Software / API Bindings / Rust / API Reference and Examples / Bricklets / Distance IR Bricklet 2.0

Rust - Distance IR Bricklet 2.0¶

This is the description of the Rust API bindings for the Distance IR Bricklet 2.0. General information and technical specifications for the Distance IR Bricklet 2.0 are summarized in its hardware description.

An installation guide for the Rust API bindings is part of their general description. Additional documentation can be found on docs.rs.

Examples¶

The example code below is Public Domain (CC0 1.0).

Simple¶

Download (example_simple.rs)

use std::{error::Error, io};

use tinkerforge::{distance_ir_v2_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let dir = DistanceIrV2Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    // Get current distance.
    let distance = dir.get_distance().recv()?;
    println!("Distance: {} cm", distance as f32 / 10.0);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Callback¶

Download (example_callback.rs)

use std::{error::Error, io, thread};
use tinkerforge::{distance_ir_v2_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let dir = DistanceIrV2Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    let distance_receiver = dir.get_distance_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `dir` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for distance in distance_receiver {
            println!("Distance: {} cm", distance as f32 / 10.0);
        }
    });

    // Set period for distance callback to 1s (1000ms) without a threshold.
    dir.set_distance_callback_configuration(1000, false, 'x', 0, 0);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Threshold¶

Download (example_threshold.rs)

use std::{error::Error, io, thread};
use tinkerforge::{distance_ir_v2_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let dir = DistanceIrV2Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    let distance_receiver = dir.get_distance_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `dir` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for distance in distance_receiver {
            println!("Distance: {} cm", distance as f32 / 10.0);
        }
    });

    // Configure threshold for distance "smaller than 30 cm"
    // with a debounce period of 1s (1000ms).
    dir.set_distance_callback_configuration(1000, false, '<', 30 * 10, 0);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

API¶

To allow non-blocking usage, nearly every function of the Rust bindings returns a wrapper around a mpsc::Receiver. To block until the function has finished and get your result, call one of the receiver's recv variants. Those return either the result sent by the device, or any error occurred.

Functions returning a result directly will block until the device has finished processing the request.

All functions listed below are thread-safe, those which return a receiver are lock-free.

Basic Functions¶

pub fn DistanceIrV2Bricklet::new(uid: &str, ip_connection: &IpConnection) → DistanceIrV2Bricklet¶

Parameters:	uid – Type: &str ip_connection – Type: &IPConnection
Returns:	distance_ir_v2 – Type: DistanceIrV2Bricklet

Creates a new DistanceIrV2Bricklet object with the unique device ID uid and adds it to the IPConnection ip_connection:

let distance_ir_v2 = DistanceIrV2Bricklet::new("YOUR_DEVICE_UID", &ip_connection);

This device object can be used after the IP connection has been connected.

pub fn DistanceIrV2Bricklet::get_distance(&self) → ConvertingReceiver<u16>¶

Returns:	distance – Type: u16, 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 DistanceIrV2Bricklet::get_distance_callback_receiver callback. You can set the callback configuration with DistanceIrV2Bricklet::set_distance_callback_configuration.

pub fn DistanceIrV2Bricklet::get_analog_value(&self) → ConvertingReceiver<u32>¶

Returns:	analog_value – Type: u32, 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 DistanceIrV2Bricklet::get_analog_value_callback_receiver callback. You can set the callback configuration with DistanceIrV2Bricklet::set_analog_value_callback_configuration.

pub fn DistanceIrV2Bricklet::set_moving_average_configuration(&self, moving_average_length: u16) → ConvertingReceiver<()>¶

Parameters:	moving_average_length – Type: u16, Range: [1 to 1000], Default: 25

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.

pub fn DistanceIrV2Bricklet::get_moving_average_configuration(&self) → ConvertingReceiver<u16>¶

Returns:	moving_average_length – Type: u16, Range: [1 to 1000], Default: 25

Returns the moving average configuration as set by DistanceIrV2Bricklet::set_moving_average_configuration.

pub fn DistanceIrV2Bricklet::set_distance_led_config(&self, config: u8) → ConvertingReceiver<()>¶

Parameters:	config – Type: u8, Range: See constants, Default: 3

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 constants are available for this function:

For config:

DISTANCE_IR_V2_BRICKLET_DISTANCE_LED_CONFIG_OFF = 0
DISTANCE_IR_V2_BRICKLET_DISTANCE_LED_CONFIG_ON = 1
DISTANCE_IR_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2
DISTANCE_IR_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3

pub fn DistanceIrV2Bricklet::get_distance_led_config(&self) → ConvertingReceiver<u8>¶

Returns:	config – Type: u8, Range: See constants, Default: 3

Returns the LED configuration as set by DistanceIrV2Bricklet::set_distance_led_config

The following constants are available for this function:

For config:

DISTANCE_IR_V2_BRICKLET_DISTANCE_LED_CONFIG_OFF = 0
DISTANCE_IR_V2_BRICKLET_DISTANCE_LED_CONFIG_ON = 1
DISTANCE_IR_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2
DISTANCE_IR_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3

pub fn DistanceIrV2Bricklet::set_sensor_type(&self, sensor: u8) → ConvertingReceiver<()>¶

Parameters:	sensor – Type: u8, Range: See constants

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 constants are available for this function:

For sensor:

DISTANCE_IR_V2_BRICKLET_SENSOR_TYPE_2Y0A41 = 0
DISTANCE_IR_V2_BRICKLET_SENSOR_TYPE_2Y0A21 = 1
DISTANCE_IR_V2_BRICKLET_SENSOR_TYPE_2Y0A02 = 2

pub fn DistanceIrV2Bricklet::get_sensor_type(&self) → ConvertingReceiver<u8>¶

Returns:	sensor – Type: u8, Range: See constants

Returns the sensor type as set by DistanceIrV2Bricklet::set_sensor_type.

The following constants are available for this function:

For sensor:

DISTANCE_IR_V2_BRICKLET_SENSOR_TYPE_2Y0A41 = 0
DISTANCE_IR_V2_BRICKLET_SENSOR_TYPE_2Y0A21 = 1
DISTANCE_IR_V2_BRICKLET_SENSOR_TYPE_2Y0A02 = 2

Advanced Functions¶

pub fn DistanceIrV2Bricklet::get_spitfp_error_count(&self) → ConvertingReceiver<SpitfpErrorCount>¶

Return Object:	error_count_ack_checksum – Type: u32, Range: [0 to 2³² - 1] error_count_message_checksum – Type: u32, Range: [0 to 2³² - 1] error_count_frame – Type: u32, Range: [0 to 2³² - 1] error_count_overflow – Type: u32, 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.

pub fn DistanceIrV2Bricklet::set_status_led_config(&self, config: u8) → ConvertingReceiver<()>¶

Parameters:	config – Type: u8, Range: See constants, Default: 3

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 constants are available for this function:

For config:

DISTANCE_IR_V2_BRICKLET_STATUS_LED_CONFIG_OFF = 0
DISTANCE_IR_V2_BRICKLET_STATUS_LED_CONFIG_ON = 1
DISTANCE_IR_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
DISTANCE_IR_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3

pub fn DistanceIrV2Bricklet::get_status_led_config(&self) → ConvertingReceiver<u8>¶

Returns:	config – Type: u8, Range: See constants, Default: 3

Returns the configuration as set by DistanceIrV2Bricklet::set_status_led_config

The following constants are available for this function:

For config:

DISTANCE_IR_V2_BRICKLET_STATUS_LED_CONFIG_OFF = 0
DISTANCE_IR_V2_BRICKLET_STATUS_LED_CONFIG_ON = 1
DISTANCE_IR_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
DISTANCE_IR_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3

pub fn DistanceIrV2Bricklet::get_chip_temperature(&self) → ConvertingReceiver<i16>¶

Returns:	temperature – Type: i16, 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.

pub fn DistanceIrV2Bricklet::reset(&self) → ConvertingReceiver<()>¶

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!

pub fn DistanceIrV2Bricklet::get_identity(&self) → ConvertingReceiver<Identity>¶

Return Object:

Return Object:	uid – Type: String, Length: up to 8 connected_uid – Type: String, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardware_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255] firmware_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255] device_identifier – Type: u16, Range: [0 to 2¹⁶ - 1]

uid – Type: String, Length: up to 8
connected_uid – Type: String, Length: up to 8
position – Type: char, Range: ['a' to 'h', 'z']
hardware_version – Type: [u8; 3]

0: major – Type: u8, Range: [0 to 255]
1: minor – Type: u8, Range: [0 to 255]
2: revision – Type: u8, Range: [0 to 255]

firmware_version – Type: [u8; 3]

0: major – Type: u8, Range: [0 to 255]
1: minor – Type: u8, Range: [0 to 255]
2: revision – Type: u8, Range: [0 to 255]

device_identifier – Type: u16, 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. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

pub fn DistanceIrV2Bricklet::set_distance_callback_configuration(&self, period: u32, value_has_to_change: bool, option: char, min: u16, max: u16) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1], Default: 0 max – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1], Default: 0

The period is the period with which the DistanceIrV2Bricklet::get_distance_callback_receiver 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 DistanceIrV2Bricklet::get_distance_callback_receiver 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 constants are available for this function:

For option:

DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

pub fn DistanceIrV2Bricklet::get_distance_callback_configuration(&self) → ConvertingReceiver<DistanceCallbackConfiguration>¶

Return Object:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1], Default: 0 max – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1], Default: 0

Returns the callback configuration as set by DistanceIrV2Bricklet::set_distance_callback_configuration.

The following constants are available for this function:

For option:

DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

pub fn DistanceIrV2Bricklet::set_analog_value_callback_configuration(&self, period: u32, value_has_to_change: bool, option: char, min: u32, max: u32) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: u32, Range: [0 to 2³² - 1], Default: 0 max – Type: u32, Range: [0 to 2³² - 1], Default: 0

The period is the period with which the DistanceIrV2Bricklet::get_analog_value_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

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 DistanceIrV2Bricklet::get_analog_value_callback_receiver 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 constants are available for this function:

For option:

DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

pub fn DistanceIrV2Bricklet::get_analog_value_callback_configuration(&self) → ConvertingReceiver<AnalogValueCallbackConfiguration>¶

Return Object:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: u32, Range: [0 to 2³² - 1], Default: 0 max – Type: u32, Range: [0 to 2³² - 1], Default: 0

Returns the callback configuration as set by DistanceIrV2Bricklet::set_analog_value_callback_configuration.

The following constants are available for this function:

For option:

DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
DISTANCE_IR_V2_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding get_*_callback_receiver function, which returns a receiver for callback events.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

pub fn DistanceIrV2Bricklet::get_distance_callback_receiver(&self) → ConvertingCallbackReceiver<u16>¶

Event:	distance – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1]

Receivers created with this function receive Distance events.

This callback is triggered periodically according to the configuration set by DistanceIrV2Bricklet::set_distance_callback_configuration.

The received variable is the same as DistanceIrV2Bricklet::get_distance.

pub fn DistanceIrV2Bricklet::get_analog_value_callback_receiver(&self) → ConvertingCallbackReceiver<u32>¶

Event:	analog_value – Type: u32, Range: [0 to 2²¹ - 1]

Receivers created with this function receive Analog Value events.

This callback is triggered periodically according to the configuration set by DistanceIrV2Bricklet::set_analog_value_callback_configuration.

The received variable is the same as DistanceIrV2Bricklet::get_analog_value.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

pub fn DistanceIrV2Bricklet::get_api_version(&self) → [u8; 3]¶

Return Object:	api_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255]

Returns the version of the API definition 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.

pub fn DistanceIrV2Bricklet::get_response_expected(&mut self, function_id: u8) → bool¶

Parameters:	function_id – Type: u8, Range: See constants
Returns:	response_expected – Type: bool

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 DistanceIrV2Bricklet::set_response_expected. 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.

The following constants are available for this function:

For function_id:

DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION = 2
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_ANALOG_VALUE_CALLBACK_CONFIGURATION = 6
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_MOVING_AVERAGE_CONFIGURATION = 9
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_DISTANCE_LED_CONFIG = 11
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_SENSOR_TYPE = 13
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
DISTANCE_IR_V2_BRICKLET_FUNCTION_RESET = 243
DISTANCE_IR_V2_BRICKLET_FUNCTION_WRITE_UID = 248

pub fn DistanceIrV2Bricklet::set_response_expected(&mut self, function_id: u8, response_expected: bool) → ()¶

Parameters:	function_id – Type: u8, Range: See constants response_expected – Type: bool

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.

The following constants are available for this function:

For function_id:

DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION = 2
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_ANALOG_VALUE_CALLBACK_CONFIGURATION = 6
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_MOVING_AVERAGE_CONFIGURATION = 9
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_DISTANCE_LED_CONFIG = 11
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_SENSOR_TYPE = 13
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
DISTANCE_IR_V2_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
DISTANCE_IR_V2_BRICKLET_FUNCTION_RESET = 243
DISTANCE_IR_V2_BRICKLET_FUNCTION_WRITE_UID = 248

pub fn DistanceIrV2Bricklet::set_response_expected_all(&mut self, response_expected: bool) → ()¶

Parameters:	response_expected – Type: bool

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

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.

pub fn DistanceIrV2Bricklet::set_bootloader_mode(&self, mode: u8) → ConvertingReceiver<u8>¶

Parameters:	mode – Type: u8, Range: See constants
Returns:	status – Type: u8, Range: See constants

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 constants are available for this function:

For mode:

DISTANCE_IR_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

DISTANCE_IR_V2_BRICKLET_BOOTLOADER_STATUS_OK = 0
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE = 1
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE = 2
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH = 5

pub fn DistanceIrV2Bricklet::get_bootloader_mode(&self) → ConvertingReceiver<u8>¶

Returns:	mode – Type: u8, Range: See constants

Returns the current bootloader mode, see DistanceIrV2Bricklet::set_bootloader_mode.

The following constants are available for this function:

For mode:

DISTANCE_IR_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
DISTANCE_IR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

pub fn DistanceIrV2Bricklet::set_write_firmware_pointer(&self, pointer: u32) → ConvertingReceiver<()>¶

Parameters:	pointer – Type: u32, Unit: 1 B, Range: [0 to 2³² - 1]

Sets the firmware pointer for DistanceIrV2Bricklet::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.

pub fn DistanceIrV2Bricklet::write_firmware(&self, data: [u8; 64]) → ConvertingReceiver<u8>¶

Parameters:	data – Type: [u8; 64], Range: [0 to 255]
Returns:	status – Type: u8, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by DistanceIrV2Bricklet::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.

pub fn DistanceIrV2Bricklet::write_uid(&self, uid: u32) → ConvertingReceiver<()>¶

Parameters:	uid – Type: u32, Range: [0 to 2³² - 1]

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.

pub fn DistanceIrV2Bricklet::read_uid(&self) → ConvertingReceiver<u32>¶

Returns:	uid – Type: u32, Range: [0 to 2³² - 1]

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

Constants¶

pub const DistanceIrV2Bricklet::DEVICE_IDENTIFIER¶

This constant is used to identify a Distance IR Bricklet 2.0.

The DistanceIrV2Bricklet::get_identity function and the IpConnection::get_enumerate_callback_receiver callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

pub const DistanceIrV2Bricklet::DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a Distance IR Bricklet 2.0.