accelerometer_bricklet.go

/* ***********************************************************
 * This file was automatically generated on 2024-02-27.      *
 *                                                           *
 * Go Bindings Version 2.0.15                                *
 *                                                           *
 * 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       *
 *************************************************************/

// Measures acceleration in three axis.
//
//
// See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/Accelerometer_Bricklet_Go.html.
package accelerometer_bricklet

import (
	"bytes"
	"encoding/binary"
	"fmt"
	. "github.com/Tinkerforge/go-api-bindings/internal"
	"github.com/Tinkerforge/go-api-bindings/ipconnection"
)

type Function = uint8

const (
	FunctionGetAcceleration                  Function = 1
	FunctionSetAccelerationCallbackPeriod    Function = 2
	FunctionGetAccelerationCallbackPeriod    Function = 3
	FunctionSetAccelerationCallbackThreshold Function = 4
	FunctionGetAccelerationCallbackThreshold Function = 5
	FunctionSetDebouncePeriod                Function = 6
	FunctionGetDebouncePeriod                Function = 7
	FunctionGetTemperature                   Function = 8
	FunctionSetConfiguration                 Function = 9
	FunctionGetConfiguration                 Function = 10
	FunctionLEDOn                            Function = 11
	FunctionLEDOff                           Function = 12
	FunctionIsLEDOn                          Function = 13
	FunctionGetIdentity                      Function = 255
	FunctionCallbackAcceleration             Function = 14
	FunctionCallbackAccelerationReached      Function = 15
)

type ThresholdOption = rune

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

type DataRate = uint8

const (
	DataRateOff    DataRate = 0
	DataRate3Hz    DataRate = 1
	DataRate6Hz    DataRate = 2
	DataRate12Hz   DataRate = 3
	DataRate25Hz   DataRate = 4
	DataRate50Hz   DataRate = 5
	DataRate100Hz  DataRate = 6
	DataRate400Hz  DataRate = 7
	DataRate800Hz  DataRate = 8
	DataRate1600Hz DataRate = 9
)

type FullScale = uint8

const (
	FullScale2g  FullScale = 0
	FullScale4g  FullScale = 1
	FullScale6g  FullScale = 2
	FullScale8g  FullScale = 3
	FullScale16g FullScale = 4
)

type FilterBandwidth = uint8

const (
	FilterBandwidth800Hz FilterBandwidth = 0
	FilterBandwidth400Hz FilterBandwidth = 1
	FilterBandwidth200Hz FilterBandwidth = 2
	FilterBandwidth50Hz  FilterBandwidth = 3
)

type AccelerometerBricklet struct {
	device Device
}

const DeviceIdentifier = 250
const DeviceDisplayName = "Accelerometer Bricklet"

// Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.
func New(uid string, ipcon *ipconnection.IPConnection) (AccelerometerBricklet, error) {
	internalIPCon := ipcon.GetInternalHandle().(IPConnection)
	dev, err := NewDevice([3]uint8{2, 0, 1}, uid, &internalIPCon, 0, DeviceIdentifier, DeviceDisplayName)
	if err != nil {
		return AccelerometerBricklet{}, err
	}
	dev.ResponseExpected[FunctionGetAcceleration] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetAccelerationCallbackPeriod] = ResponseExpectedFlagTrue
	dev.ResponseExpected[FunctionGetAccelerationCallbackPeriod] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetAccelerationCallbackThreshold] = ResponseExpectedFlagTrue
	dev.ResponseExpected[FunctionGetAccelerationCallbackThreshold] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetDebouncePeriod] = ResponseExpectedFlagTrue
	dev.ResponseExpected[FunctionGetDebouncePeriod] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionGetTemperature] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetConfiguration] = ResponseExpectedFlagFalse
	dev.ResponseExpected[FunctionGetConfiguration] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionLEDOn] = ResponseExpectedFlagFalse
	dev.ResponseExpected[FunctionLEDOff] = ResponseExpectedFlagFalse
	dev.ResponseExpected[FunctionIsLEDOn] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionGetIdentity] = ResponseExpectedFlagAlwaysTrue
	return AccelerometerBricklet{dev}, nil
}

// 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 (device *AccelerometerBricklet) GetResponseExpected(functionID Function) (bool, error) {
	return device.device.GetResponseExpected(uint8(functionID))
}

// 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 (device *AccelerometerBricklet) SetResponseExpected(functionID Function, responseExpected bool) error {
	return device.device.SetResponseExpected(uint8(functionID), responseExpected)
}

// Changes the response expected flag for all setter and callback configuration functions of this device at once.
func (device *AccelerometerBricklet) SetResponseExpectedAll(responseExpected bool) {
	device.device.SetResponseExpectedAll(responseExpected)
}

// 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 (device *AccelerometerBricklet) GetAPIVersion() [3]uint8 {
	return device.device.GetAPIVersion()
}

// This callback is triggered periodically with the period that is set by
// SetAccelerationCallbackPeriod. The parameters are the
// X, Y and Z acceleration. The range is
// configured with SetConfiguration.
//
// The RegisterAccelerationCallback callback is only triggered if the acceleration has
// changed since the last triggering.
func (device *AccelerometerBricklet) RegisterAccelerationCallback(fn func(int16, int16, int16)) uint64 {
	wrapper := func(byteSlice []byte) {
		var header PacketHeader

		header.FillFromBytes(byteSlice)
		if header.Length != 14 {
			return
		}
		buf := bytes.NewBuffer(byteSlice[8:])
		var x int16
		var y int16
		var z int16
		binary.Read(buf, binary.LittleEndian, &x)
		binary.Read(buf, binary.LittleEndian, &y)
		binary.Read(buf, binary.LittleEndian, &z)
		fn(x, y, z)
	}
	return device.device.RegisterCallback(uint8(FunctionCallbackAcceleration), wrapper)
}

// Remove a registered Acceleration callback.
func (device *AccelerometerBricklet) DeregisterAccelerationCallback(registrationId uint64) {
	device.device.DeregisterCallback(uint8(FunctionCallbackAcceleration), registrationId)
}

// This callback is triggered when the threshold as set by
// SetAccelerationCallbackThreshold is reached.
// The parameters are the X, Y and Z acceleration. The range is
// configured with SetConfiguration.
//
// If the threshold keeps being reached, the callback is triggered periodically
// with the period as set by SetDebouncePeriod.
func (device *AccelerometerBricklet) RegisterAccelerationReachedCallback(fn func(int16, int16, int16)) uint64 {
	wrapper := func(byteSlice []byte) {
		var header PacketHeader

		header.FillFromBytes(byteSlice)
		if header.Length != 14 {
			return
		}
		buf := bytes.NewBuffer(byteSlice[8:])
		var x int16
		var y int16
		var z int16
		binary.Read(buf, binary.LittleEndian, &x)
		binary.Read(buf, binary.LittleEndian, &y)
		binary.Read(buf, binary.LittleEndian, &z)
		fn(x, y, z)
	}
	return device.device.RegisterCallback(uint8(FunctionCallbackAccelerationReached), wrapper)
}

// Remove a registered Acceleration Reached callback.
func (device *AccelerometerBricklet) DeregisterAccelerationReachedCallback(registrationId uint64) {
	device.device.DeregisterCallback(uint8(FunctionCallbackAccelerationReached), registrationId)
}

// Returns the acceleration in x, y and z direction. The values
// are given in gₙ/1000 (1gₙ = 9.80665m/s²). The range is
// configured with SetConfiguration.
//
// If you want to get the acceleration periodically, it is recommended
// to use the RegisterAccelerationCallback callback and set the period with
// SetAccelerationCallbackPeriod.
func (device *AccelerometerBricklet) GetAcceleration() (x int16, y int16, z int16, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetAcceleration), buf.Bytes())
	if err != nil {
		return x, y, z, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return x, y, z, DeviceError(header.ErrorCode)
		}

		if header.Length != 14 {
			return x, y, z, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 14)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &x)
		binary.Read(resultBuf, binary.LittleEndian, &y)
		binary.Read(resultBuf, binary.LittleEndian, &z)

	}

	return x, y, z, nil
}

// Sets the period with which the RegisterAccelerationCallback callback is triggered
// periodically. A value of 0 turns the callback off.
//
// The RegisterAccelerationCallback callback is only triggered if the acceleration has
// changed since the last triggering.
func (device *AccelerometerBricklet) SetAccelerationCallbackPeriod(period uint32) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, period)

	resultBytes, err := device.device.Set(uint8(FunctionSetAccelerationCallbackPeriod), buf.Bytes())
	if err != nil {
		return err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return DeviceError(header.ErrorCode)
		}

		if header.Length != 8 {
			return fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 8)
		}

		bytes.NewBuffer(resultBytes[8:])

	}

	return nil
}

// Returns the period as set by SetAccelerationCallbackPeriod.
func (device *AccelerometerBricklet) GetAccelerationCallbackPeriod() (period uint32, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetAccelerationCallbackPeriod), buf.Bytes())
	if err != nil {
		return period, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return period, DeviceError(header.ErrorCode)
		}

		if header.Length != 12 {
			return period, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 12)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &period)

	}

	return period, nil
}

// Sets the thresholds for the RegisterAccelerationReachedCallback callback.
//
// The following options are possible:
//
//  Option| Description
//  --- | ---
//  'x'|    Callback is turned off
//  'o'|    Callback is triggered when the acceleration is *outside* the min and max values
//  'i'|    Callback is triggered when the acceleration is *inside* the min and max values
//  '<'|    Callback is triggered when the acceleration is smaller than the min value (max is ignored)
//  '>'|    Callback is triggered when the acceleration is greater than the min value (max is ignored)
//
// Associated constants:
//
//	* ThresholdOptionOff
//	* ThresholdOptionOutside
//	* ThresholdOptionInside
//	* ThresholdOptionSmaller
//	* ThresholdOptionGreater
func (device *AccelerometerBricklet) SetAccelerationCallbackThreshold(option ThresholdOption, minX int16, maxX int16, minY int16, maxY int16, minZ int16, maxZ int16) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, option)
	binary.Write(&buf, binary.LittleEndian, minX)
	binary.Write(&buf, binary.LittleEndian, maxX)
	binary.Write(&buf, binary.LittleEndian, minY)
	binary.Write(&buf, binary.LittleEndian, maxY)
	binary.Write(&buf, binary.LittleEndian, minZ)
	binary.Write(&buf, binary.LittleEndian, maxZ)

	resultBytes, err := device.device.Set(uint8(FunctionSetAccelerationCallbackThreshold), buf.Bytes())
	if err != nil {
		return err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return DeviceError(header.ErrorCode)
		}

		if header.Length != 8 {
			return fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 8)
		}

		bytes.NewBuffer(resultBytes[8:])

	}

	return nil
}

// Returns the threshold as set by SetAccelerationCallbackThreshold.
//
// Associated constants:
//
//	* ThresholdOptionOff
//	* ThresholdOptionOutside
//	* ThresholdOptionInside
//	* ThresholdOptionSmaller
//	* ThresholdOptionGreater
func (device *AccelerometerBricklet) GetAccelerationCallbackThreshold() (option ThresholdOption, minX int16, maxX int16, minY int16, maxY int16, minZ int16, maxZ int16, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetAccelerationCallbackThreshold), buf.Bytes())
	if err != nil {
		return option, minX, maxX, minY, maxY, minZ, maxZ, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return option, minX, maxX, minY, maxY, minZ, maxZ, DeviceError(header.ErrorCode)
		}

		if header.Length != 21 {
			return option, minX, maxX, minY, maxY, minZ, maxZ, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 21)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &option)
		binary.Read(resultBuf, binary.LittleEndian, &minX)
		binary.Read(resultBuf, binary.LittleEndian, &maxX)
		binary.Read(resultBuf, binary.LittleEndian, &minY)
		binary.Read(resultBuf, binary.LittleEndian, &maxY)
		binary.Read(resultBuf, binary.LittleEndian, &minZ)
		binary.Read(resultBuf, binary.LittleEndian, &maxZ)

	}

	return option, minX, maxX, minY, maxY, minZ, maxZ, nil
}

// Sets the period with which the threshold callback
//
// * RegisterAccelerationReachedCallback
//
// is triggered, if the threshold
//
// * SetAccelerationCallbackThreshold
//
// keeps being reached.
func (device *AccelerometerBricklet) SetDebouncePeriod(debounce uint32) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, debounce)

	resultBytes, err := device.device.Set(uint8(FunctionSetDebouncePeriod), buf.Bytes())
	if err != nil {
		return err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return DeviceError(header.ErrorCode)
		}

		if header.Length != 8 {
			return fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 8)
		}

		bytes.NewBuffer(resultBytes[8:])

	}

	return nil
}

// Returns the debounce period as set by SetDebouncePeriod.
func (device *AccelerometerBricklet) GetDebouncePeriod() (debounce uint32, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetDebouncePeriod), buf.Bytes())
	if err != nil {
		return debounce, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return debounce, DeviceError(header.ErrorCode)
		}

		if header.Length != 12 {
			return debounce, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 12)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &debounce)

	}

	return debounce, nil
}

// Returns the temperature of the accelerometer.
func (device *AccelerometerBricklet) GetTemperature() (temperature int16, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetTemperature), buf.Bytes())
	if err != nil {
		return temperature, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return temperature, DeviceError(header.ErrorCode)
		}

		if header.Length != 10 {
			return temperature, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 10)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &temperature)

	}

	return temperature, nil
}

// Configures the data rate, full scale range and filter bandwidth.
// Possible values are:
//
// * Data rate of 0Hz to 1600Hz.
// * Full scale range of ±2gₙ up to ±16gₙ.
// * Filter bandwidth between 50Hz and 800Hz.
//
// Decreasing data rate or full scale range will also decrease the noise on
// the data.
//
// Associated constants:
//
//	* DataRateOff
//	* DataRate3Hz
//	* DataRate6Hz
//	* DataRate12Hz
//	* DataRate25Hz
//	* DataRate50Hz
//	* DataRate100Hz
//	* DataRate400Hz
//	* DataRate800Hz
//	* DataRate1600Hz
//	* FullScale2g
//	* FullScale4g
//	* FullScale6g
//	* FullScale8g
//	* FullScale16g
//	* FilterBandwidth800Hz
//	* FilterBandwidth400Hz
//	* FilterBandwidth200Hz
//	* FilterBandwidth50Hz
func (device *AccelerometerBricklet) SetConfiguration(dataRate DataRate, fullScale FullScale, filterBandwidth FilterBandwidth) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, dataRate)
	binary.Write(&buf, binary.LittleEndian, fullScale)
	binary.Write(&buf, binary.LittleEndian, filterBandwidth)

	resultBytes, err := device.device.Set(uint8(FunctionSetConfiguration), buf.Bytes())
	if err != nil {
		return err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return DeviceError(header.ErrorCode)
		}

		if header.Length != 8 {
			return fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 8)
		}

		bytes.NewBuffer(resultBytes[8:])

	}

	return nil
}

// Returns the configuration as set by SetConfiguration.
//
// Associated constants:
//
//	* DataRateOff
//	* DataRate3Hz
//	* DataRate6Hz
//	* DataRate12Hz
//	* DataRate25Hz
//	* DataRate50Hz
//	* DataRate100Hz
//	* DataRate400Hz
//	* DataRate800Hz
//	* DataRate1600Hz
//	* FullScale2g
//	* FullScale4g
//	* FullScale6g
//	* FullScale8g
//	* FullScale16g
//	* FilterBandwidth800Hz
//	* FilterBandwidth400Hz
//	* FilterBandwidth200Hz
//	* FilterBandwidth50Hz
func (device *AccelerometerBricklet) GetConfiguration() (dataRate DataRate, fullScale FullScale, filterBandwidth FilterBandwidth, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetConfiguration), buf.Bytes())
	if err != nil {
		return dataRate, fullScale, filterBandwidth, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return dataRate, fullScale, filterBandwidth, DeviceError(header.ErrorCode)
		}

		if header.Length != 11 {
			return dataRate, fullScale, filterBandwidth, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 11)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &dataRate)
		binary.Read(resultBuf, binary.LittleEndian, &fullScale)
		binary.Read(resultBuf, binary.LittleEndian, &filterBandwidth)

	}

	return dataRate, fullScale, filterBandwidth, nil
}

// Enables the LED on the Bricklet.
func (device *AccelerometerBricklet) LEDOn() (err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Set(uint8(FunctionLEDOn), buf.Bytes())
	if err != nil {
		return err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return DeviceError(header.ErrorCode)
		}

		if header.Length != 8 {
			return fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 8)
		}

		bytes.NewBuffer(resultBytes[8:])

	}

	return nil
}

// Disables the LED on the Bricklet.
func (device *AccelerometerBricklet) LEDOff() (err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Set(uint8(FunctionLEDOff), buf.Bytes())
	if err != nil {
		return err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return DeviceError(header.ErrorCode)
		}

		if header.Length != 8 {
			return fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 8)
		}

		bytes.NewBuffer(resultBytes[8:])

	}

	return nil
}

// Returns *true* if the LED is enabled, *false* otherwise.
func (device *AccelerometerBricklet) IsLEDOn() (on bool, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionIsLEDOn), buf.Bytes())
	if err != nil {
		return on, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return on, DeviceError(header.ErrorCode)
		}

		if header.Length != 9 {
			return on, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 9)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &on)

	}

	return on, nil
}

// 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 (device *AccelerometerBricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetIdentity), buf.Bytes())
	if err != nil {
		return uid, connectedUid, position, hardwareVersion, firmwareVersion, deviceIdentifier, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return uid, connectedUid, position, hardwareVersion, firmwareVersion, deviceIdentifier, DeviceError(header.ErrorCode)
		}

		if header.Length != 33 {
			return uid, connectedUid, position, hardwareVersion, firmwareVersion, deviceIdentifier, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 33)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		uid = ByteSliceToString(resultBuf.Next(8))
		connectedUid = ByteSliceToString(resultBuf.Next(8))
		position = rune(resultBuf.Next(1)[0])
		binary.Read(resultBuf, binary.LittleEndian, &hardwareVersion)
		binary.Read(resultBuf, binary.LittleEndian, &firmwareVersion)
		binary.Read(resultBuf, binary.LittleEndian, &deviceIdentifier)

	}

	return uid, connectedUid, position, hardwareVersion, firmwareVersion, deviceIdentifier, nil
}