Documentation ¶
Overview ¶
Determine position, velocity and altitude using GPS.
See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/GPS_Bricklet_Go.html.
Index ¶
- Constants
- type Fix
- type Function
- type GPSBricklet
- func (device *GPSBricklet) DeregisterAltitudeCallback(registrationId uint64)
- func (device *GPSBricklet) DeregisterCoordinatesCallback(registrationId uint64)
- func (device *GPSBricklet) DeregisterDateTimeCallback(registrationId uint64)
- func (device *GPSBricklet) DeregisterMotionCallback(registrationId uint64)
- func (device *GPSBricklet) DeregisterStatusCallback(registrationId uint64)
- func (device *GPSBricklet) GetAPIVersion() [3]uint8
- func (device *GPSBricklet) GetAltitude() (altitude int32, geoidalSeparation int32, err error)
- func (device *GPSBricklet) GetAltitudeCallbackPeriod() (period uint32, err error)
- func (device *GPSBricklet) GetCoordinates() (latitude uint32, ns rune, longitude uint32, ew rune, pdop uint16, hdop uint16, ...)
- func (device *GPSBricklet) GetCoordinatesCallbackPeriod() (period uint32, err error)
- func (device *GPSBricklet) GetDateTime() (date uint32, time uint32, err error)
- func (device *GPSBricklet) GetDateTimeCallbackPeriod() (period uint32, err error)
- func (device *GPSBricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, ...)
- func (device *GPSBricklet) GetMotion() (course uint32, speed uint32, err error)
- func (device *GPSBricklet) GetMotionCallbackPeriod() (period uint32, err error)
- func (device *GPSBricklet) GetResponseExpected(functionID Function) (bool, error)
- func (device *GPSBricklet) GetStatus() (fix Fix, satellitesView uint8, satellitesUsed uint8, err error)
- func (device *GPSBricklet) GetStatusCallbackPeriod() (period uint32, err error)
- func (device *GPSBricklet) RegisterAltitudeCallback(fn func(int32, int32)) uint64
- func (device *GPSBricklet) RegisterCoordinatesCallback(fn func(uint32, rune, uint32, rune, uint16, uint16, uint16, uint16)) uint64
- func (device *GPSBricklet) RegisterDateTimeCallback(fn func(uint32, uint32)) uint64
- func (device *GPSBricklet) RegisterMotionCallback(fn func(uint32, uint32)) uint64
- func (device *GPSBricklet) RegisterStatusCallback(fn func(Fix, uint8, uint8)) uint64
- func (device *GPSBricklet) Restart(restartType RestartType) (err error)
- func (device *GPSBricklet) SetAltitudeCallbackPeriod(period uint32) (err error)
- func (device *GPSBricklet) SetCoordinatesCallbackPeriod(period uint32) (err error)
- func (device *GPSBricklet) SetDateTimeCallbackPeriod(period uint32) (err error)
- func (device *GPSBricklet) SetMotionCallbackPeriod(period uint32) (err error)
- func (device *GPSBricklet) SetResponseExpected(functionID Function, responseExpected bool) error
- func (device *GPSBricklet) SetResponseExpectedAll(responseExpected bool)
- func (device *GPSBricklet) SetStatusCallbackPeriod(period uint32) (err error)
- type RestartType
Constants ¶
const DeviceDisplayName = "GPS Bricklet"
const DeviceIdentifier = 222
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type Function ¶
type Function = uint8
const ( FunctionGetCoordinates Function = 1 FunctionGetStatus Function = 2 FunctionGetAltitude Function = 3 FunctionGetMotion Function = 4 FunctionGetDateTime Function = 5 FunctionRestart Function = 6 FunctionSetCoordinatesCallbackPeriod Function = 7 FunctionGetCoordinatesCallbackPeriod Function = 8 FunctionSetStatusCallbackPeriod Function = 9 FunctionGetStatusCallbackPeriod Function = 10 FunctionSetAltitudeCallbackPeriod Function = 11 FunctionGetAltitudeCallbackPeriod Function = 12 FunctionSetMotionCallbackPeriod Function = 13 FunctionGetMotionCallbackPeriod Function = 14 FunctionSetDateTimeCallbackPeriod Function = 15 FunctionGetDateTimeCallbackPeriod Function = 16 FunctionGetIdentity Function = 255 FunctionCallbackCoordinates Function = 17 FunctionCallbackStatus Function = 18 FunctionCallbackAltitude Function = 19 FunctionCallbackMotion Function = 20 FunctionCallbackDateTime Function = 21 )
type GPSBricklet ¶
type GPSBricklet struct {
// contains filtered or unexported fields
}
func New ¶
func New(uid string, ipcon *ipconnection.IPConnection) (GPSBricklet, error)
Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.
func (*GPSBricklet) DeregisterAltitudeCallback ¶
func (device *GPSBricklet) DeregisterAltitudeCallback(registrationId uint64)
Remove a registered Altitude callback.
func (*GPSBricklet) DeregisterCoordinatesCallback ¶
func (device *GPSBricklet) DeregisterCoordinatesCallback(registrationId uint64)
Remove a registered Coordinates callback.
func (*GPSBricklet) DeregisterDateTimeCallback ¶
func (device *GPSBricklet) DeregisterDateTimeCallback(registrationId uint64)
Remove a registered Date Time callback.
func (*GPSBricklet) DeregisterMotionCallback ¶
func (device *GPSBricklet) DeregisterMotionCallback(registrationId uint64)
Remove a registered Motion callback.
func (*GPSBricklet) DeregisterStatusCallback ¶
func (device *GPSBricklet) DeregisterStatusCallback(registrationId uint64)
Remove a registered Status callback.
func (*GPSBricklet) GetAPIVersion ¶
func (device *GPSBricklet) 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 (*GPSBricklet) GetAltitude ¶
func (device *GPSBricklet) GetAltitude() (altitude int32, geoidalSeparation int32, err error)
Returns the current altitude and corresponding geoidal separation.
This data is only valid if there is currently a fix as indicated by GetStatus.
func (*GPSBricklet) GetAltitudeCallbackPeriod ¶
func (device *GPSBricklet) GetAltitudeCallbackPeriod() (period uint32, err error)
Returns the period as set by SetAltitudeCallbackPeriod.
func (*GPSBricklet) GetCoordinates ¶
func (device *GPSBricklet) GetCoordinates() (latitude uint32, ns rune, longitude uint32, ew rune, pdop uint16, hdop uint16, vdop uint16, epe uint16, err error)
Returns the GPS coordinates. Latitude and longitude are given in the https://en.wikipedia.org/wiki/Dilution_of_precision_(GPS) for more information.
EPE is the Estimated Position Error. This is not the absolute maximum error, it is the error with a specific confidence. See https://www.nps.gov/gis/gps/WhatisEPE.html for more information.
This data is only valid if there is currently a fix as indicated by GetStatus.
func (*GPSBricklet) GetCoordinatesCallbackPeriod ¶
func (device *GPSBricklet) GetCoordinatesCallbackPeriod() (period uint32, err error)
Returns the period as set by SetCoordinatesCallbackPeriod.
func (*GPSBricklet) GetDateTime ¶
func (device *GPSBricklet) GetDateTime() (date uint32, time uint32, err error)
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.
func (*GPSBricklet) GetDateTimeCallbackPeriod ¶
func (device *GPSBricklet) GetDateTimeCallbackPeriod() (period uint32, err error)
Returns the period as set by SetDateTimeCallbackPeriod.
func (*GPSBricklet) GetIdentity ¶
func (device *GPSBricklet) 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', '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 (*GPSBricklet) GetMotion ¶
func (device *GPSBricklet) GetMotion() (course uint32, speed uint32, err error)
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 GetStatus.
func (*GPSBricklet) GetMotionCallbackPeriod ¶
func (device *GPSBricklet) GetMotionCallbackPeriod() (period uint32, err error)
Returns the period as set by SetMotionCallbackPeriod.
func (*GPSBricklet) GetResponseExpected ¶
func (device *GPSBricklet) 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 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 (*GPSBricklet) GetStatus ¶
func (device *GPSBricklet) GetStatus() (fix Fix, satellitesView uint8, satellitesUsed uint8, err error)
Returns the current fix status, the number of satellites that are in view and the number of satellites that are currently used.
Possible fix status values can be:
Value| Description --- | --- 1| No Fix| GetCoordinates| GetAltitude and GetMotion return invalid data 2| 2D Fix| only GetCoordinates and GetMotion return valid data 3| 3D Fix| GetCoordinates| GetAltitude and GetMotion return valid data
There is also a `blue LED <gps_bricklet_fix_led>` on the Bricklet that indicates the fix status.
Associated constants:
- FixNoFix
- Fix2DFix
- Fix3DFix
func (*GPSBricklet) GetStatusCallbackPeriod ¶
func (device *GPSBricklet) GetStatusCallbackPeriod() (period uint32, err error)
Returns the period as set by SetStatusCallbackPeriod.
func (*GPSBricklet) RegisterAltitudeCallback ¶
func (device *GPSBricklet) RegisterAltitudeCallback(fn func(int32, int32)) uint64
This callback is triggered periodically with the period that is set by SetAltitudeCallbackPeriod. The parameters are the same as for GetAltitude.
The RegisterAltitudeCallback callback is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated by GetStatus.
func (*GPSBricklet) RegisterCoordinatesCallback ¶
func (device *GPSBricklet) RegisterCoordinatesCallback(fn func(uint32, rune, uint32, rune, uint16, uint16, uint16, uint16)) uint64
This callback is triggered periodically with the period that is set by SetCoordinatesCallbackPeriod. The parameters are the same as for GetCoordinates.
The RegisterCoordinatesCallback callback is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated by GetStatus.
func (*GPSBricklet) RegisterDateTimeCallback ¶
func (device *GPSBricklet) RegisterDateTimeCallback(fn func(uint32, uint32)) uint64
This callback is triggered periodically with the period that is set by SetDateTimeCallbackPeriod. The parameters are the same as for GetDateTime.
The RegisterDateTimeCallback callback is only triggered if the date or time changed since the last triggering.
func (*GPSBricklet) RegisterMotionCallback ¶
func (device *GPSBricklet) RegisterMotionCallback(fn func(uint32, uint32)) uint64
This callback is triggered periodically with the period that is set by SetMotionCallbackPeriod. The parameters are the same as for GetMotion.
The RegisterMotionCallback callback is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated by GetStatus.
func (*GPSBricklet) RegisterStatusCallback ¶
func (device *GPSBricklet) RegisterStatusCallback(fn func(Fix, uint8, uint8)) uint64
This callback is triggered periodically with the period that is set by SetStatusCallbackPeriod. The parameters are the same as for GetStatus.
The RegisterStatusCallback callback is only triggered if the status changed since the last triggering.
func (*GPSBricklet) Restart ¶
func (device *GPSBricklet) Restart(restartType RestartType) (err error)
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)
Associated constants:
- RestartTypeHotStart
- RestartTypeWarmStart
- RestartTypeColdStart
- RestartTypeFactoryReset
func (*GPSBricklet) SetAltitudeCallbackPeriod ¶
func (device *GPSBricklet) SetAltitudeCallbackPeriod(period uint32) (err error)
Sets the period with which the RegisterAltitudeCallback callback is triggered periodically. A value of 0 turns the callback off.
The RegisterAltitudeCallback callback is only triggered if the altitude changed since the last triggering.
func (*GPSBricklet) SetCoordinatesCallbackPeriod ¶
func (device *GPSBricklet) SetCoordinatesCallbackPeriod(period uint32) (err error)
Sets the period with which the RegisterCoordinatesCallback callback is triggered periodically. A value of 0 turns the callback off.
The RegisterCoordinatesCallback callback is only triggered if the coordinates changed since the last triggering.
func (*GPSBricklet) SetDateTimeCallbackPeriod ¶
func (device *GPSBricklet) SetDateTimeCallbackPeriod(period uint32) (err error)
Sets the period with which the RegisterDateTimeCallback callback is triggered periodically. A value of 0 turns the callback off.
The RegisterDateTimeCallback callback is only triggered if the date or time changed since the last triggering.
func (*GPSBricklet) SetMotionCallbackPeriod ¶
func (device *GPSBricklet) SetMotionCallbackPeriod(period uint32) (err error)
Sets the period with which the RegisterMotionCallback callback is triggered periodically. A value of 0 turns the callback off.
The RegisterMotionCallback callback is only triggered if the motion changed since the last triggering.
func (*GPSBricklet) SetResponseExpected ¶
func (device *GPSBricklet) 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 sent and errors are silently ignored, because they cannot be detected.
func (*GPSBricklet) SetResponseExpectedAll ¶
func (device *GPSBricklet) SetResponseExpectedAll(responseExpected bool)
Changes the response expected flag for all setter and callback configuration functions of this device at once.
func (*GPSBricklet) SetStatusCallbackPeriod ¶
func (device *GPSBricklet) SetStatusCallbackPeriod(period uint32) (err error)
Sets the period with which the RegisterStatusCallback callback is triggered periodically. A value of 0 turns the callback off.
The RegisterStatusCallback callback is only triggered if the status changed since the last triggering.
type RestartType ¶
type RestartType = uint8
const ( RestartTypeHotStart RestartType = 0 RestartTypeWarmStart RestartType = 1 RestartTypeColdStart RestartType = 2 RestartTypeFactoryReset RestartType = 3 )