor load angle. The value range is 0-15. A value of 0 turns Coolstep off.
+    #   is increased to reduce motor load angle. A value of 0 turns Coolstep off.
     # 
     # * Maximum Stallguard Value: If the Stallguard result goes above
     #   (Min Stallguard Value + Max Stallguard Value + 1) * 32, the motor current is decreased to save
@@ -610,29 +646,23 @@ module Tinkerforge
     # * Minimum Current: Sets the minimum current for Coolstep current control. You can choose between
     #   half and quarter of the run current.
     # 
-    # * Stallguard Threshold Value: Sets the level for stall output (see BrickSilentStepper#get_driver_status). The value
-    #   range is -64 to +63. A lower value gives a higher sensitivity. You have to find a suitable value for your
+    # * Stallguard Threshold Value: Sets the level for stall output (see BrickSilentStepper#get_driver_status).
+    #   A lower value gives a higher sensitivity. You have to find a suitable value for your
     #   motor by trial and error, 0 works for most motors.
     # 
     # * Stallguard Mode: Set to 0 for standard resolution or 1 for filtered mode. In filtered mode the Stallguard
     #   signal will be updated every four full-steps.
-    # 
-    # The default values are:
-    # 
-    # * Minimum Stallguard Value: 2
-    # * Maximum Stallguard Value: 10
-    # * Current Up Step Width: 0
-    # * Current Down Step Width: 0
-    # * Minimum Current: 0
-    # * Stallguard Threshold Value: 0
-    # * Stallguard Mode: 0
     def set_coolstep_configuration(minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode)
-      send_request FUNCTION_SET_COOLSTEP_CONFIGURATION, [minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode], 'C C C C C c C', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_COOLSTEP_CONFIGURATION, [minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode], 'C C C C C c C', 8, ''
     end
 
     # Returns the configuration as set by BrickSilentStepper#set_coolstep_configuration.
     def get_coolstep_configuration
-      send_request FUNCTION_GET_COOLSTEP_CONFIGURATION, [], '', 7, 'C C C C C c C'
+      check_validity
+
+      send_request FUNCTION_GET_COOLSTEP_CONFIGURATION, [], '', 15, 'C C C C C c C'
     end
 
     # Note: If you don't know what any of this means you can very likely keep all of
@@ -648,18 +678,17 @@ module Tinkerforge
     #   the synchronization is turned off. Otherwise the synchronization is done through the formula
     #   f_sync = f_clk/(value*64). In Classic Mode the synchronization is automatically switched off.
     #   f_clk is 12.8MHz.
-    # 
-    # The default values are:
-    # 
-    # * Disable Short To Ground Protection: 0
-    # * Synchronize Phase Frequency: 0
     def set_misc_configuration(disable_short_to_ground_protection, synchronize_phase_frequency)
-      send_request FUNCTION_SET_MISC_CONFIGURATION, [disable_short_to_ground_protection, synchronize_phase_frequency], '? C', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_MISC_CONFIGURATION, [disable_short_to_ground_protection, synchronize_phase_frequency], '? C', 8, ''
     end
 
     # Returns the configuration as set by BrickSilentStepper#set_misc_configuration.
     def get_misc_configuration
-      send_request FUNCTION_GET_MISC_CONFIGURATION, [], '', 2, '? C'
+      check_validity
+
+      send_request FUNCTION_GET_MISC_CONFIGURATION, [], '', 10, '? C'
     end
 
     # Returns the current driver status.
@@ -677,7 +706,7 @@ module Tinkerforge
     # * Motor Stalled: Is true if a motor stall was detected.
     # 
     # * Actual Motor Current: Indicates the actual current control scaling as used in Coolstep mode.
-    #   The returned value is between 0 and 31. It represents a multiplier of 1/32 to 32/32 of the
+    #   It represents a multiplier of 1/32 to 32/32 of the
     #   ``Motor Run Current`` as set by BrickSilentStepper#set_basic_configuration. Example: If a ``Motor Run Current``
     #   of 1000mA was set and the returned value is 15, the ``Actual Motor Current`` is 16/32*1000mA = 500mA.
     # 
@@ -690,41 +719,47 @@ module Tinkerforge
     # * Stealth Voltage Amplitude: Shows the actual PWM scaling. In Stealth mode it can be used to detect motor load and
     #   stall if autoscale is enabled (see BrickSilentStepper#set_stealth_configuration).
     def get_driver_status
-      send_request FUNCTION_GET_DRIVER_STATUS, [], '', 8, 'C C C ? C ? C C'
+      check_validity
+
+      send_request FUNCTION_GET_DRIVER_STATUS, [], '', 16, 'C C C ? C ? C C'
     end
 
-    # Sets the minimum voltage in mV, below which the CALLBACK_UNDER_VOLTAGE callback
+    # Sets the minimum voltage, below which the CALLBACK_UNDER_VOLTAGE callback
     # is triggered. The minimum possible value that works with the Silent Stepper
     # Brick is 8V.
     # You can use this function to detect the discharge of a battery that is used
     # to drive the stepper motor. If you have a fixed power supply, you likely do
     # not need this functionality.
-    # 
-    # The default value is 8V.
     def set_minimum_voltage(voltage)
-      send_request FUNCTION_SET_MINIMUM_VOLTAGE, [voltage], 'S', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_MINIMUM_VOLTAGE, [voltage], 'S', 8, ''
     end
 
     # Returns the minimum voltage as set by BrickSilentStepper#set_minimum_voltage.
     def get_minimum_voltage
-      send_request FUNCTION_GET_MINIMUM_VOLTAGE, [], '', 2, 'S'
+      check_validity
+
+      send_request FUNCTION_GET_MINIMUM_VOLTAGE, [], '', 10, 'S'
     end
 
     # Sets the time base of the velocity and the acceleration of the Silent Stepper
-    # Brick (in seconds).
+    # Brick.
     # 
     # For example, if you want to make one step every 1.5 seconds, you can set
     # the time base to 15 and the velocity to 10. Now the velocity is
     # 10steps/15s = 1steps/1.5s.
-    # 
-    # The default value is 1.
     def set_time_base(time_base)
-      send_request FUNCTION_SET_TIME_BASE, [time_base], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_TIME_BASE, [time_base], 'L', 8, ''
     end
 
     # Returns the time base as set by BrickSilentStepper#set_time_base.
     def get_time_base
-      send_request FUNCTION_GET_TIME_BASE, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_TIME_BASE, [], '', 12, 'L'
     end
 
     # Returns the following parameters: The current velocity,
@@ -741,26 +776,32 @@ module Tinkerforge
     # 
     # There is also a callback for this function, see CALLBACK_ALL_DATA callback.
     def get_all_data
-      send_request FUNCTION_GET_ALL_DATA, [], '', 16, 'S l l S S S'
+      check_validity
+
+      send_request FUNCTION_GET_ALL_DATA, [], '', 24, 'S l l S S S'
     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 BrickSilentStepper#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
 
     # 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
@@ -774,20 +815,20 @@ module Tinkerforge
     # BrickSilentStepper#set_spitfp_baudrate. If the dynamic baudrate is disabled, the baudrate
     # as set by BrickSilentStepper#set_spitfp_baudrate will be used statically.
     # 
-    # The minimum dynamic baudrate has a value range of 400000 to 2000000 baud.
-    # 
-    # By default dynamic baudrate is enabled and the minimum dynamic baudrate is 400000.
-    # 
     # .. versionadded:: 2.0.4$nbsp;(Firmware)
     def set_spitfp_baudrate_config(enable_dynamic_baudrate, minimum_dynamic_baudrate)
-      send_request FUNCTION_SET_SPITFP_BAUDRATE_CONFIG, [enable_dynamic_baudrate, minimum_dynamic_baudrate], '? L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_SPITFP_BAUDRATE_CONFIG, [enable_dynamic_baudrate, minimum_dynamic_baudrate], '? L', 8, ''
     end
 
     # Returns the baudrate config, see BrickSilentStepper#set_spitfp_baudrate_config.
     # 
     # .. versionadded:: 2.0.4$nbsp;(Firmware)
     def get_spitfp_baudrate_config
-      send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 5, '? L'
+      check_validity
+
+      send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 13, '? L'
     end
 
     # Returns the timeout count for the different communication methods.
@@ -797,11 +838,12 @@ module Tinkerforge
     # This function is mostly used for debugging during development, in normal operation
     # the counters should nearly always stay at 0.
     def get_send_timeout_count(communication_method)
-      send_request FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 4, 'L'
+      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
@@ -814,15 +856,17 @@ module Tinkerforge
     # Regulatory testing is done with the default baudrate. If CE compatibility
     # or similar is necessary in you applications we recommend to not change
     # the baudrate.
-    # 
-    # The default baudrate for all ports is 1400000.
     def set_spitfp_baudrate(bricklet_port, baudrate)
-      send_request FUNCTION_SET_SPITFP_BAUDRATE, [bricklet_port, baudrate], 'k L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_SPITFP_BAUDRATE, [bricklet_port, baudrate], 'k L', 8, ''
     end
 
     # Returns the baudrate for a given Bricklet port, see BrickSilentStepper#set_spitfp_baudrate.
     def get_spitfp_baudrate(bricklet_port)
-      send_request FUNCTION_GET_SPITFP_BAUDRATE, [bricklet_port], 'k', 4, 'L'
+      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.
@@ -837,7 +881,9 @@ module Tinkerforge
     # The errors counts are for errors that occur on the Brick side. All
     # Bricklets have a similar function that returns the errors on the Bricklet side.
     def get_spitfp_error_count(bricklet_port)
-      send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [bricklet_port], 'k', 16, 'L L L L'
+      check_validity
+
+      send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [bricklet_port], 'k', 24, 'L L L L'
     end
 
     # Enables the status LED.
@@ -847,7 +893,9 @@ 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.
@@ -857,12 +905,16 @@ 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
@@ -871,17 +923,21 @@ 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
@@ -891,19 +947,43 @@ 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>.