tinkerforge 2.1.11 → 2.1.12

data/lib/tinkerforge/brick_dc.rb

@@ -1,8 +1,8 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2017-01-25.      #
+# This file was automatically generated on 2017-04-21.      #
 #                                                           #
-# Ruby Bindings Version 2.1.11                              #
+# Ruby Bindings Version 2.1.12                              #
 #                                                           #
 # 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  #
@@ -38,8 +38,8 @@ module Tinkerforge
 
     # 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, CALLBACK_VELOCITY_REACHED will be triggered after about 2 seconds, when
-    # the set velocity is actually reached.
+    # 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
@@ -49,11 +49,11 @@ module Tinkerforge
     CALLBACK_VELOCITY_REACHED = 23
 
     # This callback is triggered with the period that is set by
-    # BrickDC#set_current_velocity_period. The parameter is the *current* velocity
-    # used by the motor.
+    # BrickDC#set_current_velocity_period. The parameter is the *current*
+    # velocity used by the motor.
     # 
-    # CALLBACK_CURRENT_VELOCITY is only triggered after the set period if there is
-    # a change in the velocity.
+    # 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_VELOCITY = 1 # :nodoc:
@@ -76,6 +76,7 @@ module Tinkerforge
     FUNCTION_GET_DRIVE_MODE = 18 # :nodoc:
     FUNCTION_SET_CURRENT_VELOCITY_PERIOD = 19 # :nodoc:
     FUNCTION_GET_CURRENT_VELOCITY_PERIOD = 20 # :nodoc:
+    FUNCTION_GET_SEND_TIMEOUT_COUNT = 233 # :nodoc:
     FUNCTION_ENABLE_STATUS_LED = 238 # :nodoc:
     FUNCTION_DISABLE_STATUS_LED = 239 # :nodoc:
     FUNCTION_IS_STATUS_LED_ENABLED = 240 # :nodoc:
@@ -86,6 +87,14 @@ module Tinkerforge
 
     DRIVE_MODE_DRIVE_BRAKE = 0 # :nodoc:
     DRIVE_MODE_DRIVE_COAST = 1 # :nodoc:
+    COMMUNICATION_METHOD_NONE = 0 # :nodoc:
+    COMMUNICATION_METHOD_USB = 1 # :nodoc:
+    COMMUNICATION_METHOD_SPI_STACK = 2 # :nodoc:
+    COMMUNICATION_METHOD_CHIBI = 3 # :nodoc:
+    COMMUNICATION_METHOD_RS485 = 4 # :nodoc:
+    COMMUNICATION_METHOD_WIFI = 5 # :nodoc:
+    COMMUNICATION_METHOD_ETHERNET = 6 # :nodoc:
+    COMMUNICATION_METHOD_WIFI_V2 = 7 # :nodoc:
 
     # Creates an object with the unique device ID <tt>uid</tt> and adds it to
     # the IP Connection <tt>ipcon</tt>.
@@ -118,6 +127,7 @@ module Tinkerforge
       @response_expected[CALLBACK_EMERGENCY_SHUTDOWN] = RESPONSE_EXPECTED_ALWAYS_FALSE
       @response_expected[CALLBACK_VELOCITY_REACHED] = RESPONSE_EXPECTED_ALWAYS_FALSE
       @response_expected[CALLBACK_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[FUNCTION_GET_SEND_TIMEOUT_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
@@ -311,6 +321,18 @@ module Tinkerforge
       send_request(FUNCTION_GET_CURRENT_VELOCITY_PERIOD, [], '', 2, 'S')
     end
 
+    # Returns the timeout count for the different communication methods.
+    # 
+    # The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.
+    # 
+    # This function is mostly used for debugging during development, in normal operation
+    # the counters should nearly always stay at 0.
+    # 
+    # .. 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')
+    end
+
     # Enables the status LED.
     # 
     # The status LED is the blue LED next to the USB connector. If enabled is is
@@ -371,7 +393,7 @@ module Tinkerforge
       send_request(FUNCTION_RESET, [], '', 0, '')
     end
 
-    # Returns the UID, the UID where the Brick is connected to, 
+    # Returns the UID, the UID where the Brick is connected to,
     # the position, the hardware and firmware version as well as the
     # device identifier.
     # 

data/lib/tinkerforge/brick_imu.rb

@@ -1,8 +1,8 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2017-01-25.      #
+# This file was automatically generated on 2017-04-21.      #
 #                                                           #
-# Ruby Bindings Version 2.1.11                              #
+# Ruby Bindings Version 2.1.12                              #
 #                                                           #
 # 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  #
@@ -21,13 +21,13 @@ module Tinkerforge
     CALLBACK_ACCELERATION = 31
 
     # This callback is triggered periodically with the period that is set by
-    # BrickIMU#set_magnetic_field_period. The parameters are the magnetic field
-    # for the x, y and z axis.
+    # BrickIMU#set_magnetic_field_period. The parameters are the magnetic
+    # field for the x, y and z axis.
     CALLBACK_MAGNETIC_FIELD = 32
 
     # This callback is triggered periodically with the period that is set by
-    # BrickIMU#set_angular_velocity_period. The parameters are the angular velocity
-    # for the x, y and z axis.
+    # BrickIMU#set_angular_velocity_period. The parameters are the angular
+    # velocity for the x, y and z axis.
     CALLBACK_ANGULAR_VELOCITY = 33
 
     # This callback is triggered periodically with the period that is set by
@@ -81,6 +81,7 @@ module Tinkerforge
     FUNCTION_ORIENTATION_CALCULATION_ON = 37 # :nodoc:
     FUNCTION_ORIENTATION_CALCULATION_OFF = 38 # :nodoc:
     FUNCTION_IS_ORIENTATION_CALCULATION_ON = 39 # :nodoc:
+    FUNCTION_GET_SEND_TIMEOUT_COUNT = 233 # :nodoc:
     FUNCTION_ENABLE_STATUS_LED = 238 # :nodoc:
     FUNCTION_DISABLE_STATUS_LED = 239 # :nodoc:
     FUNCTION_IS_STATUS_LED_ENABLED = 240 # :nodoc:
@@ -95,6 +96,14 @@ module Tinkerforge
     CALIBRATION_TYPE_MAGNETOMETER_BIAS = 3 # :nodoc:
     CALIBRATION_TYPE_GYROSCOPE_GAIN = 4 # :nodoc:
     CALIBRATION_TYPE_GYROSCOPE_BIAS = 5 # :nodoc:
+    COMMUNICATION_METHOD_NONE = 0 # :nodoc:
+    COMMUNICATION_METHOD_USB = 1 # :nodoc:
+    COMMUNICATION_METHOD_SPI_STACK = 2 # :nodoc:
+    COMMUNICATION_METHOD_CHIBI = 3 # :nodoc:
+    COMMUNICATION_METHOD_RS485 = 4 # :nodoc:
+    COMMUNICATION_METHOD_WIFI = 5 # :nodoc:
+    COMMUNICATION_METHOD_ETHERNET = 6 # :nodoc:
+    COMMUNICATION_METHOD_WIFI_V2 = 7 # :nodoc:
 
     # Creates an object with the unique device ID <tt>uid</tt> and adds it to
     # the IP Connection <tt>ipcon</tt>.
@@ -142,6 +151,7 @@ module Tinkerforge
       @response_expected[FUNCTION_ORIENTATION_CALCULATION_ON] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_ORIENTATION_CALCULATION_OFF] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_IS_ORIENTATION_CALCULATION_ON] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_SEND_TIMEOUT_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
@@ -158,44 +168,44 @@ module Tinkerforge
       @callback_formats[CALLBACK_QUATERNION] = 'e e e e'
     end
 
-    # Returns the calibrated acceleration from the accelerometer for the 
+    # Returns the calibrated acceleration from the accelerometer for the
     # x, y and z axis in g/1000 (1g = 9.80665m/s²).
     # 
-    # If you want to get the acceleration periodically, it is recommended 
-    # to use the callback CALLBACK_ACCELERATION and set the period with 
+    # 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')
     end
 
-    # Returns the calibrated magnetic field from the magnetometer for the 
+    # Returns the calibrated magnetic field from the magnetometer for the
     # x, y and z axis in mG (Milligauss or Nanotesla).
     # 
-    # If you want to get the magnetic field periodically, it is recommended 
-    # to use the callback CALLBACK_MAGNETIC_FIELD and set the period with 
+    # 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')
     end
 
-    # Returns the calibrated angular velocity from the gyroscope for the 
+    # Returns the calibrated angular velocity from the gyroscope for the
     # x, y and z axis in °/14.375s (you have to divide by 14.375 to
     # get the value in °/s).
     # 
-    # If you want to get the angular velocity periodically, it is recommended 
-    # to use the callback CALLBACK_ANGULAR_VELOCITY and set the period with 
+    # If you want to get the angular velocity periodically, it is recommended
+    # 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')
     end
 
-    # Returns the data from BrickIMU#get_acceleration, BrickIMU#get_magnetic_field 
+    # 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 CALLBACK_ALL_DATA and set the period with 
+    # 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')
@@ -207,17 +217,17 @@ module Tinkerforge
     # 
     # We recommend that you use quaternions instead.
     # 
-    # The order to sequence in which the orientation values should be applied is 
-    # roll, yaw, pitch. 
+    # The order to sequence in which the orientation values should be applied is
+    # roll, yaw, pitch.
     # 
-    # If you want to get the orientation periodically, it is recommended 
-    # to use the callback CALLBACK_ORIENTATION and set the period with 
+    # If you want to get the orientation periodically, it is recommended
+    # 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')
     end
 
-    # Returns the current orientation (x, y, z, w) of the IMU as 
+    # Returns the current orientation (x, y, z, w) of the IMU as
     # `quaternions <https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
     # 
     # You can go from quaternions to Euler angles with the following formula::
@@ -226,12 +236,12 @@ module Tinkerforge
     #  yAngle = atan2(2*x*w - 2*y*z, 1 - 2*x*x - 2*z*z)
     #  zAngle =  asin(2*x*y + 2*z*w)
     # 
-    # This process is not reversible, because of the 
+    # This process is not reversible, because of the
     # `gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__.
     # 
-    # It is also possible to calculate independent angles. You can calculate 
-    # yaw, pitch and roll in a right-handed vehicle coordinate system according to DIN70000
-    # with::
+    # It is also possible to calculate independent angles. You can calculate
+    # yaw, pitch and roll in a right-handed vehicle coordinate system according to
+    # DIN70000 with::
     # 
     #  yaw   =  atan2(2*x*y + 2*w*z, w*w + x*x - y*y - z*z)
     #  pitch = -asin(2*w*y - 2*x*z)
@@ -245,14 +255,14 @@ module Tinkerforge
     #            [    2*(x*z - w*y),     2*(y*z + w*x), 1 - 2*(x*x + y*y), 0],
     #            [                0,                 0,                 0, 1]]
     # 
-    # If you want to get the quaternions periodically, it is recommended 
-    # to use the callback CALLBACK_QUATERNION and set the period with 
+    # If you want to get the quaternions periodically, it is recommended
+    # 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')
     end
 
-    # Returns the temperature of the IMU Brick. The temperature is given in 
+    # Returns the temperature of the IMU Brick. The temperature is given in
     # °C/100.
     def get_imu_temperature
       send_request(FUNCTION_GET_IMU_TEMPERATURE, [], '', 2, 's')
@@ -294,10 +304,10 @@ module Tinkerforge
       send_request(FUNCTION_GET_MAGNETOMETER_RANGE, [], '', 1, 'C')
     end
 
-    # Sets the convergence speed of the IMU Brick in °/s. The convergence speed 
+    # Sets the convergence speed of the IMU Brick in °/s. 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 
+    # If the orientation of the IMU Brick is off by 10° and the convergence speed is
     # set to 20°/s, it will take 0.5s until the orientation is corrected. However,
     # if the correct orientation is reached and the convergence speed is too high,
     # the orientation will fluctuate with the fluctuations of the accelerometer and
@@ -313,8 +323,8 @@ module Tinkerforge
     # In an application with high angular velocities, we recommend a high convergence
     # speed, so the errors of the gyroscope can be corrected fast. In applications with
     # only slow movements we recommend a low convergence speed. You can change the
-    # convergence speed on the fly. So it is possible (and recommended) to increase 
-    # the convergence speed before an abrupt movement and decrease it afterwards 
+    # convergence speed on the fly. So it is possible (and recommended) to increase
+    # the convergence speed before an abrupt movement and decrease it afterwards
     # again.
     # 
     # You might want to play around with the convergence speed in the Brick Viewer to
@@ -384,8 +394,8 @@ module Tinkerforge
       send_request(FUNCTION_GET_ACCELERATION_PERIOD, [], '', 4, 'L')
     end
 
-    # Sets the period in ms with which the CALLBACK_MAGNETIC_FIELD callback is triggered
-    # periodically. A value of 0 turns the callback off.
+    # Sets the period in ms 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, '')
     end
@@ -395,8 +405,8 @@ module Tinkerforge
       send_request(FUNCTION_GET_MAGNETIC_FIELD_PERIOD, [], '', 4, 'L')
     end
 
-    # Sets the period in ms with which the CALLBACK_ANGULAR_VELOCITY callback is triggered
-    # periodically. A value of 0 turns the callback off.
+    # Sets the period in ms 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, '')
     end
@@ -453,7 +463,7 @@ module Tinkerforge
     # If the calculation is off, BrickIMU#get_orientation will return
     # the last calculated value until the calculation is turned on again.
     # 
-    # The trigonometric functions that are needed to calculate the orientation 
+    # The trigonometric functions that are needed to calculate the orientation
     # are very expensive. We recommend to turn the orientation calculation
     # off if the orientation is not needed, to free calculation time for the
     # sensor fusion algorithm.
@@ -473,6 +483,18 @@ module Tinkerforge
       send_request(FUNCTION_IS_ORIENTATION_CALCULATION_ON, [], '', 1, '?')
     end
 
+    # Returns the timeout count for the different communication methods.
+    # 
+    # The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.
+    # 
+    # This function is mostly used for debugging during development, in normal operation
+    # the counters should nearly always stay at 0.
+    # 
+    # .. 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')
+    end
+
     # Enables the status LED.
     # 
     # The status LED is the blue LED next to the USB connector. If enabled is is
@@ -533,7 +555,7 @@ module Tinkerforge
       send_request(FUNCTION_RESET, [], '', 0, '')
     end
 
-    # Returns the UID, the UID where the Brick is connected to, 
+    # Returns the UID, the UID where the Brick is connected to,
     # the position, the hardware and firmware version as well as the
     # device identifier.
     # 

data/lib/tinkerforge/brick_imu_v2.rb

@@ -1,8 +1,8 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2017-01-25.      #
+# This file was automatically generated on 2017-04-21.      #
 #                                                           #
-# Ruby Bindings Version 2.1.11                              #
+# Ruby Bindings Version 2.1.12                              #
 #                                                           #
 # 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  #
@@ -21,13 +21,13 @@ module Tinkerforge
     CALLBACK_ACCELERATION = 32
 
     # This callback is triggered periodically with the period that is set by
-    # BrickIMUV2#set_magnetic_field_period. The parameters are the magnetic field
-    # for the x, y and z axis.
+    # BrickIMUV2#set_magnetic_field_period. The parameters are the magnetic
+    # field for the x, y and z axis.
     CALLBACK_MAGNETIC_FIELD = 33
 
     # This callback is triggered periodically with the period that is set by
-    # BrickIMUV2#set_angular_velocity_period. The parameters are the angular velocity
-    # for the x, y and z axis.
+    # BrickIMUV2#set_angular_velocity_period. The parameters are the angular
+    # velocity for the x, y and z axis.
     CALLBACK_ANGULAR_VELOCITY = 34
 
     # This callback is triggered periodically with the period that is set by
@@ -35,7 +35,7 @@ module Tinkerforge
     CALLBACK_TEMPERATURE = 35
 
     # This callback is triggered periodically with the period that is set by
-    # BrickIMUV2#set_linear_acceleration_period. The parameters are the 
+    # BrickIMUV2#set_linear_acceleration_period. The parameters are the
     # linear acceleration for the x, y and z axis.
     CALLBACK_LINEAR_ACCELERATION = 36
 
@@ -57,7 +57,8 @@ module Tinkerforge
     CALLBACK_QUATERNION = 39
 
     # This callback is triggered periodically with the period that is set by
-    # BrickIMUV2#set_all_data_period. The parameters are as for BrickIMUV2#get_all_data.
+    # BrickIMUV2#set_all_data_period. The parameters are as for
+    # BrickIMUV2#get_all_data.
     CALLBACK_ALL_DATA = 40
 
     FUNCTION_GET_ACCELERATION = 1 # :nodoc:
@@ -95,6 +96,7 @@ module Tinkerforge
     FUNCTION_GET_SENSOR_CONFIGURATION = 42 # :nodoc:
     FUNCTION_SET_SENSOR_FUSION_MODE = 43 # :nodoc:
     FUNCTION_GET_SENSOR_FUSION_MODE = 44 # :nodoc:
+    FUNCTION_GET_SEND_TIMEOUT_COUNT = 233 # :nodoc:
     FUNCTION_ENABLE_STATUS_LED = 238 # :nodoc:
     FUNCTION_DISABLE_STATUS_LED = 239 # :nodoc:
     FUNCTION_IS_STATUS_LED_ENABLED = 240 # :nodoc:
@@ -138,6 +140,15 @@ module Tinkerforge
     ACCELEROMETER_BANDWIDTH_1000HZ = 7 # :nodoc:
     SENSOR_FUSION_OFF = 0 # :nodoc:
     SENSOR_FUSION_ON = 1 # :nodoc:
+    SENSOR_FUSION_ON_WITHOUT_MAGNETOMETER = 2 # :nodoc:
+    COMMUNICATION_METHOD_NONE = 0 # :nodoc:
+    COMMUNICATION_METHOD_USB = 1 # :nodoc:
+    COMMUNICATION_METHOD_SPI_STACK = 2 # :nodoc:
+    COMMUNICATION_METHOD_CHIBI = 3 # :nodoc:
+    COMMUNICATION_METHOD_RS485 = 4 # :nodoc:
+    COMMUNICATION_METHOD_WIFI = 5 # :nodoc:
+    COMMUNICATION_METHOD_ETHERNET = 6 # :nodoc:
+    COMMUNICATION_METHOD_WIFI_V2 = 7 # :nodoc:
 
     # Creates an object with the unique device ID <tt>uid</tt> and adds it to
     # the IP Connection <tt>ipcon</tt>.
@@ -190,6 +201,7 @@ module Tinkerforge
       @response_expected[FUNCTION_GET_SENSOR_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_SET_SENSOR_FUSION_MODE] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_GET_SENSOR_FUSION_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_SEND_TIMEOUT_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
@@ -209,37 +221,37 @@ module Tinkerforge
       @callback_formats[CALLBACK_ALL_DATA] = 's3 s3 s3 s3 s4 s3 s3 c C'
     end
 
-    # Returns the calibrated acceleration from the accelerometer for the 
+    # Returns the calibrated acceleration from the accelerometer for the
     # x, y and z axis in 1/100 m/s².
     # 
-    # If you want to get the acceleration periodically, it is recommended 
-    # to use the callback CALLBACK_ACCELERATION and set the period with 
+    # If you want to get the acceleration periodically, it is recommended
+    # to use the CALLBACK_ACCELERATION callback and set the period with
     # BrickIMUV2#set_acceleration_period.
     def get_acceleration
       send_request(FUNCTION_GET_ACCELERATION, [], '', 6, 's s s')
     end
 
-    # Returns the calibrated magnetic field from the magnetometer for the 
+    # Returns the calibrated magnetic field from the magnetometer for the
     # x, y and z axis in 1/16 µT (Microtesla).
     # 
-    # If you want to get the magnetic field periodically, it is recommended 
-    # to use the callback CALLBACK_MAGNETIC_FIELD and set the period with 
+    # If you want to get the magnetic field periodically, it is recommended
+    # to use the CALLBACK_MAGNETIC_FIELD callback and set the period with
     # BrickIMUV2#set_magnetic_field_period.
     def get_magnetic_field
       send_request(FUNCTION_GET_MAGNETIC_FIELD, [], '', 6, 's s s')
     end
 
-    # Returns the calibrated angular velocity from the gyroscope for the 
+    # Returns the calibrated angular velocity from the gyroscope for the
     # x, y and z axis in 1/16 °/s.
     # 
-    # If you want to get the angular velocity periodically, it is recommended 
-    # to use the callback CALLBACK_ANGULAR_VELOCITY and set the period with 
+    # If you want to get the angular velocity periodically, it is recommended
+    # to use the CALLBACK_ANGULAR_VELOCITY acallback nd set the period with
     # BrickIMUV2#set_angular_velocity_period.
     def get_angular_velocity
       send_request(FUNCTION_GET_ANGULAR_VELOCITY, [], '', 6, 's s s')
     end
 
-    # Returns the temperature of the IMU Brick. The temperature is given in 
+    # Returns the temperature of the IMU Brick. The temperature is given in
     # °C. The temperature is measured in the core of the BNO055 IC, it is not the
     # ambient temperature
     def get_temperature
@@ -248,8 +260,9 @@ module Tinkerforge
 
     # Returns the current orientation (heading, roll, pitch) of the IMU Brick as
     # independent Euler angles in 1/16 degree. Note that Euler angles always
-    # experience a `gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__. We
-    # recommend that you use quaternions instead, if you need the absolute orientation.
+    # experience a `gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__.
+    # We recommend that you use quaternions instead, if you need the absolute
+    # orientation.
     # 
     # The rotation angle has the following ranges:
     # 
@@ -257,8 +270,8 @@ module Tinkerforge
     # * roll: -90° to +90°
     # * pitch: -180° to +180°
     # 
-    # If you want to get the orientation periodically, it is recommended 
-    # to use the callback CALLBACK_ORIENTATION and set the period with 
+    # If you want to get the orientation periodically, it is recommended
+    # to use the CALLBACK_ORIENTATION callback and set the period with
     # BrickIMUV2#set_orientation_period.
     def get_orientation
       send_request(FUNCTION_GET_ORIENTATION, [], '', 6, 's s s')
@@ -273,8 +286,8 @@ module Tinkerforge
     # It is also possible to get the gravity vector with the influence of linear
     # acceleration removed, see BrickIMUV2#get_gravity_vector.
     # 
-    # If you want to get the linear acceleration periodically, it is recommended 
-    # to use the callback CALLBACK_LINEAR_ACCELERATION and set the period with 
+    # If you want to get the linear acceleration periodically, it is recommended
+    # to use the CALLBACK_LINEAR_ACCELERATION callback and set the period with
     # BrickIMUV2#set_linear_acceleration_period.
     def get_linear_acceleration
       send_request(FUNCTION_GET_LINEAR_ACCELERATION, [], '', 6, 's s s')
@@ -286,11 +299,11 @@ module Tinkerforge
     # The gravity vector is the acceleration that occurs due to gravity.
     # Influences of additional linear acceleration are removed.
     # 
-    # It is also possible to get the linear acceleration with the influence 
+    # It is also possible to get the linear acceleration with the influence
     # of gravity removed, see BrickIMUV2#get_linear_acceleration.
     # 
-    # If you want to get the gravity vector periodically, it is recommended 
-    # to use the callback CALLBACK_GRAVITY_VECTOR and set the period with 
+    # If you want to get the gravity vector periodically, it is recommended
+    # to use the CALLBACK_GRAVITY_VECTOR callback and set the period with
     # BrickIMUV2#set_gravity_vector_period.
     def get_gravity_vector
       send_request(FUNCTION_GET_GRAVITY_VECTOR, [], '', 6, 's s s')
@@ -302,8 +315,8 @@ module Tinkerforge
     # You have to divide the returns values by 16383 (14 bit) to get
     # the usual range of -1.0 to +1.0 for quaternions.
     # 
-    # If you want to get the quaternions periodically, it is recommended 
-    # to use the callback CALLBACK_QUATERNION and set the period with 
+    # If you want to get the quaternions periodically, it is recommended
+    # to use the CALLBACK_QUATERNION callback and set the period with
     # BrickIMUV2#set_quaternion_period.
     def get_quaternion
       send_request(FUNCTION_GET_QUATERNION, [], '', 8, 's s s s')
@@ -336,8 +349,8 @@ module Tinkerforge
     # calibration. See the documentation in the calibration window for
     # more information regarding the calibration of the IMU Brick.
     # 
-    # If you want to get the data periodically, it is recommended 
-    # to use the callback CALLBACK_ALL_DATA and set the period with 
+    # If you want to get the data periodically, it is recommended
+    # to use the CALLBACK_ALL_DATA callback and set the period with
     # BrickIMUV2#set_all_data_period.
     def get_all_data
       send_request(FUNCTION_GET_ALL_DATA, [], '', 46, 's3 s3 s3 s3 s4 s3 s3 c C')
@@ -364,7 +377,7 @@ module Tinkerforge
     # of the IMU Brick.
     # 
     # A return value of *true* means that the calibration could be used and
-    # *false* means that it could not be used (this happens if the calibration 
+    # *false* means that it could not be used (this happens if the calibration
     # status is not "fully calibrated").
     # 
     # This function is used by the calibration window of the Brick Viewer, you
@@ -397,8 +410,8 @@ module Tinkerforge
       send_request(FUNCTION_GET_MAGNETIC_FIELD_PERIOD, [], '', 4, 'L')
     end
 
-    # Sets the period in ms with which the CALLBACK_ANGULAR_VELOCITY callback is triggered
-    # periodically. A value of 0 turns the callback off.
+    # Sets the period in ms 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, '')
     end
@@ -430,8 +443,8 @@ module Tinkerforge
       send_request(FUNCTION_GET_ORIENTATION_PERIOD, [], '', 4, 'L')
     end
 
-    # Sets the period in ms with which the CALLBACK_LINEAR_ACCELERATION callback is triggered
-    # periodically. A value of 0 turns the callback off.
+    # Sets the period in ms with which the CALLBACK_LINEAR_ACCELERATION callback is
+    # triggered periodically. A value of 0 turns the callback off.
     def set_linear_acceleration_period(period)
       send_request(FUNCTION_SET_LINEAR_ACCELERATION_PERIOD, [period], 'L', 0, '')
     end
@@ -486,7 +499,6 @@ module Tinkerforge
     # * Accelerometer Range +/-4G
     # * Accelerometer Bandwidth 62.5Hz
     # 
-    # 
     # .. versionadded:: 2.0.5$nbsp;(Firmware)
     def set_sensor_configuration(magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth)
       send_request(FUNCTION_SET_SENSOR_CONFIGURATION, [magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth], 'C C C C C', 0, '')
@@ -499,10 +511,14 @@ module Tinkerforge
       send_request(FUNCTION_GET_SENSOR_CONFIGURATION, [], '', 5, 'C C C C C')
     end
 
-    # If the fusion mode is turned off, the functions
-    # BrickIMUV2#get_acceleration, BrickIMUV2#get_magnetic_field and BrickIMUV2#get_angular_velocity
-    # return uncalibrated and uncompensated sensor data. All other sensor data getters
-    # return no data.
+    # If the fusion mode is turned off, the functions BrickIMUV2#get_acceleration,
+    # BrickIMUV2#get_magnetic_field and BrickIMUV2#get_angular_velocity return uncalibrated
+    # and uncompensated sensor data. All other sensor data getters return no data.
+    # 
+    # Since firmware version 2.0.6 you can also use a fusion mode without magnetometer.
+    # In this mode the calculated orientation is relative (with magnetometer it is
+    # absolute with respect to the earth). However, the calculation can't be influenced
+    # by spurious magnetic fields.
     # 
     # By default sensor fusion is on.
     # 
@@ -518,6 +534,18 @@ module Tinkerforge
       send_request(FUNCTION_GET_SENSOR_FUSION_MODE, [], '', 1, 'C')
     end
 
+    # Returns the timeout count for the different communication methods.
+    # 
+    # The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.
+    # 
+    # This function is mostly used for debugging during development, in normal operation
+    # the counters should nearly always stay at 0.
+    # 
+    # .. versionadded:: 2.0.7$nbsp;(Firmware)
+    def get_send_timeout_count(communication_method)
+      send_request(FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 4, 'L')
+    end
+
     # Enables the status LED.
     # 
     # The status LED is the blue LED next to the USB connector. If enabled is is
@@ -572,7 +600,7 @@ module Tinkerforge
       send_request(FUNCTION_RESET, [], '', 0, '')
     end
 
-    # Returns the UID, the UID where the Brick is connected to, 
+    # Returns the UID, the UID where the Brick is connected to,
     # the position, the hardware and firmware version as well as the
     # device identifier.
     #