tinkerforge 2.1.24 → 2.1.29

data/lib/tinkerforge/bricklet_current12.rb

@@ -1,14 +1,16 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2019-11-25.      #
+# This file was automatically generated on 2021-05-06.      #
 #                                                           #
-# Ruby Bindings Version 2.1.24                              #
+# Ruby Bindings Version 2.1.29                              #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
 # to the generators git repository on tinkerforge.com       #
 #############################################################
 
+require_relative './ip_connection'
+
 module Tinkerforge
   # Measures AC/DC current between -12.5A and +12.5A
   class BrickletCurrent12 < Device
@@ -76,7 +78,7 @@ 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, 0]
 
@@ -96,12 +98,13 @@ module Tinkerforge
       @response_expected[FUNCTION_GET_DEBOUNCE_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
 
-      @callback_formats[CALLBACK_CURRENT] = 's'
-      @callback_formats[CALLBACK_ANALOG_VALUE] = 'S'
-      @callback_formats[CALLBACK_CURRENT_REACHED] = 's'
-      @callback_formats[CALLBACK_ANALOG_VALUE_REACHED] = 'S'
-      @callback_formats[CALLBACK_OVER_CURRENT] = ''
+      @callback_formats[CALLBACK_CURRENT] = [10, 's']
+      @callback_formats[CALLBACK_ANALOG_VALUE] = [10, 'S']
+      @callback_formats[CALLBACK_CURRENT_REACHED] = [10, 's']
+      @callback_formats[CALLBACK_ANALOG_VALUE_REACHED] = [10, 'S']
+      @callback_formats[CALLBACK_OVER_CURRENT] = [8, '']
 
+      @ipcon.add_device self
     end
 
     # Returns the current of the sensor.
@@ -110,7 +113,9 @@ module Tinkerforge
     # CALLBACK_CURRENT callback and set the period with
     # BrickletCurrent12#set_current_callback_period.
     def get_current
-      send_request FUNCTION_GET_CURRENT, [], '', 2, 's'
+      check_validity
+
+      send_request FUNCTION_GET_CURRENT, [], '', 10, 's'
     end
 
     # Calibrates the 0 value of the sensor. You have to call this function
@@ -125,7 +130,9 @@ module Tinkerforge
     # The resulting calibration will be saved on the EEPROM of the Current
     # Bricklet.
     def calibrate
-      send_request FUNCTION_CALIBRATE, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_CALIBRATE, [], '', 8, ''
     end
 
     # Returns *true* if more than 12.5A were measured.
@@ -133,7 +140,9 @@ module Tinkerforge
     # .. note::
     #  To reset this value you have to power cycle the Bricklet.
     def is_over_current
-      send_request FUNCTION_IS_OVER_CURRENT, [], '', 1, '?'
+      check_validity
+
+      send_request FUNCTION_IS_OVER_CURRENT, [], '', 9, '?'
     end
 
     # Returns the value as read by a 12-bit analog-to-digital converter.
@@ -148,7 +157,9 @@ module Tinkerforge
     # CALLBACK_ANALOG_VALUE callback and set the period with
     # BrickletCurrent12#set_analog_value_callback_period.
     def get_analog_value
-      send_request FUNCTION_GET_ANALOG_VALUE, [], '', 2, 'S'
+      check_validity
+
+      send_request FUNCTION_GET_ANALOG_VALUE, [], '', 10, 'S'
     end
 
     # Sets the period with which the CALLBACK_CURRENT callback is triggered
@@ -157,12 +168,16 @@ module Tinkerforge
     # The CALLBACK_CURRENT callback is only triggered if the current has changed since
     # the last triggering.
     def set_current_callback_period(period)
-      send_request FUNCTION_SET_CURRENT_CALLBACK_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_CURRENT_CALLBACK_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickletCurrent12#set_current_callback_period.
     def get_current_callback_period
-      send_request FUNCTION_GET_CURRENT_CALLBACK_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_CURRENT_CALLBACK_PERIOD, [], '', 12, 'L'
     end
 
     # Sets the period with which the CALLBACK_ANALOG_VALUE callback is triggered
@@ -171,12 +186,16 @@ module Tinkerforge
     # The CALLBACK_ANALOG_VALUE callback is only triggered if the analog value has
     # changed since the last triggering.
     def set_analog_value_callback_period(period)
-      send_request FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickletCurrent12#set_analog_value_callback_period.
     def get_analog_value_callback_period
-      send_request FUNCTION_GET_ANALOG_VALUE_CALLBACK_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_ANALOG_VALUE_CALLBACK_PERIOD, [], '', 12, 'L'
     end
 
     # Sets the thresholds for the CALLBACK_CURRENT_REACHED callback.
@@ -191,12 +210,16 @@ module Tinkerforge
     #  "'<'",    "Callback is triggered when the current is smaller than the min value (max is ignored)"
     #  "'>'",    "Callback is triggered when the current is greater than the min value (max is ignored)"
     def set_current_callback_threshold(option, min, max)
-      send_request FUNCTION_SET_CURRENT_CALLBACK_THRESHOLD, [option, min, max], 'k s s', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_CURRENT_CALLBACK_THRESHOLD, [option, min, max], 'k s s', 8, ''
     end
 
     # Returns the threshold as set by BrickletCurrent12#set_current_callback_threshold.
     def get_current_callback_threshold
-      send_request FUNCTION_GET_CURRENT_CALLBACK_THRESHOLD, [], '', 5, 'k s s'
+      check_validity
+
+      send_request FUNCTION_GET_CURRENT_CALLBACK_THRESHOLD, [], '', 13, 'k s s'
     end
 
     # Sets the thresholds for the CALLBACK_ANALOG_VALUE_REACHED callback.
@@ -211,12 +234,16 @@ module Tinkerforge
     #  "'<'",    "Callback is triggered when the analog value is smaller than the min value (max is ignored)"
     #  "'>'",    "Callback is triggered when the analog value is greater than the min value (max is ignored)"
     def set_analog_value_callback_threshold(option, min, max)
-      send_request FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD, [option, min, max], 'k S S', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD, [option, min, max], 'k S S', 8, ''
     end
 
     # Returns the threshold as set by BrickletCurrent12#set_analog_value_callback_threshold.
     def get_analog_value_callback_threshold
-      send_request FUNCTION_GET_ANALOG_VALUE_CALLBACK_THRESHOLD, [], '', 5, 'k S S'
+      check_validity
+
+      send_request FUNCTION_GET_ANALOG_VALUE_CALLBACK_THRESHOLD, [], '', 13, 'k S S'
     end
 
     # Sets the period with which the threshold callbacks
@@ -231,24 +258,30 @@ module Tinkerforge
     # 
     # keep being reached.
     def set_debounce_period(debounce)
-      send_request FUNCTION_SET_DEBOUNCE_PERIOD, [debounce], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_DEBOUNCE_PERIOD, [debounce], 'L', 8, ''
     end
 
     # Returns the debounce period as set by BrickletCurrent12#set_debounce_period.
     def get_debounce_period
-      send_request FUNCTION_GET_DEBOUNCE_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_DEBOUNCE_PERIOD, [], '', 12, 'L'
     end
 
     # Returns the UID, the UID where the Bricklet is connected to,
     # the position, the hardware and firmware version as well as the
     # device identifier.
     # 
-    # The position can be 'a', 'b', 'c' or 'd'.
+    # The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port).
+    # A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at
+    # position 'z'.
     # 
     # The device identifier numbers can be found :ref:`here <device_identifier>`.
     # |device_identifier_constant|
     def get_identity
-      send_request FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S'
+      send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
     end
 
     # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.

data/lib/tinkerforge/bricklet_current25.rb

@@ -1,14 +1,16 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2019-11-25.      #
+# This file was automatically generated on 2021-05-06.      #
 #                                                           #
-# Ruby Bindings Version 2.1.24                              #
+# Ruby Bindings Version 2.1.29                              #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
 # to the generators git repository on tinkerforge.com       #
 #############################################################
 
+require_relative './ip_connection'
+
 module Tinkerforge
   # Measures AC/DC current between -25A and +25A
   class BrickletCurrent25 < Device
@@ -76,7 +78,7 @@ 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, 0]
 
@@ -96,12 +98,13 @@ module Tinkerforge
       @response_expected[FUNCTION_GET_DEBOUNCE_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
 
-      @callback_formats[CALLBACK_CURRENT] = 's'
-      @callback_formats[CALLBACK_ANALOG_VALUE] = 'S'
-      @callback_formats[CALLBACK_CURRENT_REACHED] = 's'
-      @callback_formats[CALLBACK_ANALOG_VALUE_REACHED] = 'S'
-      @callback_formats[CALLBACK_OVER_CURRENT] = ''
+      @callback_formats[CALLBACK_CURRENT] = [10, 's']
+      @callback_formats[CALLBACK_ANALOG_VALUE] = [10, 'S']
+      @callback_formats[CALLBACK_CURRENT_REACHED] = [10, 's']
+      @callback_formats[CALLBACK_ANALOG_VALUE_REACHED] = [10, 'S']
+      @callback_formats[CALLBACK_OVER_CURRENT] = [8, '']
 
+      @ipcon.add_device self
     end
 
     # Returns the current of the sensor.
@@ -110,7 +113,9 @@ module Tinkerforge
     # CALLBACK_CURRENT callback and set the period with
     # BrickletCurrent25#set_current_callback_period.
     def get_current
-      send_request FUNCTION_GET_CURRENT, [], '', 2, 's'
+      check_validity
+
+      send_request FUNCTION_GET_CURRENT, [], '', 10, 's'
     end
 
     # Calibrates the 0 value of the sensor. You have to call this function
@@ -125,7 +130,9 @@ module Tinkerforge
     # The resulting calibration will be saved on the EEPROM of the Current
     # Bricklet.
     def calibrate
-      send_request FUNCTION_CALIBRATE, [], '', 0, ''
+      check_validity
+
+      send_request FUNCTION_CALIBRATE, [], '', 8, ''
     end
 
     # Returns *true* if more than 25A were measured.
@@ -133,7 +140,9 @@ module Tinkerforge
     # .. note::
     #  To reset this value you have to power cycle the Bricklet.
     def is_over_current
-      send_request FUNCTION_IS_OVER_CURRENT, [], '', 1, '?'
+      check_validity
+
+      send_request FUNCTION_IS_OVER_CURRENT, [], '', 9, '?'
     end
 
     # Returns the value as read by a 12-bit analog-to-digital converter.
@@ -148,7 +157,9 @@ module Tinkerforge
     # CALLBACK_ANALOG_VALUE callback and set the period with
     # BrickletCurrent25#set_analog_value_callback_period.
     def get_analog_value
-      send_request FUNCTION_GET_ANALOG_VALUE, [], '', 2, 'S'
+      check_validity
+
+      send_request FUNCTION_GET_ANALOG_VALUE, [], '', 10, 'S'
     end
 
     # Sets the period with which the CALLBACK_CURRENT callback is triggered
@@ -157,12 +168,16 @@ module Tinkerforge
     # The CALLBACK_CURRENT callback is only triggered if the current has changed since
     # the last triggering.
     def set_current_callback_period(period)
-      send_request FUNCTION_SET_CURRENT_CALLBACK_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_CURRENT_CALLBACK_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickletCurrent25#set_current_callback_period.
     def get_current_callback_period
-      send_request FUNCTION_GET_CURRENT_CALLBACK_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_CURRENT_CALLBACK_PERIOD, [], '', 12, 'L'
     end
 
     # Sets the period with which the CALLBACK_ANALOG_VALUE callback is triggered
@@ -171,12 +186,16 @@ module Tinkerforge
     # The CALLBACK_ANALOG_VALUE callback is only triggered if the analog value has
     # changed since the last triggering.
     def set_analog_value_callback_period(period)
-      send_request FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD, [period], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD, [period], 'L', 8, ''
     end
 
     # Returns the period as set by BrickletCurrent25#set_analog_value_callback_period.
     def get_analog_value_callback_period
-      send_request FUNCTION_GET_ANALOG_VALUE_CALLBACK_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_ANALOG_VALUE_CALLBACK_PERIOD, [], '', 12, 'L'
     end
 
     # Sets the thresholds for the CALLBACK_CURRENT_REACHED callback.
@@ -191,12 +210,16 @@ module Tinkerforge
     #  "'<'",    "Callback is triggered when the current is smaller than the min value (max is ignored)"
     #  "'>'",    "Callback is triggered when the current is greater than the min value (max is ignored)"
     def set_current_callback_threshold(option, min, max)
-      send_request FUNCTION_SET_CURRENT_CALLBACK_THRESHOLD, [option, min, max], 'k s s', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_CURRENT_CALLBACK_THRESHOLD, [option, min, max], 'k s s', 8, ''
     end
 
     # Returns the threshold as set by BrickletCurrent25#set_current_callback_threshold.
     def get_current_callback_threshold
-      send_request FUNCTION_GET_CURRENT_CALLBACK_THRESHOLD, [], '', 5, 'k s s'
+      check_validity
+
+      send_request FUNCTION_GET_CURRENT_CALLBACK_THRESHOLD, [], '', 13, 'k s s'
     end
 
     # Sets the thresholds for the CALLBACK_ANALOG_VALUE_REACHED callback.
@@ -211,12 +234,16 @@ module Tinkerforge
     #  "'<'",    "Callback is triggered when the analog value is smaller than the min value (max is ignored)"
     #  "'>'",    "Callback is triggered when the analog value is greater than the min value (max is ignored)"
     def set_analog_value_callback_threshold(option, min, max)
-      send_request FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD, [option, min, max], 'k S S', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD, [option, min, max], 'k S S', 8, ''
     end
 
     # Returns the threshold as set by BrickletCurrent25#set_analog_value_callback_threshold.
     def get_analog_value_callback_threshold
-      send_request FUNCTION_GET_ANALOG_VALUE_CALLBACK_THRESHOLD, [], '', 5, 'k S S'
+      check_validity
+
+      send_request FUNCTION_GET_ANALOG_VALUE_CALLBACK_THRESHOLD, [], '', 13, 'k S S'
     end
 
     # Sets the period with which the threshold callbacks
@@ -231,24 +258,30 @@ module Tinkerforge
     # 
     # keep being reached.
     def set_debounce_period(debounce)
-      send_request FUNCTION_SET_DEBOUNCE_PERIOD, [debounce], 'L', 0, ''
+      check_validity
+
+      send_request FUNCTION_SET_DEBOUNCE_PERIOD, [debounce], 'L', 8, ''
     end
 
     # Returns the debounce period as set by BrickletCurrent25#set_debounce_period.
     def get_debounce_period
-      send_request FUNCTION_GET_DEBOUNCE_PERIOD, [], '', 4, 'L'
+      check_validity
+
+      send_request FUNCTION_GET_DEBOUNCE_PERIOD, [], '', 12, 'L'
     end
 
     # Returns the UID, the UID where the Bricklet is connected to,
     # the position, the hardware and firmware version as well as the
     # device identifier.
     # 
-    # The position can be 'a', 'b', 'c' or 'd'.
+    # The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port).
+    # A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at
+    # position 'z'.
     # 
     # The device identifier numbers can be found :ref:`here <device_identifier>`.
     # |device_identifier_constant|
     def get_identity
-      send_request FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S'
+      send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
     end
 
     # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.

data/lib/tinkerforge/bricklet_dc_v2.rb

@@ -0,0 +1,521 @@
+# -*- ruby encoding: utf-8 -*-
+#############################################################
+# This file was automatically generated on 2021-05-06.      #
+#                                                           #
+# Ruby Bindings Version 2.1.29                              #
+#                                                           #
+# 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
+  # Drives one brushed DC motor with up to 28V and 5A (peak)
+  class BrickletDCV2 < Device
+    DEVICE_IDENTIFIER = 2165 # :nodoc:
+    DEVICE_DISPLAY_NAME = 'DC Bricklet 2.0' # :nodoc:
+
+    # This callback is triggered if either the current consumption
+    # is too high (above 5A) or the temperature of the driver chip is too high
+    # (above 175°C). These two possibilities are essentially the same, since the
+    # temperature will reach this threshold immediately if the motor consumes too
+    # much current. In case of a voltage below 3.3V (external or stack) this
+    # callback is triggered as well.
+    # 
+    # If this callback is triggered, the driver chip gets disabled at the same time.
+    # That means, BrickletDCV2#set_enabled has to be called to drive the motor again.
+    # 
+    # .. note::
+    #  This callback only works in Drive/Brake mode (see BrickletDCV2#set_drive_mode). In
+    #  Drive/Coast mode it is unfortunately impossible to reliably read the
+    #  overcurrent/overtemperature signal from the driver chip.
+    CALLBACK_EMERGENCY_SHUTDOWN = 22
+
+    # This callback is triggered whenever a set velocity is reached. For example:
+    # If a velocity of 0 is present, acceleration is set to 5000 and velocity
+    # to 10000, the CALLBACK_VELOCITY_REACHED callback will be triggered after about
+    # 2 seconds, when the set velocity is actually reached.
+    # 
+    # .. note::
+    #  Since we can't get any feedback from the DC motor, this only works if the
+    #  acceleration (see BrickletDCV2#set_motion) is set smaller or equal to the
+    #  maximum acceleration of the motor. Otherwise the motor will lag behind the
+    #  control value and the callback will be triggered too early.
+    CALLBACK_VELOCITY_REACHED = 23
+
+    # This callback is triggered with the period that is set by
+    # BrickletDCV2#set_current_velocity_callback_configuration. The parameter is the *current*
+    # velocity used by the motor.
+    # 
+    # The CALLBACK_CURRENT_VELOCITY callback is only triggered after the set period
+    # if there is a change in the velocity.
+    CALLBACK_CURRENT_VELOCITY = 24
+
+    FUNCTION_SET_ENABLED = 1 # :nodoc:
+    FUNCTION_GET_ENABLED = 2 # :nodoc:
+    FUNCTION_SET_VELOCITY = 3 # :nodoc:
+    FUNCTION_GET_VELOCITY = 4 # :nodoc:
+    FUNCTION_GET_CURRENT_VELOCITY = 5 # :nodoc:
+    FUNCTION_SET_MOTION = 6 # :nodoc:
+    FUNCTION_GET_MOTION = 7 # :nodoc:
+    FUNCTION_FULL_BRAKE = 8 # :nodoc:
+    FUNCTION_SET_DRIVE_MODE = 9 # :nodoc:
+    FUNCTION_GET_DRIVE_MODE = 10 # :nodoc:
+    FUNCTION_SET_PWM_FREQUENCY = 11 # :nodoc:
+    FUNCTION_GET_PWM_FREQUENCY = 12 # :nodoc:
+    FUNCTION_GET_POWER_STATISTICS = 13 # :nodoc:
+    FUNCTION_SET_ERROR_LED_CONFIG = 14 # :nodoc:
+    FUNCTION_GET_ERROR_LED_CONFIG = 15 # :nodoc:
+    FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION = 16 # :nodoc:
+    FUNCTION_GET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION = 17 # :nodoc:
+    FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION = 18 # :nodoc:
+    FUNCTION_GET_VELOCITY_REACHED_CALLBACK_CONFIGURATION = 19 # :nodoc:
+    FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION = 20 # :nodoc:
+    FUNCTION_GET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION = 21 # :nodoc:
+    FUNCTION_GET_SPITFP_ERROR_COUNT = 234 # :nodoc:
+    FUNCTION_SET_BOOTLOADER_MODE = 235 # :nodoc:
+    FUNCTION_GET_BOOTLOADER_MODE = 236 # :nodoc:
+    FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237 # :nodoc:
+    FUNCTION_WRITE_FIRMWARE = 238 # :nodoc:
+    FUNCTION_SET_STATUS_LED_CONFIG = 239 # :nodoc:
+    FUNCTION_GET_STATUS_LED_CONFIG = 240 # :nodoc:
+    FUNCTION_GET_CHIP_TEMPERATURE = 242 # :nodoc:
+    FUNCTION_RESET = 243 # :nodoc:
+    FUNCTION_WRITE_UID = 248 # :nodoc:
+    FUNCTION_READ_UID = 249 # :nodoc:
+    FUNCTION_GET_IDENTITY = 255 # :nodoc:
+
+    DRIVE_MODE_DRIVE_BRAKE = 0 # :nodoc:
+    DRIVE_MODE_DRIVE_COAST = 1 # :nodoc:
+    ERROR_LED_CONFIG_OFF = 0 # :nodoc:
+    ERROR_LED_CONFIG_ON = 1 # :nodoc:
+    ERROR_LED_CONFIG_SHOW_HEARTBEAT = 2 # :nodoc:
+    ERROR_LED_CONFIG_SHOW_ERROR = 3 # :nodoc:
+    BOOTLOADER_MODE_BOOTLOADER = 0 # :nodoc:
+    BOOTLOADER_MODE_FIRMWARE = 1 # :nodoc:
+    BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2 # :nodoc:
+    BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3 # :nodoc:
+    BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4 # :nodoc:
+    BOOTLOADER_STATUS_OK = 0 # :nodoc:
+    BOOTLOADER_STATUS_INVALID_MODE = 1 # :nodoc:
+    BOOTLOADER_STATUS_NO_CHANGE = 2 # :nodoc:
+    BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3 # :nodoc:
+    BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4 # :nodoc:
+    BOOTLOADER_STATUS_CRC_MISMATCH = 5 # :nodoc:
+    STATUS_LED_CONFIG_OFF = 0 # :nodoc:
+    STATUS_LED_CONFIG_ON = 1 # :nodoc:
+    STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2 # :nodoc:
+    STATUS_LED_CONFIG_SHOW_STATUS = 3 # :nodoc:
+
+    # Creates an object with the unique device ID <tt>uid</tt> and adds it to
+    # the IP Connection <tt>ipcon</tt>.
+    def initialize(uid, ipcon)
+      super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME
+
+      @api_version = [2, 0, 0]
+
+      @response_expected[FUNCTION_SET_ENABLED] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_VELOCITY] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MOTION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_MOTION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_FULL_BRAKE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_SET_DRIVE_MODE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_DRIVE_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_PWM_FREQUENCY] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_PWM_FREQUENCY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_POWER_STATISTICS] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ERROR_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_ERROR_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_VELOCITY_REACHED_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_WRITE_UID] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+
+      @callback_formats[CALLBACK_EMERGENCY_SHUTDOWN] = [8, '']
+      @callback_formats[CALLBACK_VELOCITY_REACHED] = [10, 's']
+      @callback_formats[CALLBACK_CURRENT_VELOCITY] = [10, 's']
+
+      @ipcon.add_device self
+    end
+
+    # Enables/Disables the driver chip. The driver parameters can be configured
+    # (velocity, acceleration, etc) before it is enabled.
+    def set_enabled(enabled)
+      check_validity
+
+      send_request FUNCTION_SET_ENABLED, [enabled], '?', 8, ''
+    end
+
+    # Returns *true* if the driver chip is enabled, *false* otherwise.
+    def get_enabled
+      check_validity
+
+      send_request FUNCTION_GET_ENABLED, [], '', 9, '?'
+    end
+
+    # Sets the velocity of the motor. Whereas -32767 is full speed backward,
+    # 0 is stop and 32767 is full speed forward. Depending on the
+    # acceleration (see BrickletDCV2#set_motion), the motor is not immediately
+    # brought to the velocity but smoothly accelerated.
+    # 
+    # The velocity describes the duty cycle of the PWM with which the motor is
+    # controlled, e.g. a velocity of 3277 sets a PWM with a 10% duty cycle.
+    # You can not only control the duty cycle of the PWM but also the frequency,
+    # see BrickletDCV2#set_pwm_frequency.
+    def set_velocity(velocity)
+      check_validity
+
+      send_request FUNCTION_SET_VELOCITY, [velocity], 's', 8, ''
+    end
+
+    # Returns the velocity as set by BrickletDCV2#set_velocity.
+    def get_velocity
+      check_validity
+
+      send_request FUNCTION_GET_VELOCITY, [], '', 10, 's'
+    end
+
+    # Returns the *current* velocity of the motor. This value is different
+    # from BrickletDCV2#get_velocity whenever the motor is currently accelerating
+    # to a goal set by BrickletDCV2#set_velocity.
+    def get_current_velocity
+      check_validity
+
+      send_request FUNCTION_GET_CURRENT_VELOCITY, [], '', 10, 's'
+    end
+
+    # Sets the acceleration and deceleration of the motor. It is given in *velocity/s*.
+    # An acceleration of 10000 means, that every second the velocity is increased
+    # by 10000 (or about 30% duty cycle).
+    # 
+    # For example: If the current velocity is 0 and you want to accelerate to a
+    # velocity of 16000 (about 50% duty cycle) in 10 seconds, you should set
+    # an acceleration of 1600.
+    # 
+    # If acceleration and deceleration is set to 0, there is no speed ramping, i.e. a
+    # new velocity is immediately given to the motor.
+    def set_motion(acceleration, deceleration)
+      check_validity
+
+      send_request FUNCTION_SET_MOTION, [acceleration, deceleration], 'S S', 8, ''
+    end
+
+    # Returns the acceleration/deceleration as set by BrickletDCV2#set_motion.
+    def get_motion
+      check_validity
+
+      send_request FUNCTION_GET_MOTION, [], '', 12, 'S S'
+    end
+
+    # Executes an active full brake.
+    # 
+    # .. warning::
+    #  This function is for emergency purposes,
+    #  where an immediate brake is necessary. Depending on the current velocity and
+    #  the strength of the motor, a full brake can be quite violent.
+    # 
+    # Call BrickletDCV2#set_velocity with 0 if you just want to stop the motor.
+    def full_brake
+      check_validity
+
+      send_request FUNCTION_FULL_BRAKE, [], '', 8, ''
+    end
+
+    # Sets the drive mode. Possible modes are:
+    # 
+    # * 0 = Drive/Brake
+    # * 1 = Drive/Coast
+    # 
+    # These modes are different kinds of motor controls.
+    # 
+    # In Drive/Brake mode, the motor is always either driving or braking. There
+    # is no freewheeling. Advantages are: A more linear correlation between
+    # PWM and velocity, more exact accelerations and the possibility to drive
+    # with slower velocities.
+    # 
+    # In Drive/Coast mode, the motor is always either driving or freewheeling.
+    # Advantages are: Less current consumption and less demands on the motor and
+    # driver chip.
+    def set_drive_mode(mode)
+      check_validity
+
+      send_request FUNCTION_SET_DRIVE_MODE, [mode], 'C', 8, ''
+    end
+
+    # Returns the drive mode, as set by BrickletDCV2#set_drive_mode.
+    def get_drive_mode
+      check_validity
+
+      send_request FUNCTION_GET_DRIVE_MODE, [], '', 9, 'C'
+    end
+
+    # Sets the frequency of the PWM with which the motor is driven.
+    # Often a high frequency
+    # is less noisy and the motor runs smoother. However, with a low frequency
+    # there are less switches and therefore fewer switching losses. Also with
+    # most motors lower frequencies enable higher torque.
+    # 
+    # If you have no idea what all this means, just ignore this function and use
+    # the default frequency, it will very likely work fine.
+    def set_pwm_frequency(frequency)
+      check_validity
+
+      send_request FUNCTION_SET_PWM_FREQUENCY, [frequency], 'S', 8, ''
+    end
+
+    # Returns the PWM frequency as set by BrickletDCV2#set_pwm_frequency.
+    def get_pwm_frequency
+      check_validity
+
+      send_request FUNCTION_GET_PWM_FREQUENCY, [], '', 10, 'S'
+    end
+
+    # Returns input voltage and current usage of the driver.
+    def get_power_statistics
+      check_validity
+
+      send_request FUNCTION_GET_POWER_STATISTICS, [], '', 12, 'S S'
+    end
+
+    # Configures the error LED to be either turned off, turned on, blink in
+    # heartbeat mode or show an error.
+    # 
+    # If the LED is configured to show errors it has three different states:
+    # 
+    # * Off: No error present.
+    # * 1s interval blinking: Input voltage too low (below 6V).
+    # * 250ms interval blinking: Overtemperature or overcurrent.
+    def set_error_led_config(config)
+      check_validity
+
+      send_request FUNCTION_SET_ERROR_LED_CONFIG, [config], 'C', 8, ''
+    end
+
+    # Returns the LED configuration as set by BrickletDCV2#set_error_led_config
+    def get_error_led_config
+      check_validity
+
+      send_request FUNCTION_GET_ERROR_LED_CONFIG, [], '', 9, 'C'
+    end
+
+    # Enable/Disable CALLBACK_EMERGENCY_SHUTDOWN callback.
+    def set_emergency_shutdown_callback_configuration(enabled)
+      check_validity
+
+      send_request FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION, [enabled], '?', 8, ''
+    end
+
+    # Returns the callback configuration as set by
+    # BrickletDCV2#set_emergency_shutdown_callback_configuration.
+    def get_emergency_shutdown_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION, [], '', 9, '?'
+    end
+
+    # Enable/Disable CALLBACK_VELOCITY_REACHED callback.
+    def set_velocity_reached_callback_configuration(enabled)
+      check_validity
+
+      send_request FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION, [enabled], '?', 8, ''
+    end
+
+    # Returns the callback configuration as set by
+    # BrickletDCV2#set_velocity_reached_callback_configuration.
+    def get_velocity_reached_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_VELOCITY_REACHED_CALLBACK_CONFIGURATION, [], '', 9, '?'
+    end
+
+    # The period is the period with which the CALLBACK_CURRENT_VELOCITY
+    # callback is triggered periodically. A value of 0 turns the callback off.
+    # 
+    # If the `value has to change`-parameter is set to true, the callback is only
+    # triggered after the value has changed. If the value didn't change within the
+    # period, the callback is triggered immediately on change.
+    # 
+    # If it is set to false, the callback is continuously triggered with the period,
+    # independent of the value.
+    def set_current_velocity_callback_configuration(period, value_has_to_change)
+      check_validity
+
+      send_request FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
+    end
+
+    # Returns the callback configuration as set by
+    # BrickletDCV2#set_current_velocity_callback_configuration.
+    def get_current_velocity_callback_configuration
+      check_validity
+
+      send_request FUNCTION_GET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION, [], '', 13, 'L ?'
+    end
+
+    # Returns the error count for the communication between Brick and Bricklet.
+    # 
+    # The errors are divided into
+    # 
+    # * ACK checksum errors,
+    # * message checksum errors,
+    # * framing errors and
+    # * overflow errors.
+    # 
+    # The errors counts are for errors that occur on the Bricklet side. All
+    # Bricks have a similar function that returns the errors on the Brick side.
+    def get_spitfp_error_count
+      check_validity
+
+      send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L'
+    end
+
+    # Sets the bootloader mode and returns the status after the requested
+    # mode change was instigated.
+    # 
+    # You can change from bootloader mode to firmware mode and vice versa. A change
+    # from bootloader mode to firmware mode will only take place if the entry function,
+    # device identifier and CRC are present and correct.
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def set_bootloader_mode(mode)
+      check_validity
+
+      send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C'
+    end
+
+    # Returns the current bootloader mode, see BrickletDCV2#set_bootloader_mode.
+    def get_bootloader_mode
+      check_validity
+
+      send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C'
+    end
+
+    # Sets the firmware pointer for BrickletDCV2#write_firmware. The pointer has
+    # to be increased by chunks of size 64. The data is written to flash
+    # every 4 chunks (which equals to one page of size 256).
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def set_write_firmware_pointer(pointer)
+      check_validity
+
+      send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, ''
+    end
+
+    # Writes 64 Bytes of firmware at the position as written by
+    # BrickletDCV2#set_write_firmware_pointer before. The firmware is written
+    # to flash every 4 chunks.
+    # 
+    # You can only write firmware in bootloader mode.
+    # 
+    # This function is used by Brick Viewer during flashing. It should not be
+    # necessary to call it in a normal user program.
+    def write_firmware(data)
+      check_validity
+
+      send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C'
+    end
+
+    # Sets the status LED configuration. By default the LED shows
+    # communication traffic between Brick and Bricklet, it flickers once
+    # for every 10 received data packets.
+    # 
+    # You can also turn the LED permanently on/off or show a heartbeat.
+    # 
+    # If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.
+    def set_status_led_config(config)
+      check_validity
+
+      send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, ''
+    end
+
+    # Returns the configuration as set by BrickletDCV2#set_status_led_config
+    def get_status_led_config
+      check_validity
+
+      send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C'
+    end
+
+    # Returns the temperature as measured inside the microcontroller. The
+    # value returned is not the ambient temperature!
+    # 
+    # The temperature is only proportional to the real temperature and it has bad
+    # accuracy. Practically it is only useful as an indicator for
+    # temperature changes.
+    def get_chip_temperature
+      check_validity
+
+      send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's'
+    end
+
+    # Calling this function will reset the Bricklet. All configurations
+    # will be lost.
+    # 
+    # After a reset you have to create new device objects,
+    # calling functions on the existing ones will result in
+    # undefined behavior!
+    def reset
+      check_validity
+
+      send_request FUNCTION_RESET, [], '', 8, ''
+    end
+
+    # Writes a new UID into flash. If you want to set a new UID
+    # you have to decode the Base58 encoded UID string into an
+    # integer first.
+    # 
+    # We recommend that you use Brick Viewer to change the UID.
+    def write_uid(uid)
+      check_validity
+
+      send_request FUNCTION_WRITE_UID, [uid], 'L', 8, ''
+    end
+
+    # Returns the current UID as an integer. Encode as
+    # Base58 to get the usual string version.
+    def read_uid
+      check_validity
+
+      send_request FUNCTION_READ_UID, [], '', 12, 'L'
+    end
+
+    # Returns the UID, the UID where the Bricklet is connected to,
+    # the position, the hardware and firmware version as well as the
+    # device identifier.
+    # 
+    # The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port).
+    # A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at
+    # position 'z'.
+    # 
+    # The device identifier numbers can be found :ref:`here <device_identifier>`.
+    # |device_identifier_constant|
+    def get_identity
+      send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
+    end
+
+    # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.
+    def register_callback(id, &block)
+      callback = block
+      @registered_callbacks[id] = callback
+    end
+  end
+end