Visual Basic .NET - Compass Bricklet¶

Simple¶

Download (ExampleSimple.vb)

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Imports System
Imports Tinkerforge

Module ExampleSimple
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Compass Bricklet

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim c As New BrickletCompass(UID, ipcon) ' Create device object

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

        ' Get current heading
        Dim heading As Short = c.GetHeading()
        Console.WriteLine("Heading: " + (heading/10.0).ToString() + " °")

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

Callback¶

Download (ExampleCallback.vb)

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Imports System
Imports Tinkerforge

Module ExampleCallback
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Compass Bricklet

    ' Callback subroutine for heading callback
    Sub HeadingCB(ByVal sender As BrickletCompass, ByVal heading As Short)
        Console.WriteLine("Heading: " + (heading/10.0).ToString() + " °")
    End Sub

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim c As New BrickletCompass(UID, ipcon) ' Create device object

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

        ' Register heading callback to subroutine HeadingCB
        AddHandler c.HeadingCallback, AddressOf HeadingCB

        ' Set period for heading callback to 0.1s (100ms) without a threshold
        c.SetHeadingCallbackConfiguration(100, False, "x"C, 0, 0)

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

Basic Functions¶

Class BrickletCompass(ByVal uid As String, ByVal ipcon As IPConnection)¶

Creates an object with the unique device ID uid:

Dim compass As New BrickletCompass("YOUR_DEVICE_UID", ipcon)

This object can then be used after the IP Connection is connected.

Function BrickletCompass.GetHeading() As Short¶

Returns:	heading – Type: Short, Unit: 1/10 °, Range: [0 to 3600]

Returns the heading (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 HeadingCallback callback. You can set the callback configuration with SetHeadingCallbackConfiguration().

Sub BrickletCompass.GetMagneticFluxDensity(ByRef x As Integer, ByRef y As Integer, ByRef z As Integer)¶

Output Parameters:	x – Type: Integer, Unit: 1/100 µT, Range: [-80000 to 80000] y – Type: Integer, Unit: 1/100 µT, Range: [-80000 to 80000] z – Type: Integer, Unit: 1/100 µT, Range: [-80000 to 80000]

Returns the magnetic flux density (magnetic induction) for all three axis.

If you want to get the value periodically, it is recommended to use the MagneticFluxDensityCallback callback. You can set the callback configuration with SetMagneticFluxDensityCallbackConfiguration().

Sub BrickletCompass.SetConfiguration(ByVal dataRate As Byte, ByVal backgroundCalibration As Boolean)¶

Parameters:	dataRate – Type: Byte, Range: See constants, Default: 0 backgroundCalibration – Type: Boolean, Default: true

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.

The following constants are available for this function:

For dataRate:

• BrickletCompass.DATA_RATE_100HZ = 0
• BrickletCompass.DATA_RATE_200HZ = 1
• BrickletCompass.DATA_RATE_400HZ = 2
• BrickletCompass.DATA_RATE_600HZ = 3

Sub BrickletCompass.GetConfiguration(ByRef dataRate As Byte, ByRef backgroundCalibration As Boolean)¶

Output Parameters:	dataRate – Type: Byte, Range: See constants, Default: 0 backgroundCalibration – Type: Boolean, Default: true

Returns the configuration as set by SetConfiguration().

The following constants are available for this function:

For dataRate:

• BrickletCompass.DATA_RATE_100HZ = 0
• BrickletCompass.DATA_RATE_200HZ = 1
• BrickletCompass.DATA_RATE_400HZ = 2
• BrickletCompass.DATA_RATE_600HZ = 3

Advanced Functions¶

Sub BrickletCompass.SetCalibration(ByVal offset() As Short, ByVal gain() As Short)¶

Parameters:	offset – Type: Short Array, Length: 3 0: x – Type: Short, Unit: 1/100 µT, Range: [-215 to 215 - 1] 1: y – Type: Short, Unit: 1/100 µT, Range: [-215 to 215 - 1] 2: z – Type: Short, Unit: 1/100 µT, Range: [-215 to 215 - 1] gain – Type: Short Array, Length: 3 0: x – Type: Short, Range: [-215 to 215 - 1] 1: y – Type: Short, Range: [-215 to 215 - 1] 2: z – Type: Short, Range: [-215 to 215 - 1]

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.

Sub BrickletCompass.GetCalibration(ByRef offset() As Short, ByRef gain() As Short)¶

Output Parameters:	offset – Type: Short Array, Length: 3 0: x – Type: Short, Unit: 1/100 µT, Range: [-215 to 215 - 1] 1: y – Type: Short, Unit: 1/100 µT, Range: [-215 to 215 - 1] 2: z – Type: Short, Unit: 1/100 µT, Range: [-215 to 215 - 1] gain – Type: Short Array, Length: 3 0: x – Type: Short, Range: [-215 to 215 - 1] 1: y – Type: Short, Range: [-215 to 215 - 1] 2: z – Type: Short, Range: [-215 to 215 - 1]

Returns the calibration parameters as set by SetCalibration().

Sub BrickletCompass.GetSPITFPErrorCount(ByRef errorCountAckChecksum As Long, ByRef errorCountMessageChecksum As Long, ByRef errorCountFrame As Long, ByRef errorCountOverflow As Long)¶

Output Parameters:	errorCountAckChecksum – Type: Long, Range: [0 to 232 - 1] errorCountMessageChecksum – Type: Long, Range: [0 to 232 - 1] errorCountFrame – Type: Long, Range: [0 to 232 - 1] errorCountOverflow – Type: Long, Range: [0 to 232 - 1]

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.

Sub BrickletCompass.SetStatusLEDConfig(ByVal config As Byte)¶

Parameters:	config – Type: Byte, Range: See constants, Default: 3

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:

For config:

• BrickletCompass.STATUS_LED_CONFIG_OFF = 0
• BrickletCompass.STATUS_LED_CONFIG_ON = 1
• BrickletCompass.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletCompass.STATUS_LED_CONFIG_SHOW_STATUS = 3

Function BrickletCompass.GetStatusLEDConfig() As Byte¶

Returns:	config – Type: Byte, Range: See constants, Default: 3

Returns the configuration as set by SetStatusLEDConfig()

The following constants are available for this function:

For config:

• BrickletCompass.STATUS_LED_CONFIG_OFF = 0
• BrickletCompass.STATUS_LED_CONFIG_ON = 1
• BrickletCompass.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletCompass.STATUS_LED_CONFIG_SHOW_STATUS = 3

Function BrickletCompass.GetChipTemperature() As Short¶

Returns:	temperature – Type: Short, Unit: 1 °C, Range: [-215 to 215 - 1]

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.

Sub BrickletCompass.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!

Sub BrickletCompass.GetIdentity(ByRef uid As String, ByRef connectedUid As String, ByRef position As Char, ByRef hardwareVersion() As Byte, ByRef firmwareVersion() As Byte, ByRef deviceIdentifier As Integer)¶

Output Parameters:

uid – Type: String, Length: up to 8 connectedUid – Type: String, Length: up to 8 position – Type: Char, Range: ["a"C to "h"C, "z"C] hardwareVersion – Type: Byte Array, Length: 3 0: major – Type: Byte, Range: [0 to 255] 1: minor – Type: Byte, Range: [0 to 255] 2: revision – Type: Byte, Range: [0 to 255] firmwareVersion – Type: Byte Array, Length: 3 0: major – Type: Byte, Range: [0 to 255] 1: minor – Type: Byte, Range: [0 to 255] 2: revision – Type: Byte, Range: [0 to 255] deviceIdentifier – Type: Integer, Range: [0 to 216 - 1]

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 is always at position 'z'.

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

Callback Configuration Functions¶

Sub BrickletCompass.SetHeadingCallbackConfiguration(ByVal period As Long, ByVal valueHasToChange As Boolean, ByVal option As Char, ByVal min As Short, ByVal max As Short)¶

Parameters:	period – Type: Long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: Boolean, Default: false option – Type: Char, Range: See constants, Default: "x"C min – Type: Short, Unit: 1/10 °, Range: [-215 to 215 - 1], Default: 0 max – Type: Short, Unit: 1/10 °, Range: [-215 to 215 - 1], Default: 0

The period is the period with which the HeadingCallback 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 HeadingCallback 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 following constants are available for this function:

For option:

• BrickletCompass.THRESHOLD_OPTION_OFF = "x"C
• BrickletCompass.THRESHOLD_OPTION_OUTSIDE = "o"C
• BrickletCompass.THRESHOLD_OPTION_INSIDE = "i"C
• BrickletCompass.THRESHOLD_OPTION_SMALLER = "<"C
• BrickletCompass.THRESHOLD_OPTION_GREATER = ">"C

Sub BrickletCompass.GetHeadingCallbackConfiguration(ByRef period As Long, ByRef valueHasToChange As Boolean, ByRef option As Char, ByRef min As Short, ByRef max As Short)¶

Output Parameters:	period – Type: Long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: Boolean, Default: false option – Type: Char, Range: See constants, Default: "x"C min – Type: Short, Unit: 1/10 °, Range: [-215 to 215 - 1], Default: 0 max – Type: Short, Unit: 1/10 °, Range: [-215 to 215 - 1], Default: 0

Returns the callback configuration as set by SetHeadingCallbackConfiguration().

The following constants are available for this function:

For option:

• BrickletCompass.THRESHOLD_OPTION_OFF = "x"C
• BrickletCompass.THRESHOLD_OPTION_OUTSIDE = "o"C
• BrickletCompass.THRESHOLD_OPTION_INSIDE = "i"C
• BrickletCompass.THRESHOLD_OPTION_SMALLER = "<"C
• BrickletCompass.THRESHOLD_OPTION_GREATER = ">"C

Sub BrickletCompass.SetMagneticFluxDensityCallbackConfiguration(ByVal period As Long, ByVal valueHasToChange As Boolean)¶

Parameters:	period – Type: Long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: Boolean, Default: false

The period is the period with which the MagneticFluxDensityCallback 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.

Sub BrickletCompass.GetMagneticFluxDensityCallbackConfiguration(ByRef period As Long, ByRef valueHasToChange As Boolean)¶

Output Parameters:	period – Type: Long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: Boolean, Default: false

Returns the callback configuration as set by SetMagneticFluxDensityCallbackConfiguration().

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:

Sub MyCallback(ByVal sender As BrickletCompass, ByVal value As Short)
    Console.WriteLine("Value: {0}", value)
End Sub

AddHandler compass.ExampleCallback, AddressOf MyCallback

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

Event BrickletCompass.HeadingCallback(ByVal sender As BrickletCompass, ByVal heading As Short)¶

Callback Parameters:	sender – Type: BrickletCompass heading – Type: Short, Unit: 1/10 °, Range: [0 to 3600]

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

The parameter is the same as GetHeading().

Event BrickletCompass.MagneticFluxDensityCallback(ByVal sender As BrickletCompass, ByVal x As Integer, ByVal y As Integer, ByVal z As Integer)¶

Callback Parameters:	sender – Type: BrickletCompass x – Type: Integer, Unit: 1/100 µT, Range: [-80000 to 80000] y – Type: Integer, Unit: 1/100 µT, Range: [-80000 to 80000] z – Type: Integer, Unit: 1/100 µT, Range: [-80000 to 80000]

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

The parameters are the same as GetMagneticFluxDensity().

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

Function BrickletCompass.GetAPIVersion() As Byte()¶

Output Parameters:	apiVersion – Type: Byte Array, Length: 3 0: major – Type: Byte, Range: [0 to 255] 1: minor – Type: Byte, Range: [0 to 255] 2: revision – Type: Byte, Range: [0 to 255]

Returns the version of the API definition 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 BrickletCompass.GetResponseExpected(ByVal functionId As Byte) As Boolean¶

Parameters:	functionId – Type: Byte, Range: See constants
Returns:	responseExpected – Type: 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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BrickletCompass.FUNCTION_SET_HEADING_CALLBACK_CONFIGURATION = 2
• BrickletCompass.FUNCTION_SET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION = 6
• BrickletCompass.FUNCTION_SET_CONFIGURATION = 9
• BrickletCompass.FUNCTION_SET_CALIBRATION = 11
• BrickletCompass.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletCompass.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletCompass.FUNCTION_RESET = 243
• BrickletCompass.FUNCTION_WRITE_UID = 248

Sub BrickletCompass.SetResponseExpected(ByVal functionId As Byte, ByVal responseExpected As Boolean)¶

Parameters:	functionId – Type: Byte, Range: See constants responseExpected – Type: 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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BrickletCompass.FUNCTION_SET_HEADING_CALLBACK_CONFIGURATION = 2
• BrickletCompass.FUNCTION_SET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION = 6
• BrickletCompass.FUNCTION_SET_CONFIGURATION = 9
• BrickletCompass.FUNCTION_SET_CALIBRATION = 11
• BrickletCompass.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletCompass.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletCompass.FUNCTION_RESET = 243
• BrickletCompass.FUNCTION_WRITE_UID = 248

Sub BrickletCompass.SetResponseExpectedAll(ByVal responseExpected As Boolean)¶

Parameters:	responseExpected – Type: Boolean

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

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

Function BrickletCompass.SetBootloaderMode(ByVal mode As Byte) As Byte¶

Parameters:	mode – Type: Byte, Range: See constants
Returns:	status – Type: Byte, Range: See constants

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:

For mode:

• BrickletCompass.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletCompass.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletCompass.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletCompass.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletCompass.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• BrickletCompass.BOOTLOADER_STATUS_OK = 0
• BrickletCompass.BOOTLOADER_STATUS_INVALID_MODE = 1
• BrickletCompass.BOOTLOADER_STATUS_NO_CHANGE = 2
• BrickletCompass.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• BrickletCompass.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• BrickletCompass.BOOTLOADER_STATUS_CRC_MISMATCH = 5

Function BrickletCompass.GetBootloaderMode() As Byte¶

Returns:	mode – Type: Byte, Range: See constants

Returns the current bootloader mode, see SetBootloaderMode().

The following constants are available for this function:

For mode:

• BrickletCompass.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletCompass.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletCompass.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletCompass.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletCompass.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

Sub BrickletCompass.SetWriteFirmwarePointer(ByVal pointer As Long)¶

Parameters:	pointer – Type: Long, Unit: 1 B, Range: [0 to 232 - 1]

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 BrickletCompass.WriteFirmware(ByVal data() As Byte) As Byte¶

Parameters:	data – Type: Byte Array, Length: 64, Range: [0 to 255]
Returns:	status – Type: Byte, Range: [0 to 255]

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.

Sub BrickletCompass.WriteUID(ByVal uid As Long)¶

Parameters:	uid – Type: Long, Range: [0 to 232 - 1]

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 BrickletCompass.ReadUID() As Long¶

Returns:	uid – Type: Long, Range: [0 to 232 - 1]

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

Constants¶

Const BrickletCompass.DEVICE_IDENTIFIER¶

This constant is used to identify a Compass Bricklet.

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

Const BrickletCompass.DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a Compass Bricklet.