class Tinkerforge::BrickletGPSV2
Determine position, velocity and altitude using GPS
Constants
- CALLBACK_ALTITUDE
This callback is triggered periodically with the period that is set by
BrickletGPSV2#set_altitude_callback_period
. The parameters are the same as forBrickletGPSV2#get_altitude
.The
CALLBACK_ALTITUDE
callback is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated byBrickletGPSV2#get_status
.- CALLBACK_COORDINATES
This callback is triggered periodically with the period that is set by
BrickletGPSV2#set_coordinates_callback_period
. The parameters are the same as forBrickletGPSV2#get_coordinates
.The
CALLBACK_COORDINATES
callback is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated byBrickletGPSV2#get_status
.- CALLBACK_DATE_TIME
This callback is triggered periodically with the period that is set by
BrickletGPSV2#set_date_time_callback_period
. The parameters are the same as forBrickletGPSV2#get_date_time
.The
CALLBACK_DATE_TIME
callback is only triggered if the date or time changed since the last triggering.- CALLBACK_MOTION
This callback is triggered periodically with the period that is set by
BrickletGPSV2#set_motion_callback_period
. The parameters are the same as forBrickletGPSV2#get_motion
.The
CALLBACK_MOTION
callback is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated byBrickletGPSV2#get_status
.- CALLBACK_PULSE_PER_SECOND
This callback is triggered precisely once per second, see `PPS <CALLBACK_STATUS
This callback is triggered periodically with the period that is set by
BrickletGPSV2#set_status_callback_period
. The parameters are the same as forBrickletGPSV2#get_status
.The
CALLBACK_STATUS
callback is only triggered if the status changed since the last triggering.
Public Class Methods
Creates an object with the unique device ID uid
and adds it to the IP Connection ipcon
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 141 def initialize(uid, ipcon) super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME @api_version = [2, 0, 1] @response_expected[FUNCTION_GET_COORDINATES] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_STATUS] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_ALTITUDE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_MOTION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_DATE_TIME] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_RESTART] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_SATELLITE_SYSTEM_STATUS_LOW_LEVEL] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_SATELLITE_STATUS] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_FIX_LED_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_FIX_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_COORDINATES_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_COORDINATES_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_STATUS_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_STATUS_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_ALTITUDE_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_MOTION_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_MOTION_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_DATE_TIME_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_SBAS_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_SBAS_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_WRITE_UID] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE @callback_formats[CALLBACK_PULSE_PER_SECOND] = [8, ''] @callback_formats[CALLBACK_COORDINATES] = [18, 'L k L k'] @callback_formats[CALLBACK_STATUS] = [10, '? C'] @callback_formats[CALLBACK_ALTITUDE] = [16, 'l l'] @callback_formats[CALLBACK_MOTION] = [16, 'L L'] @callback_formats[CALLBACK_DATE_TIME] = [16, 'L L'] @ipcon.add_device self end
Public Instance Methods
Returns the current altitude and corresponding geoidal separation.
This data is only valid if there is currently a fix as indicated by BrickletGPSV2#get_status
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 220 def get_altitude check_validity send_request FUNCTION_GET_ALTITUDE, [], '', 16, 'l l' end
Returns the period as set by BrickletGPSV2#set_altitude_callback_period
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 366 def get_altitude_callback_period check_validity send_request FUNCTION_GET_ALTITUDE_CALLBACK_PERIOD, [], '', 12, 'L' end
Returns the current bootloader mode, see BrickletGPSV2#set_bootloader_mode
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 461 def get_bootloader_mode check_validity send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C' end
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.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 519 def get_chip_temperature check_validity send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's' end
Returns the GPS coordinates. Latitude and longitude are given in the “DD.dddddd°“ format, the value 57123468 means 57.123468°. The parameter “ns“ and “ew“ are the cardinal directions for latitude and longitude. Possible values for “ns“ and “ew“ are 'N', 'S', 'E' and 'W' (north, south, east and west).
This data is only valid if there is currently a fix as indicated by BrickletGPSV2#get_status
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 199 def get_coordinates check_validity send_request FUNCTION_GET_COORDINATES, [], '', 18, 'L k L k' end
Returns the period as set by BrickletGPSV2#set_coordinates_callback_period
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 330 def get_coordinates_callback_period check_validity send_request FUNCTION_GET_COORDINATES_CALLBACK_PERIOD, [], '', 12, 'L' end
Returns the current date and time. The date is given in the format “ddmmyy“ and the time is given in the format “hhmmss.sss“. For example, 140713 means 14.07.13 as date and 195923568 means 19:59:23.568 as time.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 244 def get_date_time check_validity send_request FUNCTION_GET_DATE_TIME, [], '', 16, 'L L' end
Returns the period as set by BrickletGPSV2#set_date_time_callback_period
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 402 def get_date_time_callback_period check_validity send_request FUNCTION_GET_DATE_TIME_CALLBACK_PERIOD, [], '', 12, 'L' end
Returns the configuration as set by BrickletGPSV2#set_fix_led_config
# File lib/tinkerforge/bricklet_gps_v2.rb, line 312 def get_fix_led_config check_validity send_request FUNCTION_GET_FIX_LED_CONFIG, [], '', 9, 'C' end
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 :ref:`Isolator Bricklet <isolator_bricklet>` is always at position 'z'.
The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|
# File lib/tinkerforge/bricklet_gps_v2.rb, line 566 def get_identity send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S' end
Returns the current course and speed. A course of 0° means the Bricklet is traveling north bound and 90° means it is traveling east bound.
Please note that this only returns useful values if an actual movement is present.
This data is only valid if there is currently a fix as indicated by BrickletGPSV2#get_status
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 234 def get_motion check_validity send_request FUNCTION_GET_MOTION, [], '', 16, 'L L' end
Returns the period as set by BrickletGPSV2#set_motion_callback_period
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 384 def get_motion_callback_period check_validity send_request FUNCTION_GET_MOTION_CALLBACK_PERIOD, [], '', 12, 'L' end
Returns the current elevation, azimuth and SNR for a given satellite and satellite system.
The satellite number here always goes from 1 to 32. For GLONASS it corresponds to the satellites 65-96.
Galileo is not yet supported.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 291 def get_satellite_status(satellite_system, satellite_number) check_validity send_request FUNCTION_GET_SATELLITE_STATUS, [satellite_system, satellite_number], 'C C', 14, 's s s' end
Returns the
-
satellite numbers list (up to 12 items)
-
fix value,
-
PDOP value,
-
HDOP value and
-
VDOP value
for a given satellite system. Currently GPS and GLONASS are supported, Galileo is not yet supported.
The GPS and GLONASS satellites have unique numbers and the satellite list gives the numbers of the satellites that are currently utilized. The number 0 is not a valid satellite number and can be ignored in the list.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 584 def get_satellite_system_status(satellite_system) ret = get_satellite_system_status_low_level satellite_system [ret[1][0, ret[0]], ret[2], ret[3], ret[4], ret[5]] end
Returns the
-
satellite numbers list (up to 12 items)
-
fix value,
-
PDOP value,
-
HDOP value and
-
VDOP value
for a given satellite system. Currently GPS and GLONASS are supported, Galileo is not yet supported.
The GPS and GLONASS satellites have unique numbers and the satellite list gives the numbers of the satellites that are currently utilized. The number 0 is not a valid satellite number and can be ignored in the list.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 278 def get_satellite_system_status_low_level(satellite_system) check_validity send_request FUNCTION_GET_SATELLITE_SYSTEM_STATUS_LOW_LEVEL, [satellite_system], 'C', 28, 'C C12 C S S S' end
Returns the SBAS configuration as set by BrickletGPSV2#set_sbas_config
- .. versionadded
-
2.0.2$nbsp;(Plugin)
# File lib/tinkerforge/bricklet_gps_v2.rb, line 422 def get_sbas_config check_validity send_request FUNCTION_GET_SBAS_CONFIG, [], '', 9, 'C' end
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.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 439 def get_spitfp_error_count check_validity send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L' end
Returns if a fix is currently available as well as the, the number of satellites that are in view.
There is also a :ref:`green LED <gps_v2_bricklet_fix_led>` on the Bricklet that indicates the fix status.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 210 def get_status check_validity send_request FUNCTION_GET_STATUS, [], '', 10, '? C' end
Returns the period as set by BrickletGPSV2#set_status_callback_period
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 348 def get_status_callback_period check_validity send_request FUNCTION_GET_STATUS_CALLBACK_PERIOD, [], '', 12, 'L' end
Returns the configuration as set by BrickletGPSV2#set_status_led_config
# File lib/tinkerforge/bricklet_gps_v2.rb, line 507 def get_status_led_config check_validity send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C' end
Returns the current UID as an integer. Encode as Base58
to get the usual string version.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 550 def read_uid check_validity send_request FUNCTION_READ_UID, [], '', 12, 'L' end
Registers a callback with ID id
to the block block
.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 591 def register_callback(id, &block) callback = block @registered_callbacks[id] = callback end
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!
# File lib/tinkerforge/bricklet_gps_v2.rb, line 531 def reset check_validity send_request FUNCTION_RESET, [], '', 8, '' end
Restarts the GPS Bricklet, the following restart types are available:
"Value", "Description" "0", "Hot start (use all available data in the NV store)" "1", "Warm start (don't use ephemeris at restart)" "2", "Cold start (don't use time, position, almanacs and ephemeris at restart)" "3", "Factory reset (clear all system/user configurations at restart)"
# File lib/tinkerforge/bricklet_gps_v2.rb, line 258 def restart(restart_type) check_validity send_request FUNCTION_RESTART, [restart_type], 'C', 8, '' end
Sets the period with which the CALLBACK_ALTITUDE
callback is triggered periodically. A value of 0 turns the callback off.
The CALLBACK_ALTITUDE
callback is only triggered if the altitude changed since the last triggering.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 359 def set_altitude_callback_period(period) check_validity send_request FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD, [period], 'L', 8, '' end
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.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 454 def set_bootloader_mode(mode) check_validity send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C' end
Sets the period with which the CALLBACK_COORDINATES
callback is triggered periodically. A value of 0 turns the callback off.
The CALLBACK_COORDINATES
callback is only triggered if the coordinates changed since the last triggering.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 323 def set_coordinates_callback_period(period) check_validity send_request FUNCTION_SET_COORDINATES_CALLBACK_PERIOD, [period], 'L', 8, '' end
Sets the period with which the CALLBACK_DATE_TIME
callback is triggered periodically. A value of 0 turns the callback off.
The CALLBACK_DATE_TIME
callback is only triggered if the date or time changed since the last triggering.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 395 def set_date_time_callback_period(period) check_validity send_request FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD, [period], 'L', 8, '' end
Sets the fix LED configuration. By default the LED shows if the Bricklet got a GPS fix yet. If a fix is established the LED turns on. If there is no fix then the LED is turned off.
You can also turn the LED permanently on/off, show a heartbeat or let it blink in sync with the PPS (pulse per second) output of the GPS module.
If the Bricklet is in bootloader mode, the LED is off.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 305 def set_fix_led_config(config) check_validity send_request FUNCTION_SET_FIX_LED_CONFIG, [config], 'C', 8, '' end
Sets the period with which the CALLBACK_MOTION
callback is triggered periodically. A value of 0 turns the callback off.
The CALLBACK_MOTION
callback is only triggered if the motion changed since the last triggering.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 377 def set_motion_callback_period(period) check_validity send_request FUNCTION_SET_MOTION_CALLBACK_PERIOD, [period], 'L', 8, '' end
Sets the period with which the CALLBACK_STATUS
callback is triggered periodically. A value of 0 turns the callback off.
The CALLBACK_STATUS
callback is only triggered if the status changed since the last triggering.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 341 def set_status_callback_period(period) check_validity send_request FUNCTION_SET_STATUS_CALLBACK_PERIOD, [period], 'L', 8, '' end
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.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 500 def set_status_led_config(config) check_validity send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, '' end
Sets the firmware pointer for BrickletGPSV2#write_firmware
. 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.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 473 def set_write_firmware_pointer(pointer) check_validity send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, '' end
Writes 64 Bytes of firmware at the position as written by BrickletGPSV2#set_write_firmware_pointer
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.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 487 def write_firmware(data) check_validity send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C' end
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.
# File lib/tinkerforge/bricklet_gps_v2.rb, line 542 def write_uid(uid) check_validity send_request FUNCTION_WRITE_UID, [uid], 'L', 8, '' end