Delphi/Lazarus - Laser Range Finder Bricklet 2.0

This is the description of the Delphi/Lazarus API bindings for the Laser Range Finder Bricklet 2.0. General information and technical specifications for the Laser Range Finder Bricklet 2.0 are summarized in its hardware description.

An installation guide for the Delphi/Lazarus API bindings is part of their general description.

Examples

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

API

Since Delphi does not support multiple return values directly, we use the out keyword to return multiple values from a function.

All functions and procedures listed below are thread-safe.

Basic Functions

constructor TBrickletLaserRangeFinderV2.Create(const uid: string; ipcon: TIPConnection)

Creates an object with the unique device ID uid:

laserRangeFinderV2 := TBrickletLaserRangeFinderV2.Create('YOUR_DEVICE_UID', ipcon);

This object can then be used after the IP Connection is connected (see examples above).

function TBrickletLaserRangeFinderV2.GetDistance: smallint

Returns the measured distance. The value has a range of 0 to 4000 and is given in cm.

The laser has to be enabled, see SetEnable.

If you want to get the value periodically, it is recommended to use the OnDistance callback. You can set the callback configuration with SetDistanceCallbackConfiguration.

function TBrickletLaserRangeFinderV2.GetVelocity: smallint

Returns the measured velocity. The value has a range of -12800 to 12700 and is given in 1/100 m/s.

The velocity measurement only produces stables results if a fixed measurement rate (see SetConfiguration) is configured. Also the laser has to be enabled, see SetEnable.

If you want to get the value periodically, it is recommended to use the OnVelocity callback. You can set the callback configuration with SetVelocityCallbackConfiguration.

procedure TBrickletLaserRangeFinderV2.SetEnable(const enable: boolean)

Enables the laser of the LIDAR if set to true.

We recommend that you wait 250ms after enabling the laser before the first call of GetDistance to ensure stable measurements.

function TBrickletLaserRangeFinderV2.GetEnable: boolean

Returns the value as set by SetEnable.

procedure TBrickletLaserRangeFinderV2.SetConfiguration(const acquisitionCount: byte; const enableQuickTermination: boolean; const thresholdValue: byte; const measurementFrequency: word)

The Acquisition Count defines the number of times the Laser Range Finder Bricklet will integrate acquisitions to find a correlation record peak. With a higher count, the Bricklet can measure longer distances. With a lower count, the rate increases. The allowed values are 1-255.

If you set Enable Quick Termination to true, the distance measurement will be terminated early if a high peak was already detected. This means that a higher measurement rate can be achieved and long distances can be measured at the same time. However, the chance of false-positive distance measurements increases.

Normally the distance is calculated with a detection algorithm that uses peak value, signal strength and noise. You can however also define a fixed Threshold Value. Set this to a low value if you want to measure the distance to something that has very little reflection (e.g. glass) and set it to a high value if you want to measure the distance to something with a very high reflection (e.g. mirror). Set this to 0 to use the default algorithm. The other allowed values are 1-255.

Set the Measurement Frequency in Hz to force a fixed measurement rate. If set to 0, the Laser Range Finder Bricklet will use the optimal frequency according to the other configurations and the actual measured distance. Since the rate is not fixed in this case, the velocity measurement is not stable. For a stable velocity measurement you should set a fixed measurement frequency. The lower the frequency, the higher is the resolution of the calculated velocity. The allowed values are 10Hz-500Hz (and 0 to turn the fixed frequency off).

The default values for Acquisition Count, Enable Quick Termination, Threshold Value and Measurement Frequency are 128, false, 0 and 0.

procedure TBrickletLaserRangeFinderV2.GetConfiguration(out acquisitionCount: byte; out enableQuickTermination: boolean; out thresholdValue: byte; out measurementFrequency: word)

Returns the configuration as set by SetConfiguration.

procedure TBrickletLaserRangeFinderV2.SetDistanceLEDConfig(const config: byte)

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

The default value is 3 (show distance).

The following constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_DISTANCE_LED_CONFIG_OFF = 0
  • BRICKLET_LASER_RANGE_FINDER_V2_DISTANCE_LED_CONFIG_ON = 1
  • BRICKLET_LASER_RANGE_FINDER_V2_DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BRICKLET_LASER_RANGE_FINDER_V2_DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3
function TBrickletLaserRangeFinderV2.GetDistanceLEDConfig: byte

Returns the LED configuration as set by SetDistanceLEDConfig

The following constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_DISTANCE_LED_CONFIG_OFF = 0
  • BRICKLET_LASER_RANGE_FINDER_V2_DISTANCE_LED_CONFIG_ON = 1
  • BRICKLET_LASER_RANGE_FINDER_V2_DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BRICKLET_LASER_RANGE_FINDER_V2_DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3

Advanced Functions

procedure TBrickletLaserRangeFinderV2.SetMovingAverage(const distanceAverageLength: byte; const velocityAverageLength: byte)

Sets the length of a moving averaging for the distance and velocity.

Setting the length to 0 will turn the averaging completely off. With less averaging, there is more noise on the data.

The range for the averaging is 0-255.

The default value is 10.

procedure TBrickletLaserRangeFinderV2.GetMovingAverage(out distanceAverageLength: byte; out velocityAverageLength: byte)

Returns the length moving average as set by SetMovingAverage.

procedure TBrickletLaserRangeFinderV2.SetOffsetCalibration(const offset: smallint)

The offset is given in cm and added to the measured distance. It is saved in non-volatile memory, you only have to set it once.

The Bricklet comes with a per-sensor factory-calibrated offset value, you should not have to call this function.

If you want to re-calibrate the offset you first have to set it to 0. Calculate the offset by measuring the distance to a known distance and set it again.

function TBrickletLaserRangeFinderV2.GetOffsetCalibration: smallint

Returns the offset value as set by SetOffsetCalibration.

function TBrickletLaserRangeFinderV2.GetAPIVersion: array [0..2] of byte

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.

function TBrickletLaserRangeFinderV2.GetResponseExpected(const functionId: byte): boolean

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 send and errors are silently ignored, because they cannot be detected.

See SetResponseExpected for the list of function ID constants available for this function.

procedure TBrickletLaserRangeFinderV2.SetResponseExpected(const functionId: byte; const responseExpected: boolean)

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 send and errors are silently ignored, because they cannot be detected.

The following function ID constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION = 2
  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION = 6
  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_SET_ENABLE = 9
  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_SET_CONFIGURATION = 11
  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_SET_MOVING_AVERAGE = 13
  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_SET_OFFSET_CALIBRATION = 15
  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_SET_DISTANCE_LED_CONFIG = 17
  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_RESET = 243
  • BRICKLET_LASER_RANGE_FINDER_V2_FUNCTION_WRITE_UID = 248
procedure TBrickletLaserRangeFinderV2.SetResponseExpectedAll(const responseExpected: boolean)

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

procedure TBrickletLaserRangeFinderV2.GetSPITFPErrorCount(out errorCountAckChecksum: longword; out errorCountMessageChecksum: longword; out errorCountFrame: longword; out errorCountOverflow: longword)

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.

function TBrickletLaserRangeFinderV2.SetBootloaderMode(const mode: byte): byte

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_MODE_BOOTLOADER = 0
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_MODE_FIRMWARE = 1
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_STATUS_OK = 0
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_STATUS_INVALID_MODE = 1
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_STATUS_NO_CHANGE = 2
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_STATUS_CRC_MISMATCH = 5
function TBrickletLaserRangeFinderV2.GetBootloaderMode: byte

Returns the current bootloader mode, see SetBootloaderMode.

The following constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_MODE_BOOTLOADER = 0
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_MODE_FIRMWARE = 1
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BRICKLET_LASER_RANGE_FINDER_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
procedure TBrickletLaserRangeFinderV2.SetWriteFirmwarePointer(const pointer: longword)

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.

function TBrickletLaserRangeFinderV2.WriteFirmware(const data: array [0..63] of byte): byte

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.

procedure TBrickletLaserRangeFinderV2.SetStatusLEDConfig(const config: byte)

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_STATUS_LED_CONFIG_OFF = 0
  • BRICKLET_LASER_RANGE_FINDER_V2_STATUS_LED_CONFIG_ON = 1
  • BRICKLET_LASER_RANGE_FINDER_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BRICKLET_LASER_RANGE_FINDER_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3
function TBrickletLaserRangeFinderV2.GetStatusLEDConfig: byte

Returns the configuration as set by SetStatusLEDConfig

The following constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_STATUS_LED_CONFIG_OFF = 0
  • BRICKLET_LASER_RANGE_FINDER_V2_STATUS_LED_CONFIG_ON = 1
  • BRICKLET_LASER_RANGE_FINDER_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BRICKLET_LASER_RANGE_FINDER_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3
function TBrickletLaserRangeFinderV2.GetChipTemperature: smallint

Returns the temperature in °C 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.

procedure TBrickletLaserRangeFinderV2.Reset

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!

procedure TBrickletLaserRangeFinderV2.WriteUID(const uid: longword)

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.

function TBrickletLaserRangeFinderV2.ReadUID: longword

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

procedure TBrickletLaserRangeFinderV2.GetIdentity(out uid: string; out connectedUid: string; out position: char; out hardwareVersion: array [0..2] of byte; out firmwareVersion: array [0..2] of byte; out deviceIdentifier: word)

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' or 'd'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions

procedure TBrickletLaserRangeFinderV2.SetDistanceCallbackConfiguration(const period: longword; const valueHasToChange: boolean; const option: char; const min: smallint; const max: smallint)

The period in ms is the period with which the OnDistance 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 OnDistance callback.

The following options are possible:

Option Description
'x' Threshold is turned off
'o' Threshold is triggered when the value is outside the min and max values
'i' Threshold is triggered when the value is inside or equal to the min and max values
'<' Threshold is triggered when the value is smaller than the min value (max is ignored)
'>' Threshold is triggered when the value is greater than the min value (max is ignored)

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

The default value is (0, false, 'x', 0, 0).

The following constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_OFF = 'x'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_OUTSIDE = 'o'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_INSIDE = 'i'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_SMALLER = '<'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_GREATER = '>'
procedure TBrickletLaserRangeFinderV2.GetDistanceCallbackConfiguration(out period: longword; out valueHasToChange: boolean; out option: char; out min: smallint; out max: smallint)

Returns the callback configuration as set by SetDistanceCallbackConfiguration.

The following constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_OFF = 'x'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_OUTSIDE = 'o'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_INSIDE = 'i'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_SMALLER = '<'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_GREATER = '>'
procedure TBrickletLaserRangeFinderV2.SetVelocityCallbackConfiguration(const period: longword; const valueHasToChange: boolean; const option: char; const min: smallint; const max: smallint)

The period in ms is the period with which the OnVelocity 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 OnVelocity callback.

The following options are possible:

Option Description
'x' Threshold is turned off
'o' Threshold is triggered when the value is outside the min and max values
'i' Threshold is triggered when the value is inside or equal to the min and max values
'<' Threshold is triggered when the value is smaller than the min value (max is ignored)
'>' Threshold is triggered when the value is greater than the min value (max is ignored)

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

The default value is (0, false, 'x', 0, 0).

The following constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_OFF = 'x'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_OUTSIDE = 'o'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_INSIDE = 'i'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_SMALLER = '<'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_GREATER = '>'
procedure TBrickletLaserRangeFinderV2.GetVelocityCallbackConfiguration(out period: longword; out valueHasToChange: boolean; out option: char; out min: smallint; out max: smallint)

Returns the callback configuration as set by SetVelocityCallbackConfiguration.

The following constants are available for this function:

  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_OFF = 'x'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_OUTSIDE = 'o'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_INSIDE = 'i'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_SMALLER = '<'
  • BRICKLET_LASER_RANGE_FINDER_V2_THRESHOLD_OPTION_GREATER = '>'

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a procedure to an callback property of the device object:

procedure TExample.MyCallback(sender: TBrickletLaserRangeFinderV2; const param: word);
begin
  WriteLn(param);
end;

laserRangeFinderV2.OnExample := {$ifdef FPC}@{$endif}example.MyCallback;

The available callback property and their type of parameters are described below.

Note

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

property TBrickletLaserRangeFinderV2.OnDistance
procedure(sender: TBrickletLaserRangeFinderV2; const distance: smallint) of object;

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

The parameter is the same as GetDistance.

property TBrickletLaserRangeFinderV2.OnVelocity
procedure(sender: TBrickletLaserRangeFinderV2; const velocity: smallint) of object;

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

The parameter is the same as GetVelocity.

Constants

const BRICKLET_LASER_RANGE_FINDER_V2_DEVICE_IDENTIFIER

This constant is used to identify a Laser Range Finder Bricklet 2.0.

The GetIdentity function and the TIPConnection.OnEnumerate callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

const BRICKLET_LASER_RANGE_FINDER_V2_DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Laser Range Finder Bricklet 2.0.