compass_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       *
 *************************************************************/

// 3-axis compass with 10 nanotesla and 0.1° resolution.
//
//
// See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/Compass_Bricklet_Go.html.
package compass_bricklet

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

type Function = uint8

const (
	FunctionGetHeading                                  Function = 1
	FunctionSetHeadingCallbackConfiguration             Function = 2
	FunctionGetHeadingCallbackConfiguration             Function = 3
	FunctionGetMagneticFluxDensity                      Function = 5
	FunctionSetMagneticFluxDensityCallbackConfiguration Function = 6
	FunctionGetMagneticFluxDensityCallbackConfiguration Function = 7
	FunctionSetConfiguration                            Function = 9
	FunctionGetConfiguration                            Function = 10
	FunctionSetCalibration                              Function = 11
	FunctionGetCalibration                              Function = 12
	FunctionGetSPITFPErrorCount                         Function = 234
	FunctionSetBootloaderMode                           Function = 235
	FunctionGetBootloaderMode                           Function = 236
	FunctionSetWriteFirmwarePointer                     Function = 237
	FunctionWriteFirmware                               Function = 238
	FunctionSetStatusLEDConfig                          Function = 239
	FunctionGetStatusLEDConfig                          Function = 240
	FunctionGetChipTemperature                          Function = 242
	FunctionReset                                       Function = 243
	FunctionWriteUID                                    Function = 248
	FunctionReadUID                                     Function = 249
	FunctionGetIdentity                                 Function = 255
	FunctionCallbackHeading                             Function = 4
	FunctionCallbackMagneticFluxDensity                 Function = 8
)

type ThresholdOption = rune

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

type DataRate = uint8

const (
	DataRate100Hz DataRate = 0
	DataRate200Hz DataRate = 1
	DataRate400Hz DataRate = 2
	DataRate600Hz DataRate = 3
)

type BootloaderMode = uint8

const (
	BootloaderModeBootloader                    BootloaderMode = 0
	BootloaderModeFirmware                      BootloaderMode = 1
	BootloaderModeBootloaderWaitForReboot       BootloaderMode = 2
	BootloaderModeFirmwareWaitForReboot         BootloaderMode = 3
	BootloaderModeFirmwareWaitForEraseAndReboot BootloaderMode = 4
)

type BootloaderStatus = uint8

const (
	BootloaderStatusOK                        BootloaderStatus = 0
	BootloaderStatusInvalidMode               BootloaderStatus = 1
	BootloaderStatusNoChange                  BootloaderStatus = 2
	BootloaderStatusEntryFunctionNotPresent   BootloaderStatus = 3
	BootloaderStatusDeviceIdentifierIncorrect BootloaderStatus = 4
	BootloaderStatusCRCMismatch               BootloaderStatus = 5
)

type StatusLEDConfig = uint8

const (
	StatusLEDConfigOff           StatusLEDConfig = 0
	StatusLEDConfigOn            StatusLEDConfig = 1
	StatusLEDConfigShowHeartbeat StatusLEDConfig = 2
	StatusLEDConfigShowStatus    StatusLEDConfig = 3
)

type CompassBricklet struct {
	device Device
}

const DeviceIdentifier = 2153
const DeviceDisplayName = "Compass 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) (CompassBricklet, error) {
	internalIPCon := ipcon.GetInternalHandle().(IPConnection)
	dev, err := NewDevice([3]uint8{2, 0, 0}, uid, &internalIPCon, 0, DeviceIdentifier, DeviceDisplayName)
	if err != nil {
		return CompassBricklet{}, err
	}
	dev.ResponseExpected[FunctionGetHeading] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetHeadingCallbackConfiguration] = ResponseExpectedFlagTrue
	dev.ResponseExpected[FunctionGetHeadingCallbackConfiguration] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionGetMagneticFluxDensity] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetMagneticFluxDensityCallbackConfiguration] = ResponseExpectedFlagTrue
	dev.ResponseExpected[FunctionGetMagneticFluxDensityCallbackConfiguration] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetConfiguration] = ResponseExpectedFlagFalse
	dev.ResponseExpected[FunctionGetConfiguration] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetCalibration] = ResponseExpectedFlagFalse
	dev.ResponseExpected[FunctionGetCalibration] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionGetSPITFPErrorCount] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetBootloaderMode] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionGetBootloaderMode] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetWriteFirmwarePointer] = ResponseExpectedFlagFalse
	dev.ResponseExpected[FunctionWriteFirmware] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetStatusLEDConfig] = ResponseExpectedFlagFalse
	dev.ResponseExpected[FunctionGetStatusLEDConfig] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionGetChipTemperature] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionReset] = ResponseExpectedFlagFalse
	dev.ResponseExpected[FunctionWriteUID] = ResponseExpectedFlagFalse
	dev.ResponseExpected[FunctionReadUID] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionGetIdentity] = ResponseExpectedFlagAlwaysTrue
	return CompassBricklet{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 *CompassBricklet) 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 *CompassBricklet) 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 *CompassBricklet) 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 *CompassBricklet) GetAPIVersion() [3]uint8 {
	return device.device.GetAPIVersion()
}

// This callback is triggered periodically according to the configuration set by
// SetHeadingCallbackConfiguration.
//
// The parameter is the same as GetHeading.
func (device *CompassBricklet) RegisterHeadingCallback(fn func(int16)) uint64 {
	wrapper := func(byteSlice []byte) {
		var header PacketHeader

		header.FillFromBytes(byteSlice)
		if header.Length != 10 {
			return
		}
		buf := bytes.NewBuffer(byteSlice[8:])
		var heading int16
		binary.Read(buf, binary.LittleEndian, &heading)
		fn(heading)
	}
	return device.device.RegisterCallback(uint8(FunctionCallbackHeading), wrapper)
}

// Remove a registered Heading callback.
func (device *CompassBricklet) DeregisterHeadingCallback(registrationId uint64) {
	device.device.DeregisterCallback(uint8(FunctionCallbackHeading), registrationId)
}

// This callback is triggered periodically according to the configuration set by
// SetMagneticFluxDensityCallbackConfiguration.
//
// The parameters are the same as GetMagneticFluxDensity.
func (device *CompassBricklet) RegisterMagneticFluxDensityCallback(fn func(int32, int32, int32)) uint64 {
	wrapper := func(byteSlice []byte) {
		var header PacketHeader

		header.FillFromBytes(byteSlice)
		if header.Length != 20 {
			return
		}
		buf := bytes.NewBuffer(byteSlice[8:])
		var x int32
		var y int32
		var z int32
		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(FunctionCallbackMagneticFluxDensity), wrapper)
}

// Remove a registered Magnetic Flux Density callback.
func (device *CompassBricklet) DeregisterMagneticFluxDensityCallback(registrationId uint64) {
	device.device.DeregisterCallback(uint8(FunctionCallbackMagneticFluxDensity), registrationId)
}

// Returns the heading (north = 0 degree, east = 90 degree).
//
// Alternatively you can use GetMagneticFluxDensity and calculate the
// heading with ``heading = atan2(y, x) * 180 / PI``.
//
//
// If you want to get the value periodically, it is recommended to use the
// RegisterHeadingCallback callback. You can set the callback configuration
// with SetHeadingCallbackConfiguration.
func (device *CompassBricklet) GetHeading() (heading int16, err error) {
	var buf bytes.Buffer

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

		header.FillFromBytes(resultBytes)

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

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

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

	}

	return heading, nil
}

// The period is the period with which the RegisterHeadingCallback 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 RegisterHeadingCallback callback.
//
// The following options are possible:
//
//  Option| Description
//  --- | ---
//  'x'|    Threshold is turned off
//  'o'|    Threshold is triggered when the value is *outside* the min and max values
//  'i'|    Threshold is triggered when the value is *inside* or equal to the min and max values
//  '<'|    Threshold is triggered when the value is smaller than the min value (max is ignored)
//  '>'|    Threshold is triggered when the value is greater than the min value (max is ignored)
//
// If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.
//
// Associated constants:
//
//	* ThresholdOptionOff
//	* ThresholdOptionOutside
//	* ThresholdOptionInside
//	* ThresholdOptionSmaller
//	* ThresholdOptionGreater
func (device *CompassBricklet) SetHeadingCallbackConfiguration(period uint32, valueHasToChange bool, option ThresholdOption, min int16, max int16) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, period)
	binary.Write(&buf, binary.LittleEndian, valueHasToChange)
	binary.Write(&buf, binary.LittleEndian, option)
	binary.Write(&buf, binary.LittleEndian, min)
	binary.Write(&buf, binary.LittleEndian, max)

	resultBytes, err := device.device.Set(uint8(FunctionSetHeadingCallbackConfiguration), 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 callback configuration as set by SetHeadingCallbackConfiguration.
//
// Associated constants:
//
//	* ThresholdOptionOff
//	* ThresholdOptionOutside
//	* ThresholdOptionInside
//	* ThresholdOptionSmaller
//	* ThresholdOptionGreater
func (device *CompassBricklet) GetHeadingCallbackConfiguration() (period uint32, valueHasToChange bool, option ThresholdOption, min int16, max int16, err error) {
	var buf bytes.Buffer

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

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return period, valueHasToChange, option, min, max, DeviceError(header.ErrorCode)
		}

		if header.Length != 18 {
			return period, valueHasToChange, option, min, max, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 18)
		}

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

	}

	return period, valueHasToChange, option, min, max, nil
}

// Returns the https://en.wikipedia.org/wiki/Magnetic_flux
// for all three axis.
//
// If you want to get the value periodically, it is recommended to use the
// RegisterMagneticFluxDensityCallback callback. You can set the callback configuration
// with SetMagneticFluxDensityCallbackConfiguration.
func (device *CompassBricklet) GetMagneticFluxDensity() (x int32, y int32, z int32, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetMagneticFluxDensity), 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 != 20 {
			return x, y, z, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 20)
		}

		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
}

// The period is the period with which the RegisterMagneticFluxDensityCallback 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.
func (device *CompassBricklet) SetMagneticFluxDensityCallbackConfiguration(period uint32, valueHasToChange bool) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, period)
	binary.Write(&buf, binary.LittleEndian, valueHasToChange)

	resultBytes, err := device.device.Set(uint8(FunctionSetMagneticFluxDensityCallbackConfiguration), 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 callback configuration as set by
// SetMagneticFluxDensityCallbackConfiguration.
func (device *CompassBricklet) GetMagneticFluxDensityCallbackConfiguration() (period uint32, valueHasToChange bool, err error) {
	var buf bytes.Buffer

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

		header.FillFromBytes(resultBytes)

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

		if header.Length != 13 {
			return period, valueHasToChange, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 13)
		}

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

	}

	return period, valueHasToChange, nil
}

// Configures the data rate and background calibration.
//
// * Data Rate: Sets the data rate that is used by the magnetometer.
//   The lower the data rate, the lower is the noise on the data.
// * Background Calibration: Set to *true* to enable the background
//   calibration and *false* to turn it off. If the background calibration
//   is enabled the sensing polarity is flipped once per second to automatically
//   calculate and remove offset that is caused by temperature changes.
//   This polarity flipping takes about 20ms. This means that once a second
//   you will not get new data for a period of 20ms. We highly recommend that
//   you keep the background calibration enabled and only disable it if the 20ms
//   off-time is a problem in your application.
//
// Associated constants:
//
//	* DataRate100Hz
//	* DataRate200Hz
//	* DataRate400Hz
//	* DataRate600Hz
func (device *CompassBricklet) SetConfiguration(dataRate DataRate, backgroundCalibration bool) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, dataRate)
	binary.Write(&buf, binary.LittleEndian, backgroundCalibration)

	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:
//
//	* DataRate100Hz
//	* DataRate200Hz
//	* DataRate400Hz
//	* DataRate600Hz
func (device *CompassBricklet) GetConfiguration() (dataRate DataRate, backgroundCalibration bool, err error) {
	var buf bytes.Buffer

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

		header.FillFromBytes(resultBytes)

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

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

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

	}

	return dataRate, backgroundCalibration, nil
}

// Sets offset and gain for each of the three axes.
//
// The Bricklet is factory calibrated. If you want to re-calibrate the
// Bricklet we recommend that you do the calibration through Brick Viewer.
//
// The calibration is saved in non-volatile memory and only has to be
// done once.
func (device *CompassBricklet) SetCalibration(offset [3]int16, gain [3]int16) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, offset)
	binary.Write(&buf, binary.LittleEndian, gain)

	resultBytes, err := device.device.Set(uint8(FunctionSetCalibration), 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 calibration parameters as set by SetCalibration.
func (device *CompassBricklet) GetCalibration() (offset [3]int16, gain [3]int16, err error) {
	var buf bytes.Buffer

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

		header.FillFromBytes(resultBytes)

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

		if header.Length != 20 {
			return offset, gain, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 20)
		}

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

	}

	return offset, gain, nil
}

// Returns the error count for the communication between Brick and Bricklet.
//
// The errors are divided into
//
// * ACK checksum errors,
// * message checksum errors,
// * framing errors and
// * overflow errors.
//
// The errors counts are for errors that occur on the Bricklet side. All
// Bricks have a similar function that returns the errors on the Brick side.
func (device *CompassBricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetSPITFPErrorCount), buf.Bytes())
	if err != nil {
		return errorCountAckChecksum, errorCountMessageChecksum, errorCountFrame, errorCountOverflow, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return errorCountAckChecksum, errorCountMessageChecksum, errorCountFrame, errorCountOverflow, DeviceError(header.ErrorCode)
		}

		if header.Length != 24 {
			return errorCountAckChecksum, errorCountMessageChecksum, errorCountFrame, errorCountOverflow, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 24)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &errorCountAckChecksum)
		binary.Read(resultBuf, binary.LittleEndian, &errorCountMessageChecksum)
		binary.Read(resultBuf, binary.LittleEndian, &errorCountFrame)
		binary.Read(resultBuf, binary.LittleEndian, &errorCountOverflow)

	}

	return errorCountAckChecksum, errorCountMessageChecksum, errorCountFrame, errorCountOverflow, nil
}

// Sets the bootloader mode and returns the status after the requested
// mode change was instigated.
//
// You can change from bootloader mode to firmware mode and vice versa. A change
// from bootloader mode to firmware mode will only take place if the entry function,
// device identifier and CRC are present and correct.
//
// This function is used by Brick Viewer during flashing. It should not be
// necessary to call it in a normal user program.
//
// Associated constants:
//
//	* BootloaderModeBootloader
//	* BootloaderModeFirmware
//	* BootloaderModeBootloaderWaitForReboot
//	* BootloaderModeFirmwareWaitForReboot
//	* BootloaderModeFirmwareWaitForEraseAndReboot
//	* BootloaderStatusOK
//	* BootloaderStatusInvalidMode
//	* BootloaderStatusNoChange
//	* BootloaderStatusEntryFunctionNotPresent
//	* BootloaderStatusDeviceIdentifierIncorrect
//	* BootloaderStatusCRCMismatch
func (device *CompassBricklet) SetBootloaderMode(mode BootloaderMode) (status BootloaderStatus, err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, mode)

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

		header.FillFromBytes(resultBytes)

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

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

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

	}

	return status, nil
}

// Returns the current bootloader mode, see SetBootloaderMode.
//
// Associated constants:
//
//	* BootloaderModeBootloader
//	* BootloaderModeFirmware
//	* BootloaderModeBootloaderWaitForReboot
//	* BootloaderModeFirmwareWaitForReboot
//	* BootloaderModeFirmwareWaitForEraseAndReboot
func (device *CompassBricklet) GetBootloaderMode() (mode BootloaderMode, err error) {
	var buf bytes.Buffer

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

		header.FillFromBytes(resultBytes)

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

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

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

	}

	return mode, nil
}

// Sets the firmware pointer for WriteFirmware. The pointer has
// to be increased by chunks of size 64. The data is written to flash
// every 4 chunks (which equals to one page of size 256).
//
// This function is used by Brick Viewer during flashing. It should not be
// necessary to call it in a normal user program.
func (device *CompassBricklet) SetWriteFirmwarePointer(pointer uint32) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, pointer)

	resultBytes, err := device.device.Set(uint8(FunctionSetWriteFirmwarePointer), 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
}

// Writes 64 Bytes of firmware at the position as written by
// SetWriteFirmwarePointer before. The firmware is written
// to flash every 4 chunks.
//
// You can only write firmware in bootloader mode.
//
// This function is used by Brick Viewer during flashing. It should not be
// necessary to call it in a normal user program.
func (device *CompassBricklet) WriteFirmware(data [64]uint8) (status uint8, err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, data)

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

		header.FillFromBytes(resultBytes)

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

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

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

	}

	return status, nil
}

// Sets the status LED configuration. By default the LED shows
// communication traffic between Brick and Bricklet, it flickers once
// for every 10 received data packets.
//
// You can also turn the LED permanently on/off or show a heartbeat.
//
// If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.
//
// Associated constants:
//
//	* StatusLEDConfigOff
//	* StatusLEDConfigOn
//	* StatusLEDConfigShowHeartbeat
//	* StatusLEDConfigShowStatus
func (device *CompassBricklet) SetStatusLEDConfig(config StatusLEDConfig) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, config)

	resultBytes, err := device.device.Set(uint8(FunctionSetStatusLEDConfig), 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 SetStatusLEDConfig
//
// Associated constants:
//
//	* StatusLEDConfigOff
//	* StatusLEDConfigOn
//	* StatusLEDConfigShowHeartbeat
//	* StatusLEDConfigShowStatus
func (device *CompassBricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error) {
	var buf bytes.Buffer

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

		header.FillFromBytes(resultBytes)

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

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

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

	}

	return config, nil
}

// Returns the temperature as measured inside the microcontroller. The
// value returned is not the ambient temperature!
//
// The temperature is only proportional to the real temperature and it has bad
// accuracy. Practically it is only useful as an indicator for
// temperature changes.
func (device *CompassBricklet) GetChipTemperature() (temperature int16, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetChipTemperature), 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
}

// Calling this function will reset the Bricklet. All configurations
// will be lost.
//
// After a reset you have to create new device objects,
// calling functions on the existing ones will result in
// undefined behavior!
func (device *CompassBricklet) Reset() (err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Set(uint8(FunctionReset), 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
}

// 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.
func (device *CompassBricklet) WriteUID(uid uint32) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, uid)

	resultBytes, err := device.device.Set(uint8(FunctionWriteUID), 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 current UID as an integer. Encode as
// Base58 to get the usual string version.
func (device *CompassBricklet) ReadUID() (uid uint32, err error) {
	var buf bytes.Buffer

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

		header.FillFromBytes(resultBytes)

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

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

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

	}

	return uid, 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 *CompassBricklet) 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
}