distance_ir_v2_bricklet

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Version: v0.0.0-...-8a98e63 Latest Latest
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Published: May 11, 2022 License: CC0-1.0 Imports: 5 Imported by: 0

Documentation

Overview

Measures distance up to 150cm with infrared light.

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/DistanceIRV2_Bricklet_Go.html.

Index

Constants

View Source
const DeviceDisplayName = "Distance IR Bricklet 2.0"
View Source
const DeviceIdentifier = 2125

Variables

This section is empty.

Functions

This section is empty.

Types

type BootloaderMode

type BootloaderMode = uint8
const (
	BootloaderModeBootloader                    BootloaderMode = 0
	BootloaderModeFirmware                      BootloaderMode = 1
	BootloaderModeBootloaderWaitForReboot       BootloaderMode = 2
	BootloaderModeFirmwareWaitForReboot         BootloaderMode = 3
	BootloaderModeFirmwareWaitForEraseAndReboot BootloaderMode = 4
)

type BootloaderStatus

type BootloaderStatus = uint8
const (
	BootloaderStatusOK                        BootloaderStatus = 0
	BootloaderStatusInvalidMode               BootloaderStatus = 1
	BootloaderStatusNoChange                  BootloaderStatus = 2
	BootloaderStatusEntryFunctionNotPresent   BootloaderStatus = 3
	BootloaderStatusDeviceIdentifierIncorrect BootloaderStatus = 4
	BootloaderStatusCRCMismatch               BootloaderStatus = 5
)

type DistanceIRV2Bricklet

type DistanceIRV2Bricklet struct {
	// contains filtered or unexported fields
}

func New

Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.

func (*DistanceIRV2Bricklet) DeregisterAnalogValueCallback

func (device *DistanceIRV2Bricklet) DeregisterAnalogValueCallback(registrationId uint64)

Remove a registered Analog Value callback.

func (*DistanceIRV2Bricklet) DeregisterDistanceCallback

func (device *DistanceIRV2Bricklet) DeregisterDistanceCallback(registrationId uint64)

Remove a registered Distance callback.

func (*DistanceIRV2Bricklet) GetAPIVersion

func (device *DistanceIRV2Bricklet) GetAPIVersion() [3]uint8

Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

func (*DistanceIRV2Bricklet) GetAnalogValue

func (device *DistanceIRV2Bricklet) GetAnalogValue() (analogValue uint32, err error)

Returns the analog value as read by a analog-to-digital converter.

This is unfiltered raw data. We made sure that the integration time of the ADC is shorter then the measurement interval of the sensor (10ms vs 16.5ms). So there is no information lost.

If you want to do your own calibration or create your own lookup table you can use this value.

If you want to get the value periodically, it is recommended to use the RegisterAnalogValueCallback callback. You can set the callback configuration with SetAnalogValueCallbackConfiguration.

func (*DistanceIRV2Bricklet) GetAnalogValueCallbackConfiguration

func (device *DistanceIRV2Bricklet) GetAnalogValueCallbackConfiguration() (period uint32, valueHasToChange bool, option ThresholdOption, min uint32, max uint32, err error)

Returns the callback configuration as set by SetAnalogValueCallbackConfiguration.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*DistanceIRV2Bricklet) GetBootloaderMode

func (device *DistanceIRV2Bricklet) GetBootloaderMode() (mode BootloaderMode, err error)

Returns the current bootloader mode, see SetBootloaderMode.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot

func (*DistanceIRV2Bricklet) GetChipTemperature

func (device *DistanceIRV2Bricklet) GetChipTemperature() (temperature int16, err error)

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.

func (*DistanceIRV2Bricklet) GetDistance

func (device *DistanceIRV2Bricklet) GetDistance() (distance uint16, err error)

Returns the distance measured by the sensor. Possible distance ranges are 40 to 300, 100 to 800 and 200 to 1500, depending on the selected IR sensor.

If you want to get the value periodically, it is recommended to use the RegisterDistanceCallback callback. You can set the callback configuration with SetDistanceCallbackConfiguration.

func (*DistanceIRV2Bricklet) GetDistanceCallbackConfiguration

func (device *DistanceIRV2Bricklet) GetDistanceCallbackConfiguration() (period uint32, valueHasToChange bool, option ThresholdOption, min uint16, max uint16, err error)

Returns the callback configuration as set by SetDistanceCallbackConfiguration.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*DistanceIRV2Bricklet) GetDistanceLEDConfig

func (device *DistanceIRV2Bricklet) GetDistanceLEDConfig() (config DistanceLEDConfig, err error)

Returns the LED configuration as set by SetDistanceLEDConfig

Associated constants:

  • DistanceLEDConfigOff
  • DistanceLEDConfigOn
  • DistanceLEDConfigShowHeartbeat
  • DistanceLEDConfigShowDistance

func (*DistanceIRV2Bricklet) GetIdentity

func (device *DistanceIRV2Bricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

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 `Isolator Bricklet <isolator_bricklet>` is always at position 'z'.

The device identifier numbers can be found `here <device_identifier>`. |device_identifier_constant|

func (*DistanceIRV2Bricklet) GetMovingAverageConfiguration

func (device *DistanceIRV2Bricklet) GetMovingAverageConfiguration() (movingAverageLength uint16, err error)

Returns the moving average configuration as set by SetMovingAverageConfiguration.

func (*DistanceIRV2Bricklet) GetResponseExpected

func (device *DistanceIRV2Bricklet) GetResponseExpected(functionID Function) (bool, error)

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

See SetResponseExpected for the list of function ID constants available for this function.

func (*DistanceIRV2Bricklet) GetSPITFPErrorCount

func (device *DistanceIRV2Bricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)

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.

func (*DistanceIRV2Bricklet) GetSensorType

func (device *DistanceIRV2Bricklet) GetSensorType() (sensor SensorType, err error)

Returns the sensor type as set by SetSensorType.

Associated constants:

  • SensorType2Y0A41
  • SensorType2Y0A21
  • SensorType2Y0A02

func (*DistanceIRV2Bricklet) GetStatusLEDConfig

func (device *DistanceIRV2Bricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error)

Returns the configuration as set by SetStatusLEDConfig

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*DistanceIRV2Bricklet) ReadUID

func (device *DistanceIRV2Bricklet) ReadUID() (uid uint32, err error)

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

func (*DistanceIRV2Bricklet) RegisterAnalogValueCallback

func (device *DistanceIRV2Bricklet) RegisterAnalogValueCallback(fn func(uint32)) uint64

This callback is triggered periodically according to the configuration set by SetAnalogValueCallbackConfiguration.

The parameter is the same as GetAnalogValue.

func (*DistanceIRV2Bricklet) RegisterDistanceCallback

func (device *DistanceIRV2Bricklet) RegisterDistanceCallback(fn func(uint16)) uint64

This callback is triggered periodically according to the configuration set by SetDistanceCallbackConfiguration.

The parameter is the same as GetDistance.

func (*DistanceIRV2Bricklet) Reset

func (device *DistanceIRV2Bricklet) Reset() (err error)

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!

func (*DistanceIRV2Bricklet) SetAnalogValueCallbackConfiguration

func (device *DistanceIRV2Bricklet) SetAnalogValueCallbackConfiguration(period uint32, valueHasToChange bool, option ThresholdOption, min uint32, max uint32) (err error)

The period is the period with which the RegisterAnalogValueCallback 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.

It is furthermore possible to constrain the callback with thresholds.

The `option`-parameter together with min/max sets a threshold for the RegisterAnalogValueCallback callback.

The following options are possible:

Option| Description
--- | ---
'x'|    Threshold is turned off
'o'|    Threshold is triggered when the value is *outside* the min and max values
'i'|    Threshold is triggered when the value is *inside* or equal to the min and max values
'<'|    Threshold is triggered when the value is smaller than the min value (max is ignored)
'>'|    Threshold is triggered when the value is greater than the min value (max is ignored)

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*DistanceIRV2Bricklet) SetBootloaderMode

func (device *DistanceIRV2Bricklet) SetBootloaderMode(mode BootloaderMode) (status BootloaderStatus, err error)

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.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot
  • BootloaderStatusOK
  • BootloaderStatusInvalidMode
  • BootloaderStatusNoChange
  • BootloaderStatusEntryFunctionNotPresent
  • BootloaderStatusDeviceIdentifierIncorrect
  • BootloaderStatusCRCMismatch

func (*DistanceIRV2Bricklet) SetDistanceCallbackConfiguration

func (device *DistanceIRV2Bricklet) SetDistanceCallbackConfiguration(period uint32, valueHasToChange bool, option ThresholdOption, min uint16, max uint16) (err error)

The period is the period with which the RegisterDistanceCallback 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.

It is furthermore possible to constrain the callback with thresholds.

The `option`-parameter together with min/max sets a threshold for the RegisterDistanceCallback callback.

The following options are possible:

Option| Description
--- | ---
'x'|    Threshold is turned off
'o'|    Threshold is triggered when the value is *outside* the min and max values
'i'|    Threshold is triggered when the value is *inside* or equal to the min and max values
'<'|    Threshold is triggered when the value is smaller than the min value (max is ignored)
'>'|    Threshold is triggered when the value is greater than the min value (max is ignored)

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*DistanceIRV2Bricklet) SetDistanceLEDConfig

func (device *DistanceIRV2Bricklet) SetDistanceLEDConfig(config DistanceLEDConfig) (err error)

Configures the distance LED to be either turned off, turned on, blink in heartbeat mode or show the distance (brighter = object is nearer).

Associated constants:

  • DistanceLEDConfigOff
  • DistanceLEDConfigOn
  • DistanceLEDConfigShowHeartbeat
  • DistanceLEDConfigShowDistance

func (*DistanceIRV2Bricklet) SetMovingAverageConfiguration

func (device *DistanceIRV2Bricklet) SetMovingAverageConfiguration(movingAverageLength uint16) (err error)

Sets the length of a https://en.wikipedia.org/wiki/Moving_average for the distance.

Setting the length to 1 will turn the averaging off. With less averaging, there is more noise on the data.

New data is gathered every ~10ms. With a moving average of length 1000 the resulting averaging window has a length of approximately 10s. If you want to do long term measurements the longest moving average will give the cleanest results.

func (*DistanceIRV2Bricklet) SetResponseExpected

func (device *DistanceIRV2Bricklet) SetResponseExpected(functionID Function, responseExpected bool) error

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

func (*DistanceIRV2Bricklet) SetResponseExpectedAll

func (device *DistanceIRV2Bricklet) SetResponseExpectedAll(responseExpected bool)

Changes the response expected flag for all setter and callback configuration functions of this device at once.

func (*DistanceIRV2Bricklet) SetSensorType

func (device *DistanceIRV2Bricklet) SetSensorType(sensor SensorType) (err error)

Sets the sensor type.

The Bricklet comes configured with the correct sensor type and the type is saved in flash (i.e. the Bricklet retains the information if power is lost).

If you want to change the sensor you can set the type in Brick Viewer, you will likely never need to call this function from your program.

Associated constants:

  • SensorType2Y0A41
  • SensorType2Y0A21
  • SensorType2Y0A02

func (*DistanceIRV2Bricklet) SetStatusLEDConfig

func (device *DistanceIRV2Bricklet) SetStatusLEDConfig(config StatusLEDConfig) (err error)

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.

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*DistanceIRV2Bricklet) SetWriteFirmwarePointer

func (device *DistanceIRV2Bricklet) SetWriteFirmwarePointer(pointer uint32) (err error)

Sets the firmware pointer for WriteFirmware. 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.

func (*DistanceIRV2Bricklet) WriteFirmware

func (device *DistanceIRV2Bricklet) WriteFirmware(data [64]uint8) (status uint8, err error)

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer 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.

func (*DistanceIRV2Bricklet) WriteUID

func (device *DistanceIRV2Bricklet) WriteUID(uid uint32) (err error)

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.

type DistanceLEDConfig

type DistanceLEDConfig = uint8
const (
	DistanceLEDConfigOff           DistanceLEDConfig = 0
	DistanceLEDConfigOn            DistanceLEDConfig = 1
	DistanceLEDConfigShowHeartbeat DistanceLEDConfig = 2
	DistanceLEDConfigShowDistance  DistanceLEDConfig = 3
)

type Function

type Function = uint8
const (
	FunctionGetDistance                         Function = 1
	FunctionSetDistanceCallbackConfiguration    Function = 2
	FunctionGetDistanceCallbackConfiguration    Function = 3
	FunctionGetAnalogValue                      Function = 5
	FunctionSetAnalogValueCallbackConfiguration Function = 6
	FunctionGetAnalogValueCallbackConfiguration Function = 7
	FunctionSetMovingAverageConfiguration       Function = 9
	FunctionGetMovingAverageConfiguration       Function = 10
	FunctionSetDistanceLEDConfig                Function = 11
	FunctionGetDistanceLEDConfig                Function = 12
	FunctionSetSensorType                       Function = 13
	FunctionGetSensorType                       Function = 14
	FunctionGetSPITFPErrorCount                 Function = 234
	FunctionSetBootloaderMode                   Function = 235
	FunctionGetBootloaderMode                   Function = 236
	FunctionSetWriteFirmwarePointer             Function = 237
	FunctionWriteFirmware                       Function = 238
	FunctionSetStatusLEDConfig                  Function = 239
	FunctionGetStatusLEDConfig                  Function = 240
	FunctionGetChipTemperature                  Function = 242
	FunctionReset                               Function = 243
	FunctionWriteUID                            Function = 248
	FunctionReadUID                             Function = 249
	FunctionGetIdentity                         Function = 255
	FunctionCallbackDistance                    Function = 4
	FunctionCallbackAnalogValue                 Function = 8
)

type SensorType

type SensorType = uint8
const (
	SensorType2Y0A41 SensorType = 0
	SensorType2Y0A21 SensorType = 1
	SensorType2Y0A02 SensorType = 2
)

type StatusLEDConfig

type StatusLEDConfig = uint8
const (
	StatusLEDConfigOff           StatusLEDConfig = 0
	StatusLEDConfigOn            StatusLEDConfig = 1
	StatusLEDConfigShowHeartbeat StatusLEDConfig = 2
	StatusLEDConfigShowStatus    StatusLEDConfig = 3
)

type ThresholdOption

type ThresholdOption = rune
const (
	ThresholdOptionOff     ThresholdOption = 'x'
	ThresholdOptionOutside ThresholdOption = 'o'
	ThresholdOptionInside  ThresholdOption = 'i'
	ThresholdOptionSmaller ThresholdOption = '<'
	ThresholdOptionGreater ThresholdOption = '>'
)

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