Software / API Bindings / Delphi/Lazarus / API Reference and Examples / Bricklets / GPS Bricklet 3.0

Delphi/Lazarus - GPS Bricklet 3.0¶

This is the description of the Delphi/Lazarus API bindings for the GPS Bricklet 3.0. General information and technical specifications for the GPS Bricklet 3.0 are summarized in its hardware description.

An installation guide for the Delphi/Lazarus API bindings is part of their general description.

Examples¶

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

Simple¶

Download (ExampleSimple.pas)

program ExampleSimple;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletGPSV3;

type
  TExample = class
  private
    ipcon: TIPConnection;
    gps: TBrickletGPSV3;
  public
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your GPS Bricklet 3.0 }

var
  e: TExample;

procedure TExample.Execute;
var latitude, longitude: longword; ns, ew: char;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  gps := TBrickletGPSV3.Create(UID, ipcon);

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

  { Get current coordinates }
  gps.GetCoordinates(latitude, ns, longitude, ew);

  WriteLn(Format('Latitude: %f °', [latitude/1000000.0]));
  WriteLn(Format('N/S: %s', [ns]));
  WriteLn(Format('Longitude: %f °', [longitude/1000000.0]));
  WriteLn(Format('E/W: %s', [ew]));

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

Callback¶

Download (ExampleCallback.pas)

program ExampleCallback;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletGPSV3;

type
  TExample = class
  private
    ipcon: TIPConnection;
    gps: TBrickletGPSV3;
  public
    procedure CoordinatesCB(sender: TBrickletGPSV3; const latitude: longword;
                            const ns: char; const longitude: longword; const ew: char);
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your GPS Bricklet 3.0 }

var
  e: TExample;

{ Callback procedure for coordinates callback }
procedure TExample.CoordinatesCB(sender: TBrickletGPSV3; const latitude: longword;
                                 const ns: char; const longitude: longword;
                                 const ew: char);
begin
  WriteLn(Format('Latitude: %f °', [latitude/1000000.0]));
  WriteLn(Format('N/S: %s', [ns]));
  WriteLn(Format('Longitude: %f °', [longitude/1000000.0]));
  WriteLn(Format('E/W: %s', [ew]));
  WriteLn('');
end;

procedure TExample.Execute;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  gps := TBrickletGPSV3.Create(UID, ipcon);

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

  { Register coordinates callback to procedure CoordinatesCB }
  gps.OnCoordinates := {$ifdef FPC}@{$endif}CoordinatesCB;

  { Set period for coordinates callback to 1s (1000ms)
    Note: The coordinates callback is only called every second
          if the coordinates has changed since the last call! }
  gps.SetCoordinatesCallbackPeriod(1000);

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

API¶

Since Delphi does not support multiple return values directly, we use the out keyword to return multiple values from a function.

All functions and procedures listed below are thread-safe.

Basic Functions¶

constructor TBrickletGPSV3.Create(const uid: string; ipcon: TIPConnection)¶

Parameters:	uid – Type: string ipcon – Type: TIPConnection
Returns:	gpsV3 – Type: TBrickletGPSV3

Creates an object with the unique device ID uid:

gpsV3 := TBrickletGPSV3.Create('YOUR_DEVICE_UID', ipcon);

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

procedure TBrickletGPSV3.GetCoordinates(out latitude: longword; out ns: char; out longitude: longword; out ew: char)¶

Output Parameters:	latitude – Type: longword, Unit: 1/1000000 °, Range: [0 to 90000000] ns – Type: char, Range: ['N', 'S'] longitude – Type: longword, Unit: 1/1000000 °, Range: [0 to 180000000] ew – Type: char, Range: ['E', 'W']

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 GetStatus.

procedure TBrickletGPSV3.GetStatus(out hasFix: boolean; out satellitesView: byte)¶

Output Parameters:	hasFix – Type: boolean satellitesView – Type: byte, Range: [0 to 255]

Returns if a fix is currently available as well as the number of satellites that are in view.

There is also a green LED on the Bricklet that indicates the fix status.

procedure TBrickletGPSV3.GetAltitude(out altitude: longint; out geoidalSeparation: longint)¶

Output Parameters:	altitude – Type: longint, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1] geoidalSeparation – Type: longint, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1]

Returns the current altitude and corresponding geoidal separation.

This data is only valid if there is currently a fix as indicated by GetStatus.

procedure TBrickletGPSV3.GetMotion(out course: longword; out speed: longword)¶

Output Parameters:	course – Type: longword, Unit: 1/100 °, Range: [0 to 36000] speed – Type: longword, Unit: 1/100 km/h, Range: [0 to 2³² - 1]

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.

procedure TBrickletGPSV3.GetDateTime(out date: longword; out time: longword)¶

Output Parameters:	date – Type: longword, Range: [10100 to 311299] time – Type: longword, Range: [0 to 235959999]

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.

procedure TBrickletGPSV3.GetSatelliteSystemStatus(const satelliteSystem: byte; out satelliteNumbers: array of byte; out fix: byte; out pdop: word; out hdop: word; out vdop: word)¶

Parameters:	satelliteSystem – Type: byte, Range: See constants
Output Parameters:	satelliteNumbers – Type: array of byte, Range: [0 to 255] fix – Type: byte, Range: See constants pdop – Type: word, Unit: 1/100, Range: [0 to 2¹⁶ - 1] hdop – Type: word, Unit: 1/100, Range: [0 to 2¹⁶ - 1] vdop – Type: word, Unit: 1/100, Range: [0 to 2¹⁶ - 1]

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.

The following constants are available for this function:

For satelliteSystem:

BRICKLET_GPS_V3_SATELLITE_SYSTEM_GPS = 0
BRICKLET_GPS_V3_SATELLITE_SYSTEM_GLONASS = 1
BRICKLET_GPS_V3_SATELLITE_SYSTEM_GALILEO = 2

For fix:

BRICKLET_GPS_V3_FIX_NO_FIX = 1
BRICKLET_GPS_V3_FIX_2D_FIX = 2
BRICKLET_GPS_V3_FIX_3D_FIX = 3

procedure TBrickletGPSV3.GetSatelliteStatus(const satelliteSystem: byte; const satelliteNumber: byte; out elevation: smallint; out azimuth: smallint; out snr: smallint)¶

Parameters:	satelliteSystem – Type: byte, Range: See constants satelliteNumber – Type: byte, Range: [1 to 32]
Output Parameters:	elevation – Type: smallint, Unit: 1 °, Range: [0 to 90] azimuth – Type: smallint, Unit: 1 °, Range: [0 to 359] snr – Type: smallint, Unit: 1 dB, Range: [0 to 99]

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.

The following constants are available for this function:

For satelliteSystem:

BRICKLET_GPS_V3_SATELLITE_SYSTEM_GPS = 0
BRICKLET_GPS_V3_SATELLITE_SYSTEM_GLONASS = 1
BRICKLET_GPS_V3_SATELLITE_SYSTEM_GALILEO = 2

Advanced Functions¶

procedure TBrickletGPSV3.Restart(const restartType: byte)¶

Parameters:	restartType – Type: byte, Range: See constants

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)

The following constants are available for this function:

For restartType:

BRICKLET_GPS_V3_RESTART_TYPE_HOT_START = 0
BRICKLET_GPS_V3_RESTART_TYPE_WARM_START = 1
BRICKLET_GPS_V3_RESTART_TYPE_COLD_START = 2
BRICKLET_GPS_V3_RESTART_TYPE_FACTORY_RESET = 3

procedure TBrickletGPSV3.SetFixLEDConfig(const config: byte)¶

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

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.

The following constants are available for this function:

For config:

BRICKLET_GPS_V3_FIX_LED_CONFIG_OFF = 0
BRICKLET_GPS_V3_FIX_LED_CONFIG_ON = 1
BRICKLET_GPS_V3_FIX_LED_CONFIG_SHOW_HEARTBEAT = 2
BRICKLET_GPS_V3_FIX_LED_CONFIG_SHOW_FIX = 3
BRICKLET_GPS_V3_FIX_LED_CONFIG_SHOW_PPS = 4

function TBrickletGPSV3.GetFixLEDConfig: byte¶

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

Returns the configuration as set by SetFixLEDConfig

The following constants are available for this function:

For config:

BRICKLET_GPS_V3_FIX_LED_CONFIG_OFF = 0
BRICKLET_GPS_V3_FIX_LED_CONFIG_ON = 1
BRICKLET_GPS_V3_FIX_LED_CONFIG_SHOW_HEARTBEAT = 2
BRICKLET_GPS_V3_FIX_LED_CONFIG_SHOW_FIX = 3
BRICKLET_GPS_V3_FIX_LED_CONFIG_SHOW_PPS = 4

procedure TBrickletGPSV3.SetSBASConfig(const sbasConfig: byte)¶

Parameters:	sbasConfig – Type: byte, Range: See constants, Default: 0

If SBAS is enabled, the position accuracy increases (if SBAS satellites are in view), but the update rate is limited to 5Hz. With SBAS disabled the update rate is increased to 10Hz.

The following constants are available for this function:

For sbasConfig:

BRICKLET_GPS_V3_SBAS_ENABLED = 0
BRICKLET_GPS_V3_SBAS_DISABLED = 1

function TBrickletGPSV3.GetSBASConfig: byte¶

Returns:	sbasConfig – Type: byte, Range: See constants, Default: 0

Returns the SBAS configuration as set by SetSBASConfig

The following constants are available for this function:

For sbasConfig:

BRICKLET_GPS_V3_SBAS_ENABLED = 0
BRICKLET_GPS_V3_SBAS_DISABLED = 1

procedure TBrickletGPSV3.GetSPITFPErrorCount(out errorCountAckChecksum: longword; out errorCountMessageChecksum: longword; out errorCountFrame: longword; out errorCountOverflow: longword)¶

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

procedure TBrickletGPSV3.SetStatusLEDConfig(const config: 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:

BRICKLET_GPS_V3_STATUS_LED_CONFIG_OFF = 0
BRICKLET_GPS_V3_STATUS_LED_CONFIG_ON = 1
BRICKLET_GPS_V3_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
BRICKLET_GPS_V3_STATUS_LED_CONFIG_SHOW_STATUS = 3

function TBrickletGPSV3.GetStatusLEDConfig: 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:

BRICKLET_GPS_V3_STATUS_LED_CONFIG_OFF = 0
BRICKLET_GPS_V3_STATUS_LED_CONFIG_ON = 1
BRICKLET_GPS_V3_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
BRICKLET_GPS_V3_STATUS_LED_CONFIG_SHOW_STATUS = 3

function TBrickletGPSV3.GetChipTemperature: smallint¶

Returns:	temperature – Type: smallint, 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.

procedure TBrickletGPSV3.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!

procedure TBrickletGPSV3.GetIdentity(out uid: string; out connectedUid: string; out position: char; out hardwareVersion: array [0..2] of byte; out firmwareVersion: array [0..2] of byte; out deviceIdentifier: word)¶

Output Parameters:

Output Parameters:	uid – Type: string, Length: up to 8 connectedUid – Type: string, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: array [0..2] of byte 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: array [0..2] of byte 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: word, Range: [0 to 2¹⁶ - 1]

uid – Type: string, Length: up to 8
connectedUid – Type: string, Length: up to 8
position – Type: char, Range: ['a' to 'h', 'z']
hardwareVersion – Type: array [0..2] of byte

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: array [0..2] of byte

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: word, 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¶

procedure TBrickletGPSV3.SetCoordinatesCallbackPeriod(const period: longword)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the OnCoordinates callback is triggered periodically. A value of 0 turns the callback off.

The OnCoordinates callback is only triggered if the coordinates changed since the last triggering.

function TBrickletGPSV3.GetCoordinatesCallbackPeriod: longword¶

Returns:	period – Type: longword, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by SetCoordinatesCallbackPeriod.

procedure TBrickletGPSV3.SetStatusCallbackPeriod(const period: longword)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the OnStatus callback is triggered periodically. A value of 0 turns the callback off.

The OnStatus callback is only triggered if the status changed since the last triggering.

function TBrickletGPSV3.GetStatusCallbackPeriod: longword¶

Returns:	period – Type: longword, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by SetStatusCallbackPeriod.

procedure TBrickletGPSV3.SetAltitudeCallbackPeriod(const period: longword)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the OnAltitude callback is triggered periodically. A value of 0 turns the callback off.

The OnAltitude callback is only triggered if the altitude changed since the last triggering.

function TBrickletGPSV3.GetAltitudeCallbackPeriod: longword¶

Returns:	period – Type: longword, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by SetAltitudeCallbackPeriod.

procedure TBrickletGPSV3.SetMotionCallbackPeriod(const period: longword)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the OnMotion callback is triggered periodically. A value of 0 turns the callback off.

The OnMotion callback is only triggered if the motion changed since the last triggering.

function TBrickletGPSV3.GetMotionCallbackPeriod: longword¶

Returns:	period – Type: longword, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by SetMotionCallbackPeriod.

procedure TBrickletGPSV3.SetDateTimeCallbackPeriod(const period: longword)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the OnDateTime callback is triggered periodically. A value of 0 turns the callback off.

The OnDateTime callback is only triggered if the date or time changed since the last triggering.

function TBrickletGPSV3.GetDateTimeCallbackPeriod: longword¶

Returns:	period – Type: longword, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by SetDateTimeCallbackPeriod.

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:

procedure TExample.MyCallback(sender: TBrickletGPSV3; const value: longint);
begin
  WriteLn(Format('Value: %d', [value]));
end;

gpsV3.OnExample := {$ifdef FPC}@{$endif}example.MyCallback;

The available callback properties and their parameter types 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.

property TBrickletGPSV3.OnPulsePerSecond¶

procedure(sender: TBrickletGPSV3) of object;

Callback Parameters:	sender – Type: TBrickletGPSV3

This callback is triggered precisely once per second, see PPS.

The precision of two subsequent pulses will be skewed because of the latency in the USB/RS485/Ethernet connection. But in the long run this will be very precise. For example a count of 3600 pulses will take exactly 1 hour.

property TBrickletGPSV3.OnCoordinates¶

procedure(sender: TBrickletGPSV3; const latitude: longword; const ns: char; const longitude: longword; const ew: char) of object;

Callback Parameters:	sender – Type: TBrickletGPSV3 latitude – Type: longword, Unit: 1/1000000 °, Range: [0 to 90000000] ns – Type: char, Range: ['N', 'S'] longitude – Type: longword, Unit: 1/1000000 °, Range: [0 to 180000000] ew – Type: char, Range: ['E', 'W']

This callback is triggered periodically with the period that is set by SetCoordinatesCallbackPeriod. The parameters are the same as for GetCoordinates.

The OnCoordinates callback is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated by GetStatus.

property TBrickletGPSV3.OnStatus¶

procedure(sender: TBrickletGPSV3; const hasFix: boolean; const satellitesView: byte) of object;

Callback Parameters:	sender – Type: TBrickletGPSV3 hasFix – Type: boolean satellitesView – Type: byte, Range: [0 to 255]

This callback is triggered periodically with the period that is set by SetStatusCallbackPeriod. The parameters are the same as for GetStatus.

The OnStatus callback is only triggered if the status changed since the last triggering.

property TBrickletGPSV3.OnAltitude¶

procedure(sender: TBrickletGPSV3; const altitude: longint; const geoidalSeparation: longint) of object;

Callback Parameters:	sender – Type: TBrickletGPSV3 altitude – Type: longint, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1] geoidalSeparation – Type: longint, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1]

This callback is triggered periodically with the period that is set by SetAltitudeCallbackPeriod. The parameters are the same as for GetAltitude.

The OnAltitude callback is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated by GetStatus.

property TBrickletGPSV3.OnMotion¶

procedure(sender: TBrickletGPSV3; const course: longword; const speed: longword) of object;

Callback Parameters:	sender – Type: TBrickletGPSV3 course – Type: longword, Unit: 1/100 °, Range: [0 to 36000] speed – Type: longword, Unit: 1/100 km/h, Range: [0 to 2³² - 1]

This callback is triggered periodically with the period that is set by SetMotionCallbackPeriod. The parameters are the same as for GetMotion.

The OnMotion callback is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated by GetStatus.

property TBrickletGPSV3.OnDateTime¶

procedure(sender: TBrickletGPSV3; const date: longword; const time: longword) of object;

Callback Parameters:	sender – Type: TBrickletGPSV3 date – Type: longword, Range: [10100 to 311299] time – Type: longword, Range: [0 to 235959999]

This callback is triggered periodically with the period that is set by SetDateTimeCallbackPeriod. The parameters are the same as for GetDateTime.

The OnDateTime callback is only triggered if the date or time changed since the last triggering.

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 TBrickletGPSV3.GetAPIVersion: array [0..2] of byte¶

Output Parameters:	apiVersion – Type: array [0..2] of byte 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 TBrickletGPSV3.GetResponseExpected(const functionId: byte): 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:

BRICKLET_GPS_V3_FUNCTION_RESTART = 6
BRICKLET_GPS_V3_FUNCTION_SET_FIX_LED_CONFIG = 9
BRICKLET_GPS_V3_FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 11
BRICKLET_GPS_V3_FUNCTION_SET_STATUS_CALLBACK_PERIOD = 13
BRICKLET_GPS_V3_FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 15
BRICKLET_GPS_V3_FUNCTION_SET_MOTION_CALLBACK_PERIOD = 17
BRICKLET_GPS_V3_FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 19
BRICKLET_GPS_V3_FUNCTION_SET_SBAS_CONFIG = 27
BRICKLET_GPS_V3_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
BRICKLET_GPS_V3_FUNCTION_SET_STATUS_LED_CONFIG = 239
BRICKLET_GPS_V3_FUNCTION_RESET = 243
BRICKLET_GPS_V3_FUNCTION_WRITE_UID = 248

procedure TBrickletGPSV3.SetResponseExpected(const functionId: byte; const responseExpected: 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.

The following constants are available for this function:

For functionId:

BRICKLET_GPS_V3_FUNCTION_RESTART = 6
BRICKLET_GPS_V3_FUNCTION_SET_FIX_LED_CONFIG = 9
BRICKLET_GPS_V3_FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 11
BRICKLET_GPS_V3_FUNCTION_SET_STATUS_CALLBACK_PERIOD = 13
BRICKLET_GPS_V3_FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 15
BRICKLET_GPS_V3_FUNCTION_SET_MOTION_CALLBACK_PERIOD = 17
BRICKLET_GPS_V3_FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 19
BRICKLET_GPS_V3_FUNCTION_SET_SBAS_CONFIG = 27
BRICKLET_GPS_V3_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
BRICKLET_GPS_V3_FUNCTION_SET_STATUS_LED_CONFIG = 239
BRICKLET_GPS_V3_FUNCTION_RESET = 243
BRICKLET_GPS_V3_FUNCTION_WRITE_UID = 248

procedure TBrickletGPSV3.SetResponseExpectedAll(const responseExpected: 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 TBrickletGPSV3.SetBootloaderMode(const mode: byte): 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:

BRICKLET_GPS_V3_BOOTLOADER_MODE_BOOTLOADER = 0
BRICKLET_GPS_V3_BOOTLOADER_MODE_FIRMWARE = 1
BRICKLET_GPS_V3_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
BRICKLET_GPS_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
BRICKLET_GPS_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

BRICKLET_GPS_V3_BOOTLOADER_STATUS_OK = 0
BRICKLET_GPS_V3_BOOTLOADER_STATUS_INVALID_MODE = 1
BRICKLET_GPS_V3_BOOTLOADER_STATUS_NO_CHANGE = 2
BRICKLET_GPS_V3_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
BRICKLET_GPS_V3_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
BRICKLET_GPS_V3_BOOTLOADER_STATUS_CRC_MISMATCH = 5

function TBrickletGPSV3.GetBootloaderMode: 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:

BRICKLET_GPS_V3_BOOTLOADER_MODE_BOOTLOADER = 0
BRICKLET_GPS_V3_BOOTLOADER_MODE_FIRMWARE = 1
BRICKLET_GPS_V3_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
BRICKLET_GPS_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
BRICKLET_GPS_V3_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

procedure TBrickletGPSV3.SetWriteFirmwarePointer(const pointer: longword)¶

Parameters:	pointer – Type: longword, 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 TBrickletGPSV3.WriteFirmware(const data: array [0..63] of byte): byte¶

Parameters:	data – Type: array [0..63] of byte, 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.

procedure TBrickletGPSV3.WriteUID(const uid: longword)¶

Parameters:	uid – Type: longword, 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 TBrickletGPSV3.ReadUID: longword¶

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

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

Constants¶

const BRICKLET_GPS_V3_DEVICE_IDENTIFIER¶

This constant is used to identify a GPS Bricklet 3.0.

The GetIdentity function and the TIPConnection.OnEnumerate callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

const BRICKLET_GPS_V3_DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a GPS Bricklet 3.0.