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/* ***********************************************************
* This file was automatically generated on 2024-02-27. *
* *
* Rust Bindings Version 2.0.21 *
* *
* 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 *
* to the generators git repository on tinkerforge.com *
*************************************************************/
//! Drives one bipolar stepper motor with up to 38V and 2.5A per phase.
//!
//! See also the documentation [here](https://www.tinkerforge.com/en/doc/Software/Bricks/Stepper_Brick_Rust.html).
use crate::{
byte_converter::*, converting_callback_receiver::ConvertingCallbackReceiver, converting_receiver::ConvertingReceiver, device::*,
ip_connection::GetRequestSender,
};
pub enum StepperBrickFunction {
SetMaxVelocity,
GetMaxVelocity,
GetCurrentVelocity,
SetSpeedRamping,
GetSpeedRamping,
FullBrake,
SetCurrentPosition,
GetCurrentPosition,
SetTargetPosition,
GetTargetPosition,
SetSteps,
GetSteps,
GetRemainingSteps,
SetStepMode,
GetStepMode,
DriveForward,
DriveBackward,
Stop,
GetStackInputVoltage,
GetExternalInputVoltage,
GetCurrentConsumption,
SetMotorCurrent,
GetMotorCurrent,
Enable,
Disable,
IsEnabled,
SetDecay,
GetDecay,
SetMinimumVoltage,
GetMinimumVoltage,
SetSyncRect,
IsSyncRect,
SetTimeBase,
GetTimeBase,
GetAllData,
SetAllDataPeriod,
GetAllDataPeriod,
SetSpitfpBaudrateConfig,
GetSpitfpBaudrateConfig,
GetSendTimeoutCount,
SetSpitfpBaudrate,
GetSpitfpBaudrate,
GetSpitfpErrorCount,
EnableStatusLed,
DisableStatusLed,
IsStatusLedEnabled,
GetProtocol1BrickletName,
GetChipTemperature,
Reset,
WriteBrickletPlugin,
ReadBrickletPlugin,
GetIdentity,
CallbackUnderVoltage,
CallbackPositionReached,
CallbackAllData,
CallbackNewState,
}
impl From<StepperBrickFunction> for u8 {
fn from(fun: StepperBrickFunction) -> Self {
match fun {
StepperBrickFunction::SetMaxVelocity => 1,
StepperBrickFunction::GetMaxVelocity => 2,
StepperBrickFunction::GetCurrentVelocity => 3,
StepperBrickFunction::SetSpeedRamping => 4,
StepperBrickFunction::GetSpeedRamping => 5,
StepperBrickFunction::FullBrake => 6,
StepperBrickFunction::SetCurrentPosition => 7,
StepperBrickFunction::GetCurrentPosition => 8,
StepperBrickFunction::SetTargetPosition => 9,
StepperBrickFunction::GetTargetPosition => 10,
StepperBrickFunction::SetSteps => 11,
StepperBrickFunction::GetSteps => 12,
StepperBrickFunction::GetRemainingSteps => 13,
StepperBrickFunction::SetStepMode => 14,
StepperBrickFunction::GetStepMode => 15,
StepperBrickFunction::DriveForward => 16,
StepperBrickFunction::DriveBackward => 17,
StepperBrickFunction::Stop => 18,
StepperBrickFunction::GetStackInputVoltage => 19,
StepperBrickFunction::GetExternalInputVoltage => 20,
StepperBrickFunction::GetCurrentConsumption => 21,
StepperBrickFunction::SetMotorCurrent => 22,
StepperBrickFunction::GetMotorCurrent => 23,
StepperBrickFunction::Enable => 24,
StepperBrickFunction::Disable => 25,
StepperBrickFunction::IsEnabled => 26,
StepperBrickFunction::SetDecay => 27,
StepperBrickFunction::GetDecay => 28,
StepperBrickFunction::SetMinimumVoltage => 29,
StepperBrickFunction::GetMinimumVoltage => 30,
StepperBrickFunction::SetSyncRect => 33,
StepperBrickFunction::IsSyncRect => 34,
StepperBrickFunction::SetTimeBase => 35,
StepperBrickFunction::GetTimeBase => 36,
StepperBrickFunction::GetAllData => 37,
StepperBrickFunction::SetAllDataPeriod => 38,
StepperBrickFunction::GetAllDataPeriod => 39,
StepperBrickFunction::SetSpitfpBaudrateConfig => 231,
StepperBrickFunction::GetSpitfpBaudrateConfig => 232,
StepperBrickFunction::GetSendTimeoutCount => 233,
StepperBrickFunction::SetSpitfpBaudrate => 234,
StepperBrickFunction::GetSpitfpBaudrate => 235,
StepperBrickFunction::GetSpitfpErrorCount => 237,
StepperBrickFunction::EnableStatusLed => 238,
StepperBrickFunction::DisableStatusLed => 239,
StepperBrickFunction::IsStatusLedEnabled => 240,
StepperBrickFunction::GetProtocol1BrickletName => 241,
StepperBrickFunction::GetChipTemperature => 242,
StepperBrickFunction::Reset => 243,
StepperBrickFunction::WriteBrickletPlugin => 246,
StepperBrickFunction::ReadBrickletPlugin => 247,
StepperBrickFunction::GetIdentity => 255,
StepperBrickFunction::CallbackUnderVoltage => 31,
StepperBrickFunction::CallbackPositionReached => 32,
StepperBrickFunction::CallbackAllData => 40,
StepperBrickFunction::CallbackNewState => 41,
}
}
}
pub const STEPPER_BRICK_STEP_MODE_FULL_STEP: u8 = 1;
pub const STEPPER_BRICK_STEP_MODE_HALF_STEP: u8 = 2;
pub const STEPPER_BRICK_STEP_MODE_QUARTER_STEP: u8 = 4;
pub const STEPPER_BRICK_STEP_MODE_EIGHTH_STEP: u8 = 8;
pub const STEPPER_BRICK_STATE_STOP: u8 = 1;
pub const STEPPER_BRICK_STATE_ACCELERATION: u8 = 2;
pub const STEPPER_BRICK_STATE_RUN: u8 = 3;
pub const STEPPER_BRICK_STATE_DEACCELERATION: u8 = 4;
pub const STEPPER_BRICK_STATE_DIRECTION_CHANGE_TO_FORWARD: u8 = 5;
pub const STEPPER_BRICK_STATE_DIRECTION_CHANGE_TO_BACKWARD: u8 = 6;
pub const STEPPER_BRICK_COMMUNICATION_METHOD_NONE: u8 = 0;
pub const STEPPER_BRICK_COMMUNICATION_METHOD_USB: u8 = 1;
pub const STEPPER_BRICK_COMMUNICATION_METHOD_SPI_STACK: u8 = 2;
pub const STEPPER_BRICK_COMMUNICATION_METHOD_CHIBI: u8 = 3;
pub const STEPPER_BRICK_COMMUNICATION_METHOD_RS485: u8 = 4;
pub const STEPPER_BRICK_COMMUNICATION_METHOD_WIFI: u8 = 5;
pub const STEPPER_BRICK_COMMUNICATION_METHOD_ETHERNET: u8 = 6;
pub const STEPPER_BRICK_COMMUNICATION_METHOD_WIFI_V2: u8 = 7;
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct SpeedRamping {
pub acceleration: u16,
pub deacceleration: u16,
}
impl FromByteSlice for SpeedRamping {
fn bytes_expected() -> usize { 4 }
fn from_le_byte_slice(bytes: &[u8]) -> SpeedRamping {
SpeedRamping { acceleration: <u16>::from_le_byte_slice(&bytes[0..2]), deacceleration: <u16>::from_le_byte_slice(&bytes[2..4]) }
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct AllData {
pub current_velocity: u16,
pub current_position: i32,
pub remaining_steps: i32,
pub stack_voltage: u16,
pub external_voltage: u16,
pub current_consumption: u16,
}
impl FromByteSlice for AllData {
fn bytes_expected() -> usize { 16 }
fn from_le_byte_slice(bytes: &[u8]) -> AllData {
AllData {
current_velocity: <u16>::from_le_byte_slice(&bytes[0..2]),
current_position: <i32>::from_le_byte_slice(&bytes[2..6]),
remaining_steps: <i32>::from_le_byte_slice(&bytes[6..10]),
stack_voltage: <u16>::from_le_byte_slice(&bytes[10..12]),
external_voltage: <u16>::from_le_byte_slice(&bytes[12..14]),
current_consumption: <u16>::from_le_byte_slice(&bytes[14..16]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct AllDataEvent {
pub current_velocity: u16,
pub current_position: i32,
pub remaining_steps: i32,
pub stack_voltage: u16,
pub external_voltage: u16,
pub current_consumption: u16,
}
impl FromByteSlice for AllDataEvent {
fn bytes_expected() -> usize { 16 }
fn from_le_byte_slice(bytes: &[u8]) -> AllDataEvent {
AllDataEvent {
current_velocity: <u16>::from_le_byte_slice(&bytes[0..2]),
current_position: <i32>::from_le_byte_slice(&bytes[2..6]),
remaining_steps: <i32>::from_le_byte_slice(&bytes[6..10]),
stack_voltage: <u16>::from_le_byte_slice(&bytes[10..12]),
external_voltage: <u16>::from_le_byte_slice(&bytes[12..14]),
current_consumption: <u16>::from_le_byte_slice(&bytes[14..16]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct NewStateEvent {
pub state_new: u8,
pub state_previous: u8,
}
impl FromByteSlice for NewStateEvent {
fn bytes_expected() -> usize { 2 }
fn from_le_byte_slice(bytes: &[u8]) -> NewStateEvent {
NewStateEvent { state_new: <u8>::from_le_byte_slice(&bytes[0..1]), state_previous: <u8>::from_le_byte_slice(&bytes[1..2]) }
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct SpitfpBaudrateConfig {
pub enable_dynamic_baudrate: bool,
pub minimum_dynamic_baudrate: u32,
}
impl FromByteSlice for SpitfpBaudrateConfig {
fn bytes_expected() -> usize { 5 }
fn from_le_byte_slice(bytes: &[u8]) -> SpitfpBaudrateConfig {
SpitfpBaudrateConfig {
enable_dynamic_baudrate: <bool>::from_le_byte_slice(&bytes[0..1]),
minimum_dynamic_baudrate: <u32>::from_le_byte_slice(&bytes[1..5]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct SpitfpErrorCount {
pub error_count_ack_checksum: u32,
pub error_count_message_checksum: u32,
pub error_count_frame: u32,
pub error_count_overflow: u32,
}
impl FromByteSlice for SpitfpErrorCount {
fn bytes_expected() -> usize { 16 }
fn from_le_byte_slice(bytes: &[u8]) -> SpitfpErrorCount {
SpitfpErrorCount {
error_count_ack_checksum: <u32>::from_le_byte_slice(&bytes[0..4]),
error_count_message_checksum: <u32>::from_le_byte_slice(&bytes[4..8]),
error_count_frame: <u32>::from_le_byte_slice(&bytes[8..12]),
error_count_overflow: <u32>::from_le_byte_slice(&bytes[12..16]),
}
}
}
#[derive(Clone)]
pub struct Protocol1BrickletName {
pub protocol_version: u8,
pub firmware_version: [u8; 3],
pub name: String,
}
impl FromByteSlice for Protocol1BrickletName {
fn bytes_expected() -> usize { 44 }
fn from_le_byte_slice(bytes: &[u8]) -> Protocol1BrickletName {
Protocol1BrickletName {
protocol_version: <u8>::from_le_byte_slice(&bytes[0..1]),
firmware_version: <[u8; 3]>::from_le_byte_slice(&bytes[1..4]),
name: <String>::from_le_byte_slice(&bytes[4..44]),
}
}
}
#[derive(Clone, Debug, Default, PartialEq, Eq, Hash)]
pub struct Identity {
pub uid: String,
pub connected_uid: String,
pub position: char,
pub hardware_version: [u8; 3],
pub firmware_version: [u8; 3],
pub device_identifier: u16,
}
impl FromByteSlice for Identity {
fn bytes_expected() -> usize { 25 }
fn from_le_byte_slice(bytes: &[u8]) -> Identity {
Identity {
uid: <String>::from_le_byte_slice(&bytes[0..8]),
connected_uid: <String>::from_le_byte_slice(&bytes[8..16]),
position: <char>::from_le_byte_slice(&bytes[16..17]),
hardware_version: <[u8; 3]>::from_le_byte_slice(&bytes[17..20]),
firmware_version: <[u8; 3]>::from_le_byte_slice(&bytes[20..23]),
device_identifier: <u16>::from_le_byte_slice(&bytes[23..25]),
}
}
}
/// Drives one bipolar stepper motor with up to 38V and 2.5A per phase
#[derive(Clone)]
pub struct StepperBrick {
device: Device,
}
impl StepperBrick {
pub const DEVICE_IDENTIFIER: u16 = 15;
pub const DEVICE_DISPLAY_NAME: &'static str = "Stepper Brick";
/// Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ip_connection` is connected.
pub fn new<T: GetRequestSender>(uid: &str, req_sender: T) -> StepperBrick {
let mut result = StepperBrick { device: Device::new([2, 0, 4], uid, req_sender, 0) };
result.device.response_expected[u8::from(StepperBrickFunction::SetMaxVelocity) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetMaxVelocity) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::GetCurrentVelocity) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetSpeedRamping) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetSpeedRamping) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::FullBrake) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::SetCurrentPosition) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetCurrentPosition) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetTargetPosition) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetTargetPosition) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetSteps) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetSteps) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::GetRemainingSteps) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetStepMode) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetStepMode) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::DriveForward) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::DriveBackward) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::Stop) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetStackInputVoltage) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::GetExternalInputVoltage) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::GetCurrentConsumption) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetMotorCurrent) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetMotorCurrent) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::Enable) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::Disable) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::IsEnabled) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetDecay) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetDecay) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetMinimumVoltage) as usize] = ResponseExpectedFlag::True;
result.device.response_expected[u8::from(StepperBrickFunction::GetMinimumVoltage) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetSyncRect) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::IsSyncRect) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetTimeBase) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetTimeBase) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::GetAllData) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetAllDataPeriod) as usize] = ResponseExpectedFlag::True;
result.device.response_expected[u8::from(StepperBrickFunction::GetAllDataPeriod) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetSpitfpBaudrateConfig) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetSpitfpBaudrateConfig) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::GetSendTimeoutCount) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::SetSpitfpBaudrate) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::GetSpitfpBaudrate) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::GetSpitfpErrorCount) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::EnableStatusLed) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::DisableStatusLed) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::IsStatusLedEnabled) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::GetProtocol1BrickletName) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::GetChipTemperature) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::Reset) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::WriteBrickletPlugin) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(StepperBrickFunction::ReadBrickletPlugin) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(StepperBrickFunction::GetIdentity) as usize] = ResponseExpectedFlag::AlwaysTrue;
result
}
/// 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 [`set_response_expected`](crate::stepper_brick::StepperBrick::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.
///
/// See [`set_response_expected`](crate::stepper_brick::StepperBrick::set_response_expected) for the list of function ID constants available for this function.
pub fn get_response_expected(&mut self, fun: StepperBrickFunction) -> Result<bool, GetResponseExpectedError> {
self.device.get_response_expected(u8::from(fun))
}
/// 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.
pub fn set_response_expected(&mut self, fun: StepperBrickFunction, response_expected: bool) -> Result<(), SetResponseExpectedError> {
self.device.set_response_expected(u8::from(fun), response_expected)
}
/// Changes the response expected flag for all setter and callback configuration functions of this device at once.
pub fn set_response_expected_all(&mut self, response_expected: bool) { self.device.set_response_expected_all(response_expected) }
/// 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.
pub fn get_api_version(&self) -> [u8; 3] { self.device.api_version }
/// This receiver is triggered when the input voltage drops below the value set by
/// [`set_minimum_voltage`]. The parameter is the current voltage.
///
/// [`set_minimum_voltage`]: #method.set_minimum_voltage
pub fn get_under_voltage_callback_receiver(&self) -> ConvertingCallbackReceiver<u16> {
self.device.get_callback_receiver(u8::from(StepperBrickFunction::CallbackUnderVoltage))
}
/// This receiver is triggered when a position set by [`set_steps`] or
/// [`set_target_position`] is reached.
///
/// # Note
/// Since we can't get any feedback from the stepper motor, this only works if the
/// acceleration (see [`set_speed_ramping`]) is set smaller or equal to the
/// maximum acceleration of the motor. Otherwise the motor will lag behind the
/// control value and the receiver will be triggered too early.
pub fn get_position_reached_callback_receiver(&self) -> ConvertingCallbackReceiver<i32> {
self.device.get_callback_receiver(u8::from(StepperBrickFunction::CallbackPositionReached))
}
/// This receiver is triggered periodically with the period that is set by
/// [`set_all_data_period`]. The parameters are: the current velocity,
/// the current position, the remaining steps, the stack voltage, the external
/// voltage and the current consumption of the stepper motor.
pub fn get_all_data_callback_receiver(&self) -> ConvertingCallbackReceiver<AllDataEvent> {
self.device.get_callback_receiver(u8::from(StepperBrickFunction::CallbackAllData))
}
/// This receiver is triggered whenever the Stepper Brick enters a new state.
/// It returns the new state as well as the previous state.
pub fn get_new_state_callback_receiver(&self) -> ConvertingCallbackReceiver<NewStateEvent> {
self.device.get_callback_receiver(u8::from(StepperBrickFunction::CallbackNewState))
}
/// Sets the maximum velocity of the stepper motor.
/// This function does *not* start the motor, it merely sets the maximum
/// velocity the stepper motor is accelerated to. To get the motor running use
/// either [`set_target_position`], [`set_steps`], [`drive_forward`] or
/// [`drive_backward`].
pub fn set_max_velocity(&self, velocity: u16) -> ConvertingReceiver<()> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(velocity));
self.device.set(u8::from(StepperBrickFunction::SetMaxVelocity), payload)
}
/// Returns the velocity as set by [`set_max_velocity`].
pub fn get_max_velocity(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetMaxVelocity), payload)
}
/// Returns the *current* velocity of the stepper motor.
pub fn get_current_velocity(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetCurrentVelocity), payload)
}
/// Sets the acceleration and deacceleration of the stepper motor.
/// An acceleration of 1000 means, that
/// every second the velocity is increased by 1000 *steps/s*.
///
/// For example: If the current velocity is 0 and you want to accelerate to a
/// velocity of 8000 *steps/s* in 10 seconds, you should set an acceleration
/// of 800 *steps/s²*.
///
/// An acceleration/deacceleration of 0 means instantaneous
/// acceleration/deacceleration (not recommended)
pub fn set_speed_ramping(&self, acceleration: u16, deacceleration: u16) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(acceleration));
payload[2..4].copy_from_slice(&<u16>::to_le_byte_vec(deacceleration));
self.device.set(u8::from(StepperBrickFunction::SetSpeedRamping), payload)
}
/// Returns the acceleration and deacceleration as set by
/// [`set_speed_ramping`].
pub fn get_speed_ramping(&self) -> ConvertingReceiver<SpeedRamping> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetSpeedRamping), payload)
}
/// Executes an active full brake.
///
/// # Warning
/// This function is for emergency purposes,
/// where an immediate brake is necessary. Depending on the current velocity and
/// the strength of the motor, a full brake can be quite violent.
///
/// Call [`stop`] if you just want to stop the motor.
pub fn full_brake(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(StepperBrickFunction::FullBrake), payload)
}
/// Sets the current steps of the internal step counter. This can be used to
/// set the current position to 0 when some kind of starting position
/// is reached (e.g. when a CNC machine reaches a corner).
pub fn set_current_position(&self, position: i32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<i32>::to_le_byte_vec(position));
self.device.set(u8::from(StepperBrickFunction::SetCurrentPosition), payload)
}
/// Returns the current position of the stepper motor in steps. On startup
/// the position is 0. The steps are counted with all possible driving
/// functions ([`set_target_position`], [`set_steps`], [`drive_forward`] or
/// [`drive_backward`]). It also is possible to reset the steps to 0 or
/// set them to any other desired value with [`set_current_position`].
pub fn get_current_position(&self) -> ConvertingReceiver<i32> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetCurrentPosition), payload)
}
/// Sets the target position of the stepper motor in steps. For example,
/// if the current position of the motor is 500 and [`set_target_position`] is
/// called with 1000, the stepper motor will drive 500 steps forward. It will
/// use the velocity, acceleration and deacceleration as set by
/// [`set_max_velocity`] and [`set_speed_ramping`].
///
/// A call of [`set_target_position`] with the parameter *x* is equivalent to
/// a call of [`set_steps`] with the parameter
/// (*x* - [`get_current_position`]).
pub fn set_target_position(&self, position: i32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<i32>::to_le_byte_vec(position));
self.device.set(u8::from(StepperBrickFunction::SetTargetPosition), payload)
}
/// Returns the last target position as set by [`set_target_position`].
pub fn get_target_position(&self) -> ConvertingReceiver<i32> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetTargetPosition), payload)
}
/// Sets the number of steps the stepper motor should run. Positive values
/// will drive the motor forward and negative values backward.
/// The velocity, acceleration and deacceleration as set by
/// [`set_max_velocity`] and [`set_speed_ramping`] will be used.
pub fn set_steps(&self, steps: i32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<i32>::to_le_byte_vec(steps));
self.device.set(u8::from(StepperBrickFunction::SetSteps), payload)
}
/// Returns the last steps as set by [`set_steps`].
pub fn get_steps(&self) -> ConvertingReceiver<i32> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetSteps), payload)
}
/// Returns the remaining steps of the last call of [`set_steps`].
/// For example, if [`set_steps`] is called with 2000 and
/// [`get_remaining_steps`] is called after the motor has run for 500 steps,
/// it will return 1500.
pub fn get_remaining_steps(&self) -> ConvertingReceiver<i32> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetRemainingSteps), payload)
}
/// Sets the step mode of the stepper motor. Possible values are:
///
/// * Full Step = 1
/// * Half Step = 2
/// * Quarter Step = 4
/// * Eighth Step = 8
///
/// A higher value will increase the resolution and
/// decrease the torque of the stepper motor.
///
/// Associated constants:
/// * STEPPER_BRICK_STEP_MODE_FULL_STEP
/// * STEPPER_BRICK_STEP_MODE_HALF_STEP
/// * STEPPER_BRICK_STEP_MODE_QUARTER_STEP
/// * STEPPER_BRICK_STEP_MODE_EIGHTH_STEP
pub fn set_step_mode(&self, mode: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(mode));
self.device.set(u8::from(StepperBrickFunction::SetStepMode), payload)
}
/// Returns the step mode as set by [`set_step_mode`].
///
/// Associated constants:
/// * STEPPER_BRICK_STEP_MODE_FULL_STEP
/// * STEPPER_BRICK_STEP_MODE_HALF_STEP
/// * STEPPER_BRICK_STEP_MODE_QUARTER_STEP
/// * STEPPER_BRICK_STEP_MODE_EIGHTH_STEP
pub fn get_step_mode(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetStepMode), payload)
}
/// Drives the stepper motor forward until [`drive_backward`] or
/// [`stop`] is called. The velocity, acceleration and deacceleration as
/// set by [`set_max_velocity`] and [`set_speed_ramping`] will be used.
pub fn drive_forward(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(StepperBrickFunction::DriveForward), payload)
}
/// Drives the stepper motor backward until [`drive_forward`] or
/// [`stop`] is triggered. The velocity, acceleration and deacceleration as
/// set by [`set_max_velocity`] and [`set_speed_ramping`] will be used.
pub fn drive_backward(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(StepperBrickFunction::DriveBackward), payload)
}
/// Stops the stepper motor with the deacceleration as set by
/// [`set_speed_ramping`].
pub fn stop(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(StepperBrickFunction::Stop), payload)
}
/// Returns the stack input voltage. The stack input voltage is the
/// voltage that is supplied via the stack, i.e. it is given by a
/// Step-Down or Step-Up Power Supply.
pub fn get_stack_input_voltage(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetStackInputVoltage), payload)
}
/// Returns the external input voltage. The external input voltage is
/// given via the black power input connector on the Stepper Brick.
///
/// If there is an external input voltage and a stack input voltage, the motor
/// will be driven by the external input voltage. If there is only a stack
/// voltage present, the motor will be driven by this voltage.
///
/// # Warning
/// This means, if you have a high stack voltage and a low external voltage,
/// the motor will be driven with the low external voltage. If you then remove
/// the external connection, it will immediately be driven by the high
/// stack voltage
pub fn get_external_input_voltage(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetExternalInputVoltage), payload)
}
/// Returns the current consumption of the motor.
pub fn get_current_consumption(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetCurrentConsumption), payload)
}
/// Sets the current with which the motor will be driven.
///
/// # Warning
/// Do not set this value above the specifications of your stepper motor.
/// Otherwise it may damage your motor.
pub fn set_motor_current(&self, current: u16) -> ConvertingReceiver<()> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(current));
self.device.set(u8::from(StepperBrickFunction::SetMotorCurrent), payload)
}
/// Returns the current as set by [`set_motor_current`].
pub fn get_motor_current(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetMotorCurrent), payload)
}
/// Enables the driver chip. The driver parameters can be configured (maximum velocity,
/// acceleration, etc) before it is enabled.
pub fn enable(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(StepperBrickFunction::Enable), payload)
}
/// Disables the driver chip. The configurations are kept (maximum velocity,
/// acceleration, etc) but the motor is not driven until it is enabled again.
///
/// # Warning
/// Disabling the driver chip while the motor is still turning can damage the
/// driver chip. The motor should be stopped calling [`stop`] function
/// before disabling the motor power. The [`stop`] function will **not**
/// wait until the motor is actually stopped. You have to explicitly wait for the
/// appropriate time after calling the [`stop`] function before calling
/// the [`disable`] function.
pub fn disable(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(StepperBrickFunction::Disable), payload)
}
/// Returns *true* if the driver chip is enabled, *false* otherwise.
pub fn is_enabled(&self) -> ConvertingReceiver<bool> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::IsEnabled), payload)
}
/// Sets the decay mode of the stepper motor.
/// A value of 0 sets the fast decay mode, a value of
/// 65535 sets the slow decay mode and a value in between sets the mixed
/// decay mode.
///
/// Changing the decay mode is only possible if synchronous rectification
/// is enabled (see :func:[Set Sync Rect`).
///
/// For a good explanation of the different decay modes see
/// `this](https://ebldc.com/?p=86/)__ blog post by Avayan.
///
/// A good decay mode is unfortunately different for every motor. The best
/// way to work out a good decay mode for your stepper motor, if you can't
/// measure the current with an oscilloscope, is to listen to the sound of
/// the motor. If the value is too low, you often hear a high pitched
/// sound and if it is too high you can often hear a humming sound.
///
/// Generally, fast decay mode (small value) will be noisier but also
/// allow higher motor speeds.
///
/// # Note
/// There is unfortunately no formula to calculate a perfect decay
/// mode for a given stepper motor. If you have problems with loud noises
/// or the maximum motor speed is too slow, you should try to tinker with
/// the decay value
pub fn set_decay(&self, decay: u16) -> ConvertingReceiver<()> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(decay));
self.device.set(u8::from(StepperBrickFunction::SetDecay), payload)
}
/// Returns the decay mode as set by [`set_decay`].
pub fn get_decay(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetDecay), payload)
}
/// Sets the minimum voltage, below which the [`get_under_voltage_callback_receiver`] receiver
/// is triggered. The minimum possible value that works with the Stepper Brick is 8V.
/// You can use this function to detect the discharge of a battery that is used
/// to drive the stepper motor. If you have a fixed power supply, you likely do
/// not need this functionality.
pub fn set_minimum_voltage(&self, voltage: u16) -> ConvertingReceiver<()> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(voltage));
self.device.set(u8::from(StepperBrickFunction::SetMinimumVoltage), payload)
}
/// Returns the minimum voltage as set by [`set_minimum_voltage`].
pub fn get_minimum_voltage(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetMinimumVoltage), payload)
}
/// Turns synchronous rectification on or off (*true* or *false*).
///
/// With synchronous rectification on, the decay can be changed
/// (see :func:[Set Decay`). Without synchronous rectification fast
/// decay is used.
///
/// For an explanation of synchronous rectification see
/// `here](https://en.wikipedia.org/wiki/Active_rectification)__.
///
/// # Warning
/// If you want to use high speeds (> 10000 steps/s) for a large
/// stepper motor with a large inductivity we strongly
/// suggest that you disable synchronous rectification. Otherwise the
/// Brick may not be able to cope with the load and overheat.
pub fn set_sync_rect(&self, sync_rect: bool) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<bool>::to_le_byte_vec(sync_rect));
self.device.set(u8::from(StepperBrickFunction::SetSyncRect), payload)
}
/// Returns *true* if synchronous rectification is enabled, *false* otherwise.
pub fn is_sync_rect(&self) -> ConvertingReceiver<bool> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::IsSyncRect), payload)
}
/// Sets the time base of the velocity and the acceleration of the stepper brick.
///
/// For example, if you want to make one step every 1.5 seconds, you can set
/// the time base to 15 and the velocity to 10. Now the velocity is
/// 10steps/15s = 1steps/1.5s.
pub fn set_time_base(&self, time_base: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(time_base));
self.device.set(u8::from(StepperBrickFunction::SetTimeBase), payload)
}
/// Returns the time base as set by [`set_time_base`].
pub fn get_time_base(&self) -> ConvertingReceiver<u32> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetTimeBase), payload)
}
/// Returns the following parameters: The current velocity,
/// the current position, the remaining steps, the stack voltage, the external
/// voltage and the current consumption of the stepper motor.
///
/// There is also a receiver for this function, see [`get_all_data_callback_receiver`] receiver.
pub fn get_all_data(&self) -> ConvertingReceiver<AllData> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetAllData), payload)
}
/// Sets the period with which the [`get_all_data_callback_receiver`] receiver is triggered
/// periodically. A value of 0 turns the receiver off.
pub fn set_all_data_period(&self, period: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(period));
self.device.set(u8::from(StepperBrickFunction::SetAllDataPeriod), payload)
}
/// Returns the period as set by [`set_all_data_period`].
pub fn get_all_data_period(&self) -> ConvertingReceiver<u32> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetAllDataPeriod), payload)
}
/// The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is
/// enabled, the Brick will try to adapt the baudrate for the communication
/// between Bricks and Bricklets according to the amount of data that is transferred.
///
/// The baudrate will be increased exponentially if lots of data is sent/received and
/// decreased linearly if little data is sent/received.
///
/// This lowers the baudrate in applications where little data is transferred (e.g.
/// a weather station) and increases the robustness. If there is lots of data to transfer
/// (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.
///
/// In cases where some data has to transferred as fast as possible every few seconds
/// (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn
/// the dynamic baudrate off to get the highest possible performance.
///
/// The maximum value of the baudrate can be set per port with the function
/// [`set_spitfp_baudrate`]. If the dynamic baudrate is disabled, the baudrate
/// as set by [`set_spitfp_baudrate`] will be used statically.
///
///
/// .. versionadded:: 2.3.6$nbsp;(Firmware)
pub fn set_spitfp_baudrate_config(&self, enable_dynamic_baudrate: bool, minimum_dynamic_baudrate: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 5];
payload[0..1].copy_from_slice(&<bool>::to_le_byte_vec(enable_dynamic_baudrate));
payload[1..5].copy_from_slice(&<u32>::to_le_byte_vec(minimum_dynamic_baudrate));
self.device.set(u8::from(StepperBrickFunction::SetSpitfpBaudrateConfig), payload)
}
/// Returns the baudrate config, see [`set_spitfp_baudrate_config`].
///
///
/// .. versionadded:: 2.3.6$nbsp;(Firmware)
pub fn get_spitfp_baudrate_config(&self) -> ConvertingReceiver<SpitfpBaudrateConfig> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetSpitfpBaudrateConfig), payload)
}
/// 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:: 2.3.4$nbsp;(Firmware)
///
/// Associated constants:
/// * STEPPER_BRICK_COMMUNICATION_METHOD_NONE
/// * STEPPER_BRICK_COMMUNICATION_METHOD_USB
/// * STEPPER_BRICK_COMMUNICATION_METHOD_SPI_STACK
/// * STEPPER_BRICK_COMMUNICATION_METHOD_CHIBI
/// * STEPPER_BRICK_COMMUNICATION_METHOD_RS485
/// * STEPPER_BRICK_COMMUNICATION_METHOD_WIFI
/// * STEPPER_BRICK_COMMUNICATION_METHOD_ETHERNET
/// * STEPPER_BRICK_COMMUNICATION_METHOD_WIFI_V2
pub fn get_send_timeout_count(&self, communication_method: u8) -> ConvertingReceiver<u32> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(communication_method));
self.device.get(u8::from(StepperBrickFunction::GetSendTimeoutCount), payload)
}
/// Sets the baudrate for a specific Bricklet port.
///
/// If you want to increase the throughput of Bricklets you can increase
/// the baudrate. If you get a high error count because of high
/// interference (see [`get_spitfp_error_count`]) you can decrease the
/// baudrate.
///
/// If the dynamic baudrate feature is enabled, the baudrate set by this
/// function corresponds to the maximum baudrate (see [`set_spitfp_baudrate_config`]).
///
/// Regulatory testing is done with the default baudrate. If CE compatibility
/// or similar is necessary in your applications we recommend to not change
/// the baudrate.
///
///
/// .. versionadded:: 2.3.3$nbsp;(Firmware)
pub fn set_spitfp_baudrate(&self, bricklet_port: char, baudrate: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 5];
payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(bricklet_port));
payload[1..5].copy_from_slice(&<u32>::to_le_byte_vec(baudrate));
self.device.set(u8::from(StepperBrickFunction::SetSpitfpBaudrate), payload)
}
/// Returns the baudrate for a given Bricklet port, see [`set_spitfp_baudrate`].
///
///
/// .. versionadded:: 2.3.3$nbsp;(Firmware)
pub fn get_spitfp_baudrate(&self, bricklet_port: char) -> ConvertingReceiver<u32> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(bricklet_port));
self.device.get(u8::from(StepperBrickFunction::GetSpitfpBaudrate), payload)
}
/// Returns the error count for the communication between Brick and Bricklet.
///
/// The errors are divided into
///
/// * ACK checksum errors,
/// * message checksum errors,
/// * framing errors and
/// * overflow errors.
///
/// The errors counts are for errors that occur on the Brick side. All
/// Bricklets have a similar function that returns the errors on the Bricklet side.
///
///
/// .. versionadded:: 2.3.3$nbsp;(Firmware)
pub fn get_spitfp_error_count(&self, bricklet_port: char) -> ConvertingReceiver<SpitfpErrorCount> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(bricklet_port));
self.device.get(u8::from(StepperBrickFunction::GetSpitfpErrorCount), payload)
}
/// Enables the status LED.
///
/// The status LED is the blue LED next to the USB connector. If enabled is is
/// on and it flickers if data is transfered. If disabled it is always off.
///
/// The default state is enabled.
///
///
/// .. versionadded:: 2.3.1$nbsp;(Firmware)
pub fn enable_status_led(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(StepperBrickFunction::EnableStatusLed), payload)
}
/// Disables the status LED.
///
/// The status LED is the blue LED next to the USB connector. If enabled is is
/// on and it flickers if data is transfered. If disabled it is always off.
///
/// The default state is enabled.
///
///
/// .. versionadded:: 2.3.1$nbsp;(Firmware)
pub fn disable_status_led(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(StepperBrickFunction::DisableStatusLed), payload)
}
/// Returns *true* if the status LED is enabled, *false* otherwise.
///
///
/// .. versionadded:: 2.3.1$nbsp;(Firmware)
pub fn is_status_led_enabled(&self) -> ConvertingReceiver<bool> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::IsStatusLedEnabled), payload)
}
/// Returns the firmware and protocol version and the name of the Bricklet for a
/// given port.
///
/// This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet
/// plugins.
pub fn get_protocol1_bricklet_name(&self, port: char) -> ConvertingReceiver<Protocol1BrickletName> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(port));
self.device.get(u8::from(StepperBrickFunction::GetProtocol1BrickletName), payload)
}
/// 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 an
/// accuracy of ±15%. Practically it is only useful as an indicator for
/// temperature changes.
pub fn get_chip_temperature(&self) -> ConvertingReceiver<i16> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetChipTemperature), payload)
}
/// Calling this function will reset the Brick. Calling this function
/// on a Brick inside of a stack will reset the whole stack.
///
/// After a reset you have to create new device objects,
/// calling functions on the existing ones will result in
/// undefined behavior!
pub fn reset(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(StepperBrickFunction::Reset), payload)
}
/// Writes 32 bytes of firmware to the bricklet attached at the given port.
/// The bytes are written to the position offset * 32.
///
/// This function is used by Brick Viewer during flashing. It should not be
/// necessary to call it in a normal user program.
pub fn write_bricklet_plugin(&self, port: char, offset: u8, chunk: [u8; 32]) -> ConvertingReceiver<()> {
let mut payload = vec![0; 34];
payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(port));
payload[1..2].copy_from_slice(&<u8>::to_le_byte_vec(offset));
payload[2..34].copy_from_slice(&<[u8; 32]>::to_le_byte_vec(chunk));
self.device.set(u8::from(StepperBrickFunction::WriteBrickletPlugin), payload)
}
/// Reads 32 bytes of firmware from the bricklet attached at the given port.
/// The bytes are read starting at the position offset * 32.
///
/// This function is used by Brick Viewer during flashing. It should not be
/// necessary to call it in a normal user program.
pub fn read_bricklet_plugin(&self, port: char, offset: u8) -> ConvertingReceiver<[u8; 32]> {
let mut payload = vec![0; 2];
payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(port));
payload[1..2].copy_from_slice(&<u8>::to_le_byte_vec(offset));
self.device.get(u8::from(StepperBrickFunction::ReadBrickletPlugin), payload)
}
/// Returns the UID, the UID where the Brick is connected to,
/// the position, the hardware and firmware version as well as the
/// device identifier.
///
/// The position is the position in the stack from '0' (bottom) to '8' (top).
///
/// The device identifier numbers can be found [here](device_identifier).
/// |device_identifier_constant|
pub fn get_identity(&self) -> ConvertingReceiver<Identity> {
let payload = vec![0; 0];
self.device.get(u8::from(StepperBrickFunction::GetIdentity), payload)
}
}