Software / API Bindings / Perl / API Reference and Examples / Bricklets / GPS Bricklet 3.0

Perl - GPS Bricklet 3.0¶

This is the description of the Perl 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 Perl API bindings is part of their general description.

Examples¶

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

Simple¶

Download (example_simple.pl)

#!/usr/bin/perl

use strict;
use Tinkerforge::IPConnection;
use Tinkerforge::BrickletGPSV3;

use constant HOST => 'localhost';
use constant PORT => 4223;
use constant UID => 'XYZ'; # Change XYZ to the UID of your GPS Bricklet 3.0

my $ipcon = Tinkerforge::IPConnection->new(); # Create IP connection
my $gps = Tinkerforge::BrickletGPSV3->new(&UID, $ipcon); # Create device object

$ipcon->connect(&HOST, &PORT); # Connect to brickd
# Don't use device before ipcon is connected

# Get current coordinates
my ($latitude, $ns, $longitude, $ew) = $gps->get_coordinates();

print "Latitude: " . $latitude/1000000.0 . " °\n";
print "N/S: $ns\n";
print "Longitude: " . $longitude/1000000.0 . " °\n";
print "E/W: $ew\n";

print "Press key to exit\n";
<STDIN>;
$ipcon->disconnect();

Callback¶

Download (example_callback.pl)

#!/usr/bin/perl

use strict;
use Tinkerforge::IPConnection;
use Tinkerforge::BrickletGPSV3;

use constant HOST => 'localhost';
use constant PORT => 4223;
use constant UID => 'XYZ'; # Change XYZ to the UID of your GPS Bricklet 3.0

# Callback subroutine for coordinates callback
sub cb_coordinates
{
    my ($latitude, $ns, $longitude, $ew) = @_;

    print "Latitude: " . $latitude/1000000.0 . " °\n";
    print "N/S: $ns\n";
    print "Longitude: " . $longitude/1000000.0 . " °\n";
    print "E/W: $ew\n";
    print "\n";
}

my $ipcon = Tinkerforge::IPConnection->new(); # Create IP connection
my $gps = Tinkerforge::BrickletGPSV3->new(&UID, $ipcon); # Create device object

$ipcon->connect(&HOST, &PORT); # Connect to brickd
# Don't use device before ipcon is connected

# Register coordinates callback to subroutine cb_coordinates
$gps->register_callback($gps->CALLBACK_COORDINATES, 'cb_coordinates');

# 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->set_coordinates_callback_period(1000);

print "Press key to exit\n";
<STDIN>;
$ipcon->disconnect();

API¶

Generally, every subroutine of the Perl bindings can report an error as Tinkerforge::Error object via croak(). The object has a get_code() and a get_message() subroutine. There are different error code:

Error->ALREADY_CONNECTED = 11
Error->NOT_CONNECTED = 12
Error->CONNECT_FAILED = 13
Error->INVALID_FUNCTION_ID = 21
Error->TIMEOUT = 31
Error->INVALID_PARAMETER = 41
Error->FUNCTION_NOT_SUPPORTED = 42
Error->UNKNOWN_ERROR = 43
Error->STREAM_OUT_OF_SYNC = 51
Error->INVALID_UID = 61
Error->NON_ASCII_CHAR_IN_SECRET = 71
Error->WRONG_DEVICE_TYPE = 81
Error->DEVICE_REPLACED = 82
Error->WRONG_RESPONSE_LENGTH = 83

All functions listed below are thread-safe.

Basic Functions¶

BrickletGPSV3->new($uid, $ipcon)¶

Parameters:	$uid – Type: string $ipcon – Type: IPConnection
Returns:	$gps_v3 – Type: BrickletGPSV3

Creates an object with the unique device ID $uid:

$gps_v3 = BrickletGPSV3->new("YOUR_DEVICE_UID", $ipcon);

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

BrickletGPSV3->get_coordinates()¶

Return Array:	0: $latitude – Type: int, Unit: 1/1000000 °, Range: [0 to 90000000] 1: $ns – Type: char, Range: ['N', 'S'] 2: $longitude – Type: int, Unit: 1/1000000 °, Range: [0 to 180000000] 3: $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 get_status().

BrickletGPSV3->get_status()¶

Return Array:	0: $has_fix – Type: bool 1: $satellites_view – Type: int, 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.

BrickletGPSV3->get_altitude()¶

Return Array:	0: $altitude – Type: int, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1] 1: $geoidal_separation – Type: int, 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 get_status().

BrickletGPSV3->get_motion()¶

Return Array:	0: $course – Type: int, Unit: 1/100 °, Range: [0 to 36000] 1: $speed – Type: int, 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 get_status().

BrickletGPSV3->get_date_time()¶

Return Array:	0: $date – Type: int, Range: [10100 to 311299] 1: $time – Type: int, 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.

BrickletGPSV3->get_satellite_system_status($satellite_system)¶

Parameters:	$satellite_system – Type: int, Range: See constants
Return Array:	0: \@satellite_numbers – Type: [int, ...], Length: variable, Range: [0 to 255] 1: $fix – Type: int, Range: See constants 2: $pdop – Type: int, Unit: 1/100, Range: [0 to 2¹⁶ - 1] 3: $hdop – Type: int, Unit: 1/100, Range: [0 to 2¹⁶ - 1] 4: $vdop – Type: int, 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, GLONASS and Galileo are 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 $satellite_system:

BrickletGPSV3->SATELLITE_SYSTEM_GPS = 0
BrickletGPSV3->SATELLITE_SYSTEM_GLONASS = 1
BrickletGPSV3->SATELLITE_SYSTEM_GALILEO = 2

For $fix:

BrickletGPSV3->FIX_NO_FIX = 1
BrickletGPSV3->FIX_2D_FIX = 2
BrickletGPSV3->FIX_3D_FIX = 3

BrickletGPSV3->get_satellite_status($satellite_system, $satellite_number)¶

Parameters:	$satellite_system – Type: int, Range: See constants $satellite_number – Type: int, Range: [1 to 32]
Return Array:	0: $elevation – Type: int, Unit: 1 °, Range: [0 to 90] 1: $azimuth – Type: int, Unit: 1 °, Range: [0 to 359] 2: $snr – Type: int, Unit: 1 dB, Range: [0 to 99]

Returns the current elevation, azimuth and SNR for a given satellite and satellite system.

The available satellite numbers are:

GPS: 1-32
GLONASS: 65-96
Galileo: 301-332

The following constants are available for this function:

For $satellite_system:

BrickletGPSV3->SATELLITE_SYSTEM_GPS = 0
BrickletGPSV3->SATELLITE_SYSTEM_GLONASS = 1
BrickletGPSV3->SATELLITE_SYSTEM_GALILEO = 2

Advanced Functions¶

BrickletGPSV3->restart($restart_type)¶

Parameters:	$restart_type – Type: int, Range: See constants
Returns:	undef

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 $restart_type:

BrickletGPSV3->RESTART_TYPE_HOT_START = 0
BrickletGPSV3->RESTART_TYPE_WARM_START = 1
BrickletGPSV3->RESTART_TYPE_COLD_START = 2
BrickletGPSV3->RESTART_TYPE_FACTORY_RESET = 3

BrickletGPSV3->set_fix_led_config($config)¶

Parameters:	$config – Type: int, Range: See constants, Default: 3
Returns:	undef

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:

BrickletGPSV3->FIX_LED_CONFIG_OFF = 0
BrickletGPSV3->FIX_LED_CONFIG_ON = 1
BrickletGPSV3->FIX_LED_CONFIG_SHOW_HEARTBEAT = 2
BrickletGPSV3->FIX_LED_CONFIG_SHOW_FIX = 3
BrickletGPSV3->FIX_LED_CONFIG_SHOW_PPS = 4

BrickletGPSV3->get_fix_led_config()¶

Returns:	$config – Type: int, Range: See constants, Default: 3

Returns the configuration as set by set_fix_led_config()

The following constants are available for this function:

For $config:

BrickletGPSV3->FIX_LED_CONFIG_OFF = 0
BrickletGPSV3->FIX_LED_CONFIG_ON = 1
BrickletGPSV3->FIX_LED_CONFIG_SHOW_HEARTBEAT = 2
BrickletGPSV3->FIX_LED_CONFIG_SHOW_FIX = 3
BrickletGPSV3->FIX_LED_CONFIG_SHOW_PPS = 4

BrickletGPSV3->set_sbas_config($sbas_config)¶

Parameters:	$sbas_config – Type: int, Range: See constants, Default: 0
Returns:	undef

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 $sbas_config:

BrickletGPSV3->SBAS_ENABLED = 0
BrickletGPSV3->SBAS_DISABLED = 1

BrickletGPSV3->get_sbas_config()¶

Returns:	$sbas_config – Type: int, Range: See constants, Default: 0

Returns the SBAS configuration as set by set_sbas_config()

The following constants are available for this function:

For $sbas_config:

BrickletGPSV3->SBAS_ENABLED = 0
BrickletGPSV3->SBAS_DISABLED = 1

BrickletGPSV3->get_spitfp_error_count()¶

Return Array:	0: $error_count_ack_checksum – Type: int, Range: [0 to 2³² - 1] 1: $error_count_message_checksum – Type: int, Range: [0 to 2³² - 1] 2: $error_count_frame – Type: int, Range: [0 to 2³² - 1] 3: $error_count_overflow – Type: int, 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.

BrickletGPSV3->set_status_led_config($config)¶

Parameters:	$config – Type: int, Range: See constants, Default: 3
Returns:	undef

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:

BrickletGPSV3->STATUS_LED_CONFIG_OFF = 0
BrickletGPSV3->STATUS_LED_CONFIG_ON = 1
BrickletGPSV3->STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
BrickletGPSV3->STATUS_LED_CONFIG_SHOW_STATUS = 3

BrickletGPSV3->get_status_led_config()¶

Returns:	$config – Type: int, Range: See constants, Default: 3

Returns the configuration as set by set_status_led_config()

The following constants are available for this function:

For $config:

BrickletGPSV3->STATUS_LED_CONFIG_OFF = 0
BrickletGPSV3->STATUS_LED_CONFIG_ON = 1
BrickletGPSV3->STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
BrickletGPSV3->STATUS_LED_CONFIG_SHOW_STATUS = 3

BrickletGPSV3->get_chip_temperature()¶

Returns:	$temperature – Type: int, 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.

BrickletGPSV3->reset()¶

Returns:	undef

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!

BrickletGPSV3->get_identity()¶

Return Array:

Return Array:	0: $uid – Type: string, Length: up to 8 1: $connected_uid – Type: string, Length: up to 8 2: $position – Type: char, Range: ['a' to 'h', 'z'] 3: \@hardware_version – Type: [int, ...], Length: 3 0: $major – Type: int, Range: [0 to 255] 1: $minor – Type: int, Range: [0 to 255] 2: $revision – Type: int, Range: [0 to 255] 4: \@firmware_version – Type: [int, ...], Length: 3 0: $major – Type: int, Range: [0 to 255] 1: $minor – Type: int, Range: [0 to 255] 2: $revision – Type: int, Range: [0 to 255] 5: $device_identifier – Type: int, Range: [0 to 2¹⁶ - 1]

0: $uid – Type: string, Length: up to 8
1: $connected_uid – Type: string, Length: up to 8
2: $position – Type: char, Range: ['a' to 'h', 'z']
3: \@hardware_version – Type: [int, ...], Length: 3

0: $major – Type: int, Range: [0 to 255]
1: $minor – Type: int, Range: [0 to 255]
2: $revision – Type: int, Range: [0 to 255]

4: \@firmware_version – Type: [int, ...], Length: 3

0: $major – Type: int, Range: [0 to 255]
1: $minor – Type: int, Range: [0 to 255]
2: $revision – Type: int, Range: [0 to 255]

5: $device_identifier – Type: int, 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¶

BrickletGPSV3->register_callback($callback_id, $function)¶

Parameters:	$callback_id – Type: int $function – Type: string
Returns:	undef

Registers the given $function name with the given $callback_id.

The available callback IDs with corresponding function signatures are listed below.

BrickletGPSV3->set_coordinates_callback_period($period)¶

Parameters:	$period – Type: int, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Returns:	undef

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.

BrickletGPSV3->get_coordinates_callback_period()¶

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

Returns the period as set by set_coordinates_callback_period().

BrickletGPSV3->set_status_callback_period($period)¶

Parameters:	$period – Type: int, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Returns:	undef

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.

BrickletGPSV3->get_status_callback_period()¶

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

Returns the period as set by set_status_callback_period().

BrickletGPSV3->set_altitude_callback_period($period)¶

Parameters:	$period – Type: int, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Returns:	undef

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.

BrickletGPSV3->get_altitude_callback_period()¶

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

Returns the period as set by set_altitude_callback_period().

BrickletGPSV3->set_motion_callback_period($period)¶

Parameters:	$period – Type: int, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Returns:	undef

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.

BrickletGPSV3->get_motion_callback_period()¶

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

Returns the period as set by set_motion_callback_period().

BrickletGPSV3->set_date_time_callback_period($period)¶

Parameters:	$period – Type: int, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
Returns:	undef

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.

BrickletGPSV3->get_date_time_callback_period()¶

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

Returns the period as set by set_date_time_callback_period().

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the register_callback() function of the device object. The first parameter is the callback ID and the second parameter the callback function name:

sub my_callback
{
    print "@_[0]";
}

$gps_v3->register_callback(BrickletGPSV3->CALLBACK_EXAMPLE, 'my_callback')

The callback function will be called from an internal thread of the IP Connection. In contrast to many other programming languages, variables are not automatically shared between threads in Perl. If you want to share a global variable between a callback function and the rest for your program it has to be marked as :shared. See the documentation of the threads::shared Perl module for more details.

The available constants with inherent number and type of parameters 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.

BrickletGPSV3->CALLBACK_PULSE_PER_SECOND¶

Callback Parameters:	no parameters

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.

BrickletGPSV3->CALLBACK_COORDINATES¶

Callback Parameters:	$latitude – Type: int, Unit: 1/1000000 °, Range: [0 to 90000000] $ns – Type: char, Range: ['N', 'S'] $longitude – Type: int, 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 set_coordinates_callback_period(). The parameters are the same as for 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 by get_status().

BrickletGPSV3->CALLBACK_STATUS¶

Callback Parameters:	$has_fix – Type: bool $satellites_view – Type: int, Range: [0 to 255]

This callback is triggered periodically with the period that is set by set_status_callback_period(). The parameters are the same as for get_status().

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

BrickletGPSV3->CALLBACK_ALTITUDE¶

Callback Parameters:	$altitude – Type: int, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1] $geoidal_separation – Type: int, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1]

This callback is triggered periodically with the period that is set by set_altitude_callback_period(). The parameters are the same as for 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 by get_status().

BrickletGPSV3->CALLBACK_MOTION¶

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

This callback is triggered periodically with the period that is set by set_motion_callback_period(). The parameters are the same as for 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 by get_status().

BrickletGPSV3->CALLBACK_DATE_TIME¶

Callback Parameters:	$date – Type: int, Range: [10100 to 311299] $time – Type: int, Range: [0 to 235959999]

This callback is triggered periodically with the period that is set by set_date_time_callback_period(). The parameters are the same as for get_date_time().

The CALLBACK_DATE_TIME 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.

BrickletGPSV3->get_api_version()¶

Return Array:	0: \@api_version – Type: [int, ...], Length: 3 0: $major – Type: int, Range: [0 to 255] 1: $minor – Type: int, Range: [0 to 255] 2: $revision – Type: int, 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.

BrickletGPSV3->get_response_expected($function_id)¶

Parameters:	$function_id – Type: int, Range: See constants
Returns:	$response_expected – Type: bool

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 set_response_expected(). 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 $function_id:

BrickletGPSV3->FUNCTION_RESTART = 6
BrickletGPSV3->FUNCTION_SET_FIX_LED_CONFIG = 9
BrickletGPSV3->FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 11
BrickletGPSV3->FUNCTION_SET_STATUS_CALLBACK_PERIOD = 13
BrickletGPSV3->FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 15
BrickletGPSV3->FUNCTION_SET_MOTION_CALLBACK_PERIOD = 17
BrickletGPSV3->FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 19
BrickletGPSV3->FUNCTION_SET_SBAS_CONFIG = 27
BrickletGPSV3->FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
BrickletGPSV3->FUNCTION_SET_STATUS_LED_CONFIG = 239
BrickletGPSV3->FUNCTION_RESET = 243
BrickletGPSV3->FUNCTION_WRITE_UID = 248

BrickletGPSV3->set_response_expected($function_id, $response_expected)¶

Parameters:	$function_id – Type: int, Range: See constants $response_expected – Type: bool
Returns:	undef

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 $function_id:

BrickletGPSV3->FUNCTION_RESTART = 6
BrickletGPSV3->FUNCTION_SET_FIX_LED_CONFIG = 9
BrickletGPSV3->FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 11
BrickletGPSV3->FUNCTION_SET_STATUS_CALLBACK_PERIOD = 13
BrickletGPSV3->FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 15
BrickletGPSV3->FUNCTION_SET_MOTION_CALLBACK_PERIOD = 17
BrickletGPSV3->FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 19
BrickletGPSV3->FUNCTION_SET_SBAS_CONFIG = 27
BrickletGPSV3->FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
BrickletGPSV3->FUNCTION_SET_STATUS_LED_CONFIG = 239
BrickletGPSV3->FUNCTION_RESET = 243
BrickletGPSV3->FUNCTION_WRITE_UID = 248

BrickletGPSV3->set_response_expected_all($response_expected)¶

Parameters:	$response_expected – Type: bool
Returns:	undef

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.

BrickletGPSV3->set_bootloader_mode($mode)¶

Parameters:	$mode – Type: int, Range: See constants
Returns:	$status – Type: int, 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:

BrickletGPSV3->BOOTLOADER_MODE_BOOTLOADER = 0
BrickletGPSV3->BOOTLOADER_MODE_FIRMWARE = 1
BrickletGPSV3->BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
BrickletGPSV3->BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
BrickletGPSV3->BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For $status:

BrickletGPSV3->BOOTLOADER_STATUS_OK = 0
BrickletGPSV3->BOOTLOADER_STATUS_INVALID_MODE = 1
BrickletGPSV3->BOOTLOADER_STATUS_NO_CHANGE = 2
BrickletGPSV3->BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
BrickletGPSV3->BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
BrickletGPSV3->BOOTLOADER_STATUS_CRC_MISMATCH = 5

BrickletGPSV3->get_bootloader_mode()¶

Returns:	$mode – Type: int, Range: See constants

Returns the current bootloader mode, see set_bootloader_mode().

The following constants are available for this function:

For $mode:

BrickletGPSV3->BOOTLOADER_MODE_BOOTLOADER = 0
BrickletGPSV3->BOOTLOADER_MODE_FIRMWARE = 1
BrickletGPSV3->BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
BrickletGPSV3->BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
BrickletGPSV3->BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

BrickletGPSV3->set_write_firmware_pointer($pointer)¶

Parameters:	$pointer – Type: int, Unit: 1 B, Range: [0 to 2³² - 1]
Returns:	undef

Sets the firmware pointer for 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.

BrickletGPSV3->write_firmware(\@data)¶

Parameters:	\@data – Type: [int, ...], Length: 64, Range: [0 to 255]
Returns:	$status – Type: int, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by 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.

BrickletGPSV3->write_uid($uid)¶

Parameters:	$uid – Type: int, Range: [0 to 2³² - 1]
Returns:	undef

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.

BrickletGPSV3->read_uid()¶

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

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

Constants¶

BrickletGPSV3->DEVICE_IDENTIFIER¶

This constant is used to identify a GPS Bricklet 3.0.

The get_identity() function and the IPConnection->CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

BrickletGPSV3->DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a GPS Bricklet 3.0.