distance_us_v2_bricklet

package
Version: v0.0.0-...-1640943 Latest Latest
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Published: May 7, 2021 License: CC0-1.0 Imports: 5 Imported by: 0

Documentation

Overview

Measures distance between 30cm and 500cm with ultrasound.

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/DistanceUSV2_Bricklet_Go.html.

Index

Constants

View Source
const DeviceDisplayName = "Distance US Bricklet 2.0"
View Source
const DeviceIdentifier = 299

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 DistanceLEDConfig

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

type DistanceUSV2Bricklet

type DistanceUSV2Bricklet 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 (*DistanceUSV2Bricklet) DeregisterDistanceCallback

func (device *DistanceUSV2Bricklet) DeregisterDistanceCallback(registrationId uint64)

Remove a registered Distance callback.

func (*DistanceUSV2Bricklet) GetAPIVersion

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) GetBootloaderMode

func (device *DistanceUSV2Bricklet) GetBootloaderMode() (mode BootloaderMode, err error)

Returns the current bootloader mode, see SetBootloaderMode.

Associated constants:

* BootloaderModeBootloader
* BootloaderModeFirmware
* BootloaderModeBootloaderWaitForReboot
* BootloaderModeFirmwareWaitForReboot
* BootloaderModeFirmwareWaitForEraseAndReboot

func (*DistanceUSV2Bricklet) GetChipTemperature

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) GetDistance

func (device *DistanceUSV2Bricklet) GetDistance() (distance uint16, err error)

Returns the distance.

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 (*DistanceUSV2Bricklet) GetDistanceCallbackConfiguration

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) GetDistanceLEDConfig

func (device *DistanceUSV2Bricklet) GetDistanceLEDConfig() (config DistanceLEDConfig, err error)

Returns the LED configuration as set by SetDistanceLEDConfig

Associated constants:

* DistanceLEDConfigOff
* DistanceLEDConfigOn
* DistanceLEDConfigShowHeartbeat
* DistanceLEDConfigShowDistance

func (*DistanceUSV2Bricklet) GetIdentity

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) GetResponseExpected

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) GetSPITFPErrorCount

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) GetStatusLEDConfig

func (device *DistanceUSV2Bricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error)

Returns the configuration as set by SetStatusLEDConfig

Associated constants:

* StatusLEDConfigOff
* StatusLEDConfigOn
* StatusLEDConfigShowHeartbeat
* StatusLEDConfigShowStatus

func (*DistanceUSV2Bricklet) GetUpdateRate

func (device *DistanceUSV2Bricklet) GetUpdateRate() (updateRate UpdateRate, err error)

Returns the update rate as set by SetUpdateRate.

Associated constants:

* UpdateRate2Hz
* UpdateRate10Hz

func (*DistanceUSV2Bricklet) ReadUID

func (device *DistanceUSV2Bricklet) ReadUID() (uid uint32, err error)

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

func (*DistanceUSV2Bricklet) RegisterDistanceCallback

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) Reset

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) SetBootloaderMode

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) SetDistanceCallbackConfiguration

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) SetDistanceLEDConfig

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) SetResponseExpected

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) SetResponseExpectedAll

func (device *DistanceUSV2Bricklet) SetResponseExpectedAll(responseExpected bool)

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

func (*DistanceUSV2Bricklet) SetStatusLEDConfig

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) SetUpdateRate

func (device *DistanceUSV2Bricklet) SetUpdateRate(updateRate UpdateRate) (err error)

Sets the update rate to 2 Hz or 10 Hz.

With 2 Hz update rate the noise is about ±1mm, while with 10 Hz update rate the noise increases to about ±5mm.

Associated constants:

* UpdateRate2Hz
* UpdateRate10Hz

func (*DistanceUSV2Bricklet) SetWriteFirmwarePointer

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) WriteFirmware

func (device *DistanceUSV2Bricklet) 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 (*DistanceUSV2Bricklet) WriteUID

func (device *DistanceUSV2Bricklet) 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 Function

type Function = uint8
const (
	FunctionGetDistance                      Function = 1
	FunctionSetDistanceCallbackConfiguration Function = 2
	FunctionGetDistanceCallbackConfiguration Function = 3
	FunctionSetUpdateRate                    Function = 5
	FunctionGetUpdateRate                    Function = 6
	FunctionSetDistanceLEDConfig             Function = 7
	FunctionGetDistanceLEDConfig             Function = 8
	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
)

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 = '>'
)

type UpdateRate

type UpdateRate = uint8
const (
	UpdateRate2Hz  UpdateRate = 0
	UpdateRate10Hz UpdateRate = 1
)

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