go-api-bindings: github.com/Tinkerforge/go-api-bindings/compass_bricklet Index | Files

package compass_bricklet

import "github.com/Tinkerforge/go-api-bindings/compass_bricklet"

3-axis compass with 0.1mG (milli Gauss) and 0.1° resolution.

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/Compass_Bricklet_Go.html.

Index

Package Files

compass_bricklet.go

Constants

const DeviceDisplayName = "Compass Bricklet"
const DeviceIdentifier = 2153

type BootloaderMode Uses

type BootloaderMode = uint8
const (
    BootloaderModeBootloader                    BootloaderMode = 0
    BootloaderModeFirmware                      BootloaderMode = 1
    BootloaderModeBootloaderWaitForReboot       BootloaderMode = 2
    BootloaderModeFirmwareWaitForReboot         BootloaderMode = 3
    BootloaderModeFirmwareWaitForEraseAndReboot BootloaderMode = 4
)

type BootloaderStatus Uses

type BootloaderStatus = uint8
const (
    BootloaderStatusOK                        BootloaderStatus = 0
    BootloaderStatusInvalidMode               BootloaderStatus = 1
    BootloaderStatusNoChange                  BootloaderStatus = 2
    BootloaderStatusEntryFunctionNotPresent   BootloaderStatus = 3
    BootloaderStatusDeviceIdentifierIncorrect BootloaderStatus = 4
    BootloaderStatusCRCMismatch               BootloaderStatus = 5
)

type CompassBricklet Uses

type CompassBricklet struct {
    // contains filtered or unexported fields
}

func New Uses

func New(uid string, ipcon *ipconnection.IPConnection) (CompassBricklet, error)

Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.

func (*CompassBricklet) DeregisterHeadingCallback Uses

func (device *CompassBricklet) DeregisterHeadingCallback(registrationId uint64)

Remove a registered Heading callback.

func (*CompassBricklet) DeregisterMagneticFluxDensityCallback Uses

func (device *CompassBricklet) DeregisterMagneticFluxDensityCallback(registrationId uint64)

Remove a registered Magnetic Flux Density callback.

func (*CompassBricklet) GetAPIVersion Uses

func (device *CompassBricklet) GetAPIVersion() [3]uint8

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 (*CompassBricklet) GetBootloaderMode Uses

func (device *CompassBricklet) GetBootloaderMode() (mode BootloaderMode, err error)

Returns the current bootloader mode, see SetBootloaderMode.

Associated constants:

* BootloaderModeBootloader
* BootloaderModeFirmware
* BootloaderModeBootloaderWaitForReboot
* BootloaderModeFirmwareWaitForReboot
* BootloaderModeFirmwareWaitForEraseAndReboot

func (*CompassBricklet) GetCalibration Uses

func (device *CompassBricklet) GetCalibration() (offset [3]int16, gain [3]int16, err error)

Returns the calibration parameters as set by SetCalibration.

func (*CompassBricklet) GetChipTemperature Uses

func (device *CompassBricklet) GetChipTemperature() (temperature int16, err error)

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.

func (*CompassBricklet) GetConfiguration Uses

func (device *CompassBricklet) GetConfiguration() (dataRate DataRate, backgroundCalibration bool, err error)

Returns the configuration as set by SetConfiguration.

Associated constants:

* DataRate100Hz
* DataRate200Hz
* DataRate400Hz
* DataRate600Hz

func (*CompassBricklet) GetHeading Uses

func (device *CompassBricklet) GetHeading() (heading int16, err error)

Returns the heading in 1/10 degree (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 (*CompassBricklet) GetHeadingCallbackConfiguration Uses

func (device *CompassBricklet) GetHeadingCallbackConfiguration() (period uint32, valueHasToChange bool, option ThresholdOption, min int16, max int16, err error)

Returns the callback configuration as set by SetHeadingCallbackConfiguration.

Associated constants:

* ThresholdOptionOff
* ThresholdOptionOutside
* ThresholdOptionInside
* ThresholdOptionSmaller
* ThresholdOptionGreater

func (*CompassBricklet) GetIdentity Uses

func (device *CompassBricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

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 <device_identifier>`. |device_identifier_constant|

func (*CompassBricklet) GetMagneticFluxDensity Uses

func (device *CompassBricklet) GetMagneticFluxDensity() (x int32, y int32, z int32, err error)

Returns the https://en.wikipedia.org/wiki/Magnetic_flux for all three axis in 1/10 https://en.wikipedia.org/wiki/Gauss_(unit).

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 (*CompassBricklet) GetMagneticFluxDensityCallbackConfiguration Uses

func (device *CompassBricklet) GetMagneticFluxDensityCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetMagneticFluxDensityCallbackConfiguration.

func (*CompassBricklet) GetResponseExpected Uses

func (device *CompassBricklet) GetResponseExpected(functionID Function) (bool, error)

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.

func (*CompassBricklet) GetSPITFPErrorCount Uses

func (device *CompassBricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)

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 (*CompassBricklet) GetStatusLEDConfig Uses

func (device *CompassBricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error)

Returns the configuration as set by SetStatusLEDConfig

Associated constants:

* StatusLEDConfigOff
* StatusLEDConfigOn
* StatusLEDConfigShowHeartbeat
* StatusLEDConfigShowStatus

func (*CompassBricklet) ReadUID Uses

func (device *CompassBricklet) ReadUID() (uid uint32, err error)

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

func (*CompassBricklet) RegisterHeadingCallback Uses

func (device *CompassBricklet) RegisterHeadingCallback(fn func(int16)) uint64

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

The parameter is the same as GetHeading.

func (*CompassBricklet) RegisterMagneticFluxDensityCallback Uses

func (device *CompassBricklet) RegisterMagneticFluxDensityCallback(fn func(int32, int32, int32)) uint64

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

The parameters are the same as GetMagneticFluxDensity.

func (*CompassBricklet) Reset Uses

func (device *CompassBricklet) Reset() (err error)

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 (*CompassBricklet) SetBootloaderMode Uses

func (device *CompassBricklet) SetBootloaderMode(mode BootloaderMode) (status BootloaderStatus, err error)

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 (*CompassBricklet) SetCalibration Uses

func (device *CompassBricklet) SetCalibration(offset [3]int16, gain [3]int16) (err error)

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 (*CompassBricklet) SetConfiguration Uses

func (device *CompassBricklet) SetConfiguration(dataRate DataRate, backgroundCalibration bool) (err error)

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.

Default values: Data rate of 100Hz and background calibration enabled.

Associated constants:

* DataRate100Hz
* DataRate200Hz
* DataRate400Hz
* DataRate600Hz

func (*CompassBricklet) SetHeadingCallbackConfiguration Uses

func (device *CompassBricklet) SetHeadingCallbackConfiguration(period uint32, valueHasToChange bool, option ThresholdOption, min int16, max int16) (err error)

The period in ms 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.

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

Associated constants:

* ThresholdOptionOff
* ThresholdOptionOutside
* ThresholdOptionInside
* ThresholdOptionSmaller
* ThresholdOptionGreater

func (*CompassBricklet) SetMagneticFluxDensityCallbackConfiguration Uses

func (device *CompassBricklet) SetMagneticFluxDensityCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period in ms 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.

The default value is (0, false).

func (*CompassBricklet) SetResponseExpected Uses

func (device *CompassBricklet) SetResponseExpected(functionID Function, responseExpected bool) error

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.

func (*CompassBricklet) SetResponseExpectedAll Uses

func (device *CompassBricklet) SetResponseExpectedAll(responseExpected bool)

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

func (*CompassBricklet) SetStatusLEDConfig Uses

func (device *CompassBricklet) SetStatusLEDConfig(config StatusLEDConfig) (err error)

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 (*CompassBricklet) SetWriteFirmwarePointer Uses

func (device *CompassBricklet) SetWriteFirmwarePointer(pointer uint32) (err error)

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 (*CompassBricklet) WriteFirmware Uses

func (device *CompassBricklet) WriteFirmware(data [64]uint8) (status uint8, err error)

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 (*CompassBricklet) WriteUID Uses

func (device *CompassBricklet) WriteUID(uid uint32) (err error)

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.

type DataRate Uses

type DataRate = uint8
const (
    DataRate100Hz DataRate = 0
    DataRate200Hz DataRate = 1
    DataRate400Hz DataRate = 2
    DataRate600Hz DataRate = 3
)

type Function Uses

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 StatusLEDConfig Uses

type StatusLEDConfig = uint8
const (
    StatusLEDConfigOff           StatusLEDConfig = 0
    StatusLEDConfigOn            StatusLEDConfig = 1
    StatusLEDConfigShowHeartbeat StatusLEDConfig = 2
    StatusLEDConfigShowStatus    StatusLEDConfig = 3
)

type ThresholdOption Uses

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

Package compass_bricklet imports 4 packages (graph). Updated 2019-08-23. Refresh now. Tools for package owners.