Modbus - Distance IR Bricklet 2.0¶

Basic Functions¶

BrickletDistanceIRV2.get_distance¶

Function ID:	1
Request:	empty payload
Response:	distance – Type: uint16, Unit: 1 mm, Range: [0 to 216 - 1]

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 CALLBACK_DISTANCE callback. You can set the callback configuration with set_distance_callback_configuration.

BrickletDistanceIRV2.get_analog_value¶

Function ID:	5
Request:	empty payload
Response:	analog_value – Type: uint32, Range: [0 to 221 - 1]

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 CALLBACK_ANALOG_VALUE callback. You can set the callback configuration with set_analog_value_callback_configuration.

BrickletDistanceIRV2.set_moving_average_configuration¶

Function ID:	9
Request:	moving_average_length – Type: uint16, Range: [1 to 1000], Default: 25
Response:	no response

Sets the length of a moving averaging 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.

BrickletDistanceIRV2.get_moving_average_configuration¶

Function ID:	10
Request:	empty payload
Response:	moving_average_length – Type: uint16, Range: [1 to 1000], Default: 25

Returns the moving average configuration as set by set_moving_average_configuration.

BrickletDistanceIRV2.set_distance_led_config¶

Function ID:	11
Request:	config – Type: uint8, Range: See meanings, Default: 3
Response:	no response

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

The following meanings are defined for the elements of this function:

For config:

• 0 = Off
• 1 = On
• 2 = Show Heartbeat
• 3 = Show Distance

BrickletDistanceIRV2.get_distance_led_config¶

Function ID:	12
Request:	empty payload
Response:	config – Type: uint8, Range: See meanings, Default: 3

Returns the LED configuration as set by set_distance_led_config

The following meanings are defined for the elements of this function:

For config:

• 0 = Off
• 1 = On
• 2 = Show Heartbeat
• 3 = Show Distance

BrickletDistanceIRV2.set_sensor_type¶

Function ID:	13
Request:	sensor – Type: uint8, Range: See meanings
Response:	no response

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.

The following meanings are defined for the elements of this function:

For sensor:

• 0 = 2Y0A41
• 1 = 2Y0A21
• 2 = 2Y0A02

BrickletDistanceIRV2.get_sensor_type¶

Function ID:	14
Request:	empty payload
Response:	sensor – Type: uint8, Range: See meanings

Returns the sensor type as set by set_sensor_type.

The following meanings are defined for the elements of this function:

For sensor:

• 0 = 2Y0A41
• 1 = 2Y0A21
• 2 = 2Y0A02

Advanced Functions¶

BrickletDistanceIRV2.get_spitfp_error_count¶

Function ID:	234
Request:	empty payload
Response:	error_count_ack_checksum – Type: uint32, Range: [0 to 232 - 1] error_count_message_checksum – Type: uint32, Range: [0 to 232 - 1] error_count_frame – Type: uint32, Range: [0 to 232 - 1] error_count_overflow – Type: uint32, Range: [0 to 232 - 1]

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.

BrickletDistanceIRV2.set_status_led_config¶

Function ID:	239
Request:	config – Type: uint8, Range: See meanings, Default: 3
Response:	no response

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.

The following meanings are defined for the elements of this function:

For config:

• 0 = Off
• 1 = On
• 2 = Show Heartbeat
• 3 = Show Status

BrickletDistanceIRV2.get_status_led_config¶

Function ID:	240
Request:	empty payload
Response:	config – Type: uint8, Range: See meanings, Default: 3

Returns the configuration as set by set_status_led_config

The following meanings are defined for the elements of this function:

For config:

• 0 = Off
• 1 = On
• 2 = Show Heartbeat
• 3 = Show Status

BrickletDistanceIRV2.get_chip_temperature¶

Function ID:	242
Request:	empty payload
Response:	temperature – Type: int16, Unit: 1 °C, Range: [-215 to 215 - 1]

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.

BrickletDistanceIRV2.reset¶

Function ID:	243
Request:	empty payload
Response:	no response

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!

BrickletDistanceIRV2.get_identity¶

Function ID:	255
Request:	empty payload
Response:	uid – Type: char[8] connected_uid – Type: char[8] position – Type: char, Range: ['a' to 'h', 'z'] hardware_version – Type: uint8[3] 0: major – Type: uint8, Range: [0 to 255] 1: minor – Type: uint8, Range: [0 to 255] 2: revision – Type: uint8, Range: [0 to 255] firmware_version – Type: uint8[3] 0: major – Type: uint8, Range: [0 to 255] 1: minor – Type: uint8, Range: [0 to 255] 2: revision – Type: uint8, Range: [0 to 255] device_identifier – Type: uint16, Range: [0 to 216 - 1]

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 is always at position 'z'.

The device identifier numbers can be found here. 

Callback Configuration Functions¶

BrickletDistanceIRV2.set_distance_callback_configuration¶

Function ID:	2
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See meanings, Default: 'x' min – Type: uint16, Unit: 1 mm, Range: [0 to 216 - 1], Default: 0 max – Type: uint16, Unit: 1 mm, Range: [0 to 216 - 1], Default: 0
Response:	no response

The period is the period with which the CALLBACK_DISTANCE 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 CALLBACK_DISTANCE 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.

The following meanings are defined for the elements of this function:

For option:

• 'x' = Off
• 'o' = Outside
• 'i' = Inside
• '<' = Smaller
• '>' = Greater

BrickletDistanceIRV2.get_distance_callback_configuration¶

Function ID:	3
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See meanings, Default: 'x' min – Type: uint16, Unit: 1 mm, Range: [0 to 216 - 1], Default: 0 max – Type: uint16, Unit: 1 mm, Range: [0 to 216 - 1], Default: 0

Returns the callback configuration as set by set_distance_callback_configuration.

The following meanings are defined for the elements of this function:

For option:

• 'x' = Off
• 'o' = Outside
• 'i' = Inside
• '<' = Smaller
• '>' = Greater

BrickletDistanceIRV2.set_analog_value_callback_configuration¶

Function ID:	6
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See meanings, Default: 'x' min – Type: uint32, Range: [0 to 232 - 1], Default: 0 max – Type: uint32, Range: [0 to 232 - 1], Default: 0
Response:	no response

The period is the period with which the CALLBACK_ANALOG_VALUE 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 CALLBACK_ANALOG_VALUE 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.

The following meanings are defined for the elements of this function:

For option:

• 'x' = Off
• 'o' = Outside
• 'i' = Inside
• '<' = Smaller
• '>' = Greater

BrickletDistanceIRV2.get_analog_value_callback_configuration¶

Function ID:	7
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See meanings, Default: 'x' min – Type: uint32, Range: [0 to 232 - 1], Default: 0 max – Type: uint32, Range: [0 to 232 - 1], Default: 0

Returns the callback configuration as set by set_analog_value_callback_configuration.

The following meanings are defined for the elements of this function:

For option:

• 'x' = Off
• 'o' = Outside
• 'i' = Inside
• '<' = Smaller
• '>' = Greater

Callbacks¶

BrickletDistanceIRV2.CALLBACK_DISTANCE¶

Function ID:	4
Response:	distance – Type: uint16, Unit: 1 mm, Range: [0 to 216 - 1]

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

The response value is the same as get_distance.

BrickletDistanceIRV2.CALLBACK_ANALOG_VALUE¶

Function ID:	8
Response:	analog_value – Type: uint32, Range: [0 to 221 - 1]

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

The response value is the same as get_analog_value.

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

BrickletDistanceIRV2.set_bootloader_mode¶

Function ID:	235
Request:	mode – Type: uint8, Range: See meanings
Response:	status – Type: uint8, Range: See meanings

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.

The following meanings are defined for the elements of this function:

For mode:

• 0 = Bootloader
• 1 = Firmware
• 2 = Bootloader Wait For Reboot
• 3 = Firmware Wait For Reboot
• 4 = Firmware Wait For Erase And Reboot

For status:

• 0 = OK
• 1 = Invalid Mode
• 2 = No Change
• 3 = Entry Function Not Present
• 4 = Device Identifier Incorrect
• 5 = CRC Mismatch

BrickletDistanceIRV2.get_bootloader_mode¶

Function ID:	236
Request:	empty payload
Response:	mode – Type: uint8, Range: See meanings

Returns the current bootloader mode, see set_bootloader_mode.

The following meanings are defined for the elements of this function:

For mode:

• 0 = Bootloader
• 1 = Firmware
• 2 = Bootloader Wait For Reboot
• 3 = Firmware Wait For Reboot
• 4 = Firmware Wait For Erase And Reboot

BrickletDistanceIRV2.set_write_firmware_pointer¶

Function ID:	237
Request:	pointer – Type: uint32, Unit: 1 B, Range: [0 to 232 - 1]
Response:	no response

Sets the firmware pointer for 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.

BrickletDistanceIRV2.write_firmware¶

Function ID:	238
Request:	data – Type: uint8[64], Range: [0 to 255]
Response:	status – Type: uint8, Range: [0 to 255]

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

BrickletDistanceIRV2.write_uid¶

Function ID:	248
Request:	uid – Type: uint32, Range: [0 to 232 - 1]
Response:	no response

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.

BrickletDistanceIRV2.read_uid¶

Function ID:	249
Request:	empty payload
Response:	uid – Type: uint32, Range: [0 to 232 - 1]

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