MATLAB/Octave - Motion Detector Bricklet 2.0

This is the description of the MATLAB/Octave API bindings for the Motion Detector Bricklet 2.0. General information and technical specifications for the Motion Detector Bricklet 2.0 are summarized in its hardware description.

An installation guide for the MATLAB/Octave API bindings is part of their general description.

Examples

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

Indicator (MATLAB)

Download (matlab_example_indicator.m)

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function matlab_example_indicator()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletMotionDetectorV2;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Motion Detector Bricklet 2.0

    ipcon = IPConnection(); % Create IP connection
    md = handle(BrickletMotionDetectorV2(UID, ipcon), 'CallbackProperties'); % Create device object

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

    % Turn blue backlight LEDs on (maximum brightness)
    md.setIndicator(255, 255, 255);

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

Callback (MATLAB)

Download (matlab_example_callback.m)

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function matlab_example_callback()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletMotionDetectorV2;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Motion Detector Bricklet 2.0

    ipcon = IPConnection(); % Create IP connection
    md = handle(BrickletMotionDetectorV2(UID, ipcon), 'CallbackProperties'); % Create device object

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

    % Register motion detected callback to function cb_motion_detected
    set(md, 'MotionDetectedCallback', @(h, e) cb_motion_detected(e));

    % Register detection cycle ended callback to function cb_detection_cycle_ended
    set(md, 'DetectionCycleEndedCallback', @(h, e) cb_detection_cycle_ended(e));

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

% Callback function for motion detected callback
function cb_motion_detected(e)
    fprintf('Motion Detected\n');
end

% Callback function for detection cycle ended callback
function cb_detection_cycle_ended(e)
    fprintf('Detection Cycle Ended (next detection possible in ~2 seconds)\n');
end

Indicator (Octave)

Download (octave_example_indicator.m)

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function octave_example_indicator()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Motion Detector Bricklet 2.0

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    md = javaObject("com.tinkerforge.BrickletMotionDetectorV2", UID, ipcon); % Create device object

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

    % Turn blue backlight LEDs on (maximum brightness)
    md.setIndicator(255, 255, 255);

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

Callback (Octave)

Download (octave_example_callback.m)

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function octave_example_callback()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Motion Detector Bricklet 2.0

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    md = javaObject("com.tinkerforge.BrickletMotionDetectorV2", UID, ipcon); % Create device object

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

    % Register motion detected callback to function cb_motion_detected
    md.addMotionDetectedCallback(@cb_motion_detected);

    % Register detection cycle ended callback to function cb_detection_cycle_ended
    md.addDetectionCycleEndedCallback(@cb_detection_cycle_ended);

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

% Callback function for motion detected callback
function cb_motion_detected(e)
    fprintf("Motion Detected\n");
end

% Callback function for detection cycle ended callback
function cb_detection_cycle_ended(e)
    fprintf("Detection Cycle Ended (next detection possible in ~2 seconds)\n");
end

API

Generally, every method of the MATLAB bindings that returns a value can throw a TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody unplugs the device). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Beside the TimeoutException there is also a NotConnectedException that is thrown if a method needs to communicate with the device while the IP Connection is not connected.

Since the MATLAB bindings are based on Java and Java does not support multiple return values and return by reference is not possible for primitive types, we use small classes that only consist of member variables. The member variables of the returned objects are described in the corresponding method descriptions.

The package for all Brick/Bricklet bindings and the IP Connection is com.tinkerforge.*

All methods listed below are thread-safe.

Basic Functions

public class BrickletMotionDetectorV2(String uid, IPConnection ipcon)

Creates an object with the unique device ID uid.

In MATLAB:

import com.tinkerforge.BrickletMotionDetectorV2;

motionDetectorV2 = BrickletMotionDetectorV2('YOUR_DEVICE_UID', ipcon);

In Octave:

motionDetectorV2 = java_new("com.tinkerforge.BrickletMotionDetectorV2", "YOUR_DEVICE_UID", ipcon);

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

public int getMotionDetected()

Returns 1 if a motion was detected. How long this returns 1 after a motion was detected can be adjusted with one of the small potentiometers on the Motion Detector Bricklet, see here.

There is also a blue LED on the Bricklet that is on as long as the Bricklet is in the "motion detected" state.

The following constants are available for this function:

  • BrickletMotionDetectorV2.MOTION_NOT_DETECTED = 0
  • BrickletMotionDetectorV2.MOTION_DETECTED = 1
public void setSensitivity(int sensitivity)

Sets the sensitivity of the PIR sensor. The range is 0-100. At full sensitivity (100), the Bricklet can detect motion in a range of approximately 12m.

The actual range depends on many things in the environment (e.g. reflections) and the size of the object to be detected. While a big person might be detected in a range of 10m a cat may only be detected at 2m distance with the same setting.

So you will have to find a good sensitivity for your application by trial and error.

The default value is 50.

public int getSensitivity()

Returns the sensitivity as set by setSensitivity().

public void setIndicator(int topLeft, int topRight, int bottom)

Sets the blue backlight of the fresnel lens. The backlight consists of three LEDs. The brightness of each LED can be controlled with a 8-bit value (0-255). A value of 0 turns the LED off and a value of 255 turns the LED to full brightness.

The default value is 0, 0, 0.

public BrickletMotionDetectorV2.Indicator getIndicator()

Returns the indicator configuration as set by setIndicator().

The returned object has the public member variables int topLeft, int topRight and int bottom.

Advanced Functions

public int[] getAPIVersion()

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.

public boolean getResponseExpected(int functionId)

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.

public void setResponseExpected(int functionId, boolean responseExpected)

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:

  • BrickletMotionDetectorV2.FUNCTION_SET_SENSITIVITY = 2
  • BrickletMotionDetectorV2.FUNCTION_SET_INDICATOR = 4
  • BrickletMotionDetectorV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletMotionDetectorV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletMotionDetectorV2.FUNCTION_RESET = 243
  • BrickletMotionDetectorV2.FUNCTION_WRITE_UID = 248
public void setResponseExpectedAll(boolean responseExpected)

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

public BrickletMotionDetectorV2.SPITFPErrorCount getSPITFPErrorCount()

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.

The returned object has the public member variables long errorCountAckChecksum, long errorCountMessageChecksum, long errorCountFrame and long errorCountOverflow.

public int setBootloaderMode(int mode)

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:

  • BrickletMotionDetectorV2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletMotionDetectorV2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletMotionDetectorV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletMotionDetectorV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletMotionDetectorV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
  • BrickletMotionDetectorV2.BOOTLOADER_STATUS_OK = 0
  • BrickletMotionDetectorV2.BOOTLOADER_STATUS_INVALID_MODE = 1
  • BrickletMotionDetectorV2.BOOTLOADER_STATUS_NO_CHANGE = 2
  • BrickletMotionDetectorV2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BrickletMotionDetectorV2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BrickletMotionDetectorV2.BOOTLOADER_STATUS_CRC_MISMATCH = 5
public int getBootloaderMode()

Returns the current bootloader mode, see setBootloaderMode().

The following constants are available for this function:

  • BrickletMotionDetectorV2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletMotionDetectorV2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletMotionDetectorV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletMotionDetectorV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletMotionDetectorV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
public void setWriteFirmwarePointer(long pointer)

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.

public int writeFirmware(int[] data)

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.

public void setStatusLEDConfig(int config)

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:

  • BrickletMotionDetectorV2.STATUS_LED_CONFIG_OFF = 0
  • BrickletMotionDetectorV2.STATUS_LED_CONFIG_ON = 1
  • BrickletMotionDetectorV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletMotionDetectorV2.STATUS_LED_CONFIG_SHOW_STATUS = 3
public int getStatusLEDConfig()

Returns the configuration as set by setStatusLEDConfig()

The following constants are available for this function:

  • BrickletMotionDetectorV2.STATUS_LED_CONFIG_OFF = 0
  • BrickletMotionDetectorV2.STATUS_LED_CONFIG_ON = 1
  • BrickletMotionDetectorV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletMotionDetectorV2.STATUS_LED_CONFIG_SHOW_STATUS = 3
public int getChipTemperature()

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.

public void 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!

public void writeUID(long uid)

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.

public long readUID()

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

public BrickletMotionDetectorV2.Identity getIdentity()

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.

The returned object has the public member variables String uid, String connectedUid, char position, int[] hardwareVersion, int[] firmwareVersion and int deviceIdentifier.

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with "set" function of MATLAB. The parameters consist of the IP Connection object, the callback name and the callback function. For example, it looks like this in MATLAB:

function my_callback(e)
    fprintf('Parameter: %s\n', e.param);
end

set(device, 'ExampleCallback', @(h, e) my_callback(e));

Due to a difference in the Octave Java support the "set" function cannot be used in Octave. The registration is done with "add*Callback" functions of the device object. It looks like this in Octave:

function my_callback(e)
    fprintf("Parameter: %s\n", e.param);
end

device.addExampleCallback(@my_callback);

It is possible to add several callbacks and to remove them with the corresponding "remove*Callback" function.

The parameters of the callback are passed to the callback function as fields of the structure e, which is derived from the java.util.EventObject class. The available callback names with corresponding structure fields 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.

public callback BrickletMotionDetectorV2.MotionDetectedCallback

This callback is called after a motion was detected.

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addMotionDetectedCallback() function. An added callback function can be removed with the removeMotionDetectedCallback() function.

public callback BrickletMotionDetectorV2.DetectionCycleEndedCallback

This callback is called when the detection cycle ended. When this callback is called, a new motion can be detected again after approximately 2 seconds.

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addDetectionCycleEndedCallback() function. An added callback function can be removed with the removeDetectionCycleEndedCallback() function.

Constants

public static final int BrickletMotionDetectorV2.DEVICE_IDENTIFIER

This constant is used to identify a Motion Detector Bricklet 2.0.

The getIdentity() function and the EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

public static final String BrickletMotionDetectorV2.DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Motion Detector Bricklet 2.0.