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

Rust - GPS Bricklet 3.0¶

This is the description of the Rust 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 Rust API bindings is part of their general description. Additional documentation can be found on docs.rs.

Examples¶

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

Simple¶

Download (example_simple.rs)

use std::{error::Error, io};

use tinkerforge::{gps_v3_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your GPS Bricklet 3.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let gps = GpsV3Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    // Get current coordinates.
    let coordinates = gps.get_coordinates().recv()?;

    println!("Latitude: {} °", coordinates.latitude as f32 / 1000000.0);
    println!("N/S: {}", coordinates.ns);
    println!("Longitude: {} °", coordinates.longitude as f32 / 1000000.0);
    println!("E/W: {}", coordinates.ew);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Callback¶

Download (example_callback.rs)

use std::{error::Error, io, thread};
use tinkerforge::{gps_v3_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your GPS Bricklet 3.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let gps = GpsV3Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    let coordinates_receiver = gps.get_coordinates_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `gps` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for coordinates in coordinates_receiver {
            println!("Latitude: {} °", coordinates.latitude as f32 / 1000000.0);
            println!("N/S: {}", coordinates.ns);
            println!("Longitude: {} °", coordinates.longitude as f32 / 1000000.0);
            println!("E/W: {}", coordinates.ew);
            println!();
        }
    });

    // Set period for coordinates receiver 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);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

API¶

To allow non-blocking usage, nearly every function of the Rust bindings returns a wrapper around a mpsc::Receiver. To block until the function has finished and get your result, call one of the receiver's recv variants. Those return either the result sent by the device, or any error occurred.

Functions returning a result directly will block until the device has finished processing the request.

All functions listed below are thread-safe, those which return a receiver are lock-free.

Basic Functions¶

pub fn GpsV3Bricklet::new(uid: &str, ip_connection: &IpConnection) → GpsV3Bricklet¶

Parameters:	uid – Type: &str ip_connection – Type: &IPConnection
Returns:	gps_v3 – Type: GpsV3Bricklet

Creates a new GpsV3Bricklet object with the unique device ID uid and adds it to the IPConnection ip_connection:

let gps_v3 = GpsV3Bricklet::new("YOUR_DEVICE_UID", &ip_connection);

This device object can be used after the IP connection has been connected.

pub fn GpsV3Bricklet::get_coordinates(&self) → ConvertingReceiver<Coordinates>¶

Return Object:	latitude – Type: u32, Unit: 1/1000000 °, Range: [0 to 90000000] ns – Type: char, Range: ['N', 'S'] longitude – Type: u32, 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 GpsV3Bricklet::get_status.

pub fn GpsV3Bricklet::get_status(&self) → ConvertingReceiver<Status>¶

Return Object:	has_fix – Type: bool satellites_view – Type: u8, 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.

pub fn GpsV3Bricklet::get_altitude(&self) → ConvertingReceiver<Altitude>¶

Return Object:	altitude – Type: i32, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1] geoidal_separation – Type: i32, 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 GpsV3Bricklet::get_status.

pub fn GpsV3Bricklet::get_motion(&self) → ConvertingReceiver<Motion>¶

Return Object:	course – Type: u32, Unit: 1/100 °, Range: [0 to 36000] speed – Type: u32, 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 GpsV3Bricklet::get_status.

pub fn GpsV3Bricklet::get_date_time(&self) → ConvertingReceiver<DateTime>¶

Return Object:	date – Type: u32, Range: [10100 to 311299] time – Type: u32, 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.

pub fn GpsV3Bricklet::get_satellite_system_status(&self, satellite_system: u8) → Result<(Vec<u8>, SatelliteSystemStatusResult), BrickletRecvTimeoutError>¶

Parameters:	satellite_system – Type: u8, Range: See constants
Return Object:	satellite_numbers – Type: Vec<u8>, Range: [0 to 255] fix – Type: u8, Range: See constants pdop – Type: u16, Unit: 1/100, Range: [0 to 2¹⁶ - 1] hdop – Type: u16, Unit: 1/100, Range: [0 to 2¹⁶ - 1] vdop – Type: u16, 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 satellite_system:

GPS_V3_BRICKLET_SATELLITE_SYSTEM_GPS = 0
GPS_V3_BRICKLET_SATELLITE_SYSTEM_GLONASS = 1
GPS_V3_BRICKLET_SATELLITE_SYSTEM_GALILEO = 2

For fix:

GPS_V3_BRICKLET_FIX_NO_FIX = 1
GPS_V3_BRICKLET_FIX_2D_FIX = 2
GPS_V3_BRICKLET_FIX_3D_FIX = 3

pub fn GpsV3Bricklet::get_satellite_status(&self, satellite_system: u8, satellite_number: u8) → ConvertingReceiver<SatelliteStatus>¶

Parameters:	satellite_system – Type: u8, Range: See constants satellite_number – Type: u8, Range: [1 to 32]
Return Object:	elevation – Type: i16, Unit: 1 °, Range: [0 to 90] azimuth – Type: i16, Unit: 1 °, Range: [0 to 359] snr – Type: i16, 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 satellite_system:

GPS_V3_BRICKLET_SATELLITE_SYSTEM_GPS = 0
GPS_V3_BRICKLET_SATELLITE_SYSTEM_GLONASS = 1
GPS_V3_BRICKLET_SATELLITE_SYSTEM_GALILEO = 2

Advanced Functions¶

pub fn GpsV3Bricklet::restart(&self, restart_type: u8) → ConvertingReceiver<()>¶

Parameters:	restart_type – Type: u8, 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 restart_type:

GPS_V3_BRICKLET_RESTART_TYPE_HOT_START = 0
GPS_V3_BRICKLET_RESTART_TYPE_WARM_START = 1
GPS_V3_BRICKLET_RESTART_TYPE_COLD_START = 2
GPS_V3_BRICKLET_RESTART_TYPE_FACTORY_RESET = 3

pub fn GpsV3Bricklet::set_fix_led_config(&self, config: u8) → ConvertingReceiver<()>¶

Parameters:	config – Type: u8, 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:

GPS_V3_BRICKLET_FIX_LED_CONFIG_OFF = 0
GPS_V3_BRICKLET_FIX_LED_CONFIG_ON = 1
GPS_V3_BRICKLET_FIX_LED_CONFIG_SHOW_HEARTBEAT = 2
GPS_V3_BRICKLET_FIX_LED_CONFIG_SHOW_FIX = 3
GPS_V3_BRICKLET_FIX_LED_CONFIG_SHOW_PPS = 4

pub fn GpsV3Bricklet::get_fix_led_config(&self) → ConvertingReceiver<u8>¶

Returns:	config – Type: u8, Range: See constants, Default: 3

Returns the configuration as set by GpsV3Bricklet::set_fix_led_config

The following constants are available for this function:

For config:

GPS_V3_BRICKLET_FIX_LED_CONFIG_OFF = 0
GPS_V3_BRICKLET_FIX_LED_CONFIG_ON = 1
GPS_V3_BRICKLET_FIX_LED_CONFIG_SHOW_HEARTBEAT = 2
GPS_V3_BRICKLET_FIX_LED_CONFIG_SHOW_FIX = 3
GPS_V3_BRICKLET_FIX_LED_CONFIG_SHOW_PPS = 4

pub fn GpsV3Bricklet::set_sbas_config(&self, sbas_config: u8) → ConvertingReceiver<()>¶

Parameters:	sbas_config – Type: u8, 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 sbas_config:

GPS_V3_BRICKLET_SBAS_ENABLED = 0
GPS_V3_BRICKLET_SBAS_DISABLED = 1

pub fn GpsV3Bricklet::get_sbas_config(&self) → ConvertingReceiver<u8>¶

Returns:	sbas_config – Type: u8, Range: See constants, Default: 0

Returns the SBAS configuration as set by GpsV3Bricklet::set_sbas_config

The following constants are available for this function:

For sbas_config:

GPS_V3_BRICKLET_SBAS_ENABLED = 0
GPS_V3_BRICKLET_SBAS_DISABLED = 1

pub fn GpsV3Bricklet::get_spitfp_error_count(&self) → ConvertingReceiver<SpitfpErrorCount>¶

Return Object:	error_count_ack_checksum – Type: u32, Range: [0 to 2³² - 1] error_count_message_checksum – Type: u32, Range: [0 to 2³² - 1] error_count_frame – Type: u32, Range: [0 to 2³² - 1] error_count_overflow – Type: u32, 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.

pub fn GpsV3Bricklet::set_status_led_config(&self, config: u8) → ConvertingReceiver<()>¶

Parameters:	config – Type: u8, 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:

GPS_V3_BRICKLET_STATUS_LED_CONFIG_OFF = 0
GPS_V3_BRICKLET_STATUS_LED_CONFIG_ON = 1
GPS_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
GPS_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3

pub fn GpsV3Bricklet::get_status_led_config(&self) → ConvertingReceiver<u8>¶

Returns:	config – Type: u8, Range: See constants, Default: 3

Returns the configuration as set by GpsV3Bricklet::set_status_led_config

The following constants are available for this function:

For config:

GPS_V3_BRICKLET_STATUS_LED_CONFIG_OFF = 0
GPS_V3_BRICKLET_STATUS_LED_CONFIG_ON = 1
GPS_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
GPS_V3_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3

pub fn GpsV3Bricklet::get_chip_temperature(&self) → ConvertingReceiver<i16>¶

Returns:	temperature – Type: i16, 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.

pub fn GpsV3Bricklet::reset(&self) → ConvertingReceiver<()>¶

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!

pub fn GpsV3Bricklet::get_identity(&self) → ConvertingReceiver<Identity>¶

Return Object:

Return Object:	uid – Type: String, Length: up to 8 connected_uid – Type: String, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardware_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255] firmware_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255] device_identifier – Type: u16, Range: [0 to 2¹⁶ - 1]

uid – Type: String, Length: up to 8
connected_uid – Type: String, Length: up to 8
position – Type: char, Range: ['a' to 'h', 'z']
hardware_version – Type: [u8; 3]

0: major – Type: u8, Range: [0 to 255]
1: minor – Type: u8, Range: [0 to 255]
2: revision – Type: u8, Range: [0 to 255]

firmware_version – Type: [u8; 3]

0: major – Type: u8, Range: [0 to 255]
1: minor – Type: u8, Range: [0 to 255]
2: revision – Type: u8, Range: [0 to 255]

device_identifier – Type: u16, 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¶

pub fn GpsV3Bricklet::set_coordinates_callback_period(&self, period: u32) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the GpsV3Bricklet::get_coordinates_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The GpsV3Bricklet::get_coordinates_callback_receiver callback is only triggered if the coordinates changed since the last triggering.

pub fn GpsV3Bricklet::get_coordinates_callback_period(&self) → ConvertingReceiver<u32>¶

Returns:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by GpsV3Bricklet::set_coordinates_callback_period.

pub fn GpsV3Bricklet::set_status_callback_period(&self, period: u32) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the GpsV3Bricklet::get_status_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The GpsV3Bricklet::get_status_callback_receiver callback is only triggered if the status changed since the last triggering.

pub fn GpsV3Bricklet::get_status_callback_period(&self) → ConvertingReceiver<u32>¶

Returns:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by GpsV3Bricklet::set_status_callback_period.

pub fn GpsV3Bricklet::set_altitude_callback_period(&self, period: u32) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the GpsV3Bricklet::get_altitude_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The GpsV3Bricklet::get_altitude_callback_receiver callback is only triggered if the altitude changed since the last triggering.

pub fn GpsV3Bricklet::get_altitude_callback_period(&self) → ConvertingReceiver<u32>¶

Returns:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by GpsV3Bricklet::set_altitude_callback_period.

pub fn GpsV3Bricklet::set_motion_callback_period(&self, period: u32) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the GpsV3Bricklet::get_motion_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The GpsV3Bricklet::get_motion_callback_receiver callback is only triggered if the motion changed since the last triggering.

pub fn GpsV3Bricklet::get_motion_callback_period(&self) → ConvertingReceiver<u32>¶

Returns:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by GpsV3Bricklet::set_motion_callback_period.

pub fn GpsV3Bricklet::set_date_time_callback_period(&self, period: u32) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the GpsV3Bricklet::get_date_time_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The GpsV3Bricklet::get_date_time_callback_receiver callback is only triggered if the date or time changed since the last triggering.

pub fn GpsV3Bricklet::get_date_time_callback_period(&self) → ConvertingReceiver<u32>¶

Returns:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by GpsV3Bricklet::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 corresponding get_*_callback_receiver function, which returns a receiver for callback events.

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.

pub fn GpsV3Bricklet::get_pulse_per_second_callback_receiver(&self) → ConvertingCallbackReceiver<()>¶

Receivers created with this function receive Pulse Per Second events.

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.

pub fn GpsV3Bricklet::get_coordinates_callback_receiver(&self) → ConvertingCallbackReceiver<CoordinatesEvent>¶

Event Object:	latitude – Type: u32, Unit: 1/1000000 °, Range: [0 to 90000000] ns – Type: char, Range: ['N', 'S'] longitude – Type: u32, Unit: 1/1000000 °, Range: [0 to 180000000] ew – Type: char, Range: ['E', 'W']

Receivers created with this function receive Coordinates events.

This callback is triggered periodically with the period that is set by GpsV3Bricklet::set_coordinates_callback_period. The parameters are the same as for GpsV3Bricklet::get_coordinates.

The GpsV3Bricklet::get_coordinates_callback_receiver callback is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated by GpsV3Bricklet::get_status.

pub fn GpsV3Bricklet::get_status_callback_receiver(&self) → ConvertingCallbackReceiver<StatusEvent>¶

Event Object:	has_fix – Type: bool satellites_view – Type: u8, Range: [0 to 255]

Receivers created with this function receive Status events.

This callback is triggered periodically with the period that is set by GpsV3Bricklet::set_status_callback_period. The parameters are the same as for GpsV3Bricklet::get_status.

The GpsV3Bricklet::get_status_callback_receiver callback is only triggered if the status changed since the last triggering.

pub fn GpsV3Bricklet::get_altitude_callback_receiver(&self) → ConvertingCallbackReceiver<AltitudeEvent>¶

Event Object:	altitude – Type: i32, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1] geoidal_separation – Type: i32, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1]

Receivers created with this function receive Altitude events.

This callback is triggered periodically with the period that is set by GpsV3Bricklet::set_altitude_callback_period. The parameters are the same as for GpsV3Bricklet::get_altitude.

The GpsV3Bricklet::get_altitude_callback_receiver callback is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated by GpsV3Bricklet::get_status.

pub fn GpsV3Bricklet::get_motion_callback_receiver(&self) → ConvertingCallbackReceiver<MotionEvent>¶

Event Object:	course – Type: u32, Unit: 1/100 °, Range: [0 to 36000] speed – Type: u32, Unit: 1/100 km/h, Range: [0 to 2³² - 1]

Receivers created with this function receive Motion events.

This callback is triggered periodically with the period that is set by GpsV3Bricklet::set_motion_callback_period. The parameters are the same as for GpsV3Bricklet::get_motion.

The GpsV3Bricklet::get_motion_callback_receiver callback is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated by GpsV3Bricklet::get_status.

pub fn GpsV3Bricklet::get_date_time_callback_receiver(&self) → ConvertingCallbackReceiver<DateTimeEvent>¶

Event Object:	date – Type: u32, Range: [10100 to 311299] time – Type: u32, Range: [0 to 235959999]

Receivers created with this function receive Date Time events.

This callback is triggered periodically with the period that is set by GpsV3Bricklet::set_date_time_callback_period. The parameters are the same as for GpsV3Bricklet::get_date_time.

The GpsV3Bricklet::get_date_time_callback_receiver 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.

pub fn GpsV3Bricklet::get_api_version(&self) → [u8; 3]¶

Return Object:	api_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, 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.

pub fn GpsV3Bricklet::get_response_expected(&mut self, function_id: u8) → bool¶

Parameters:	function_id – Type: u8, 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 GpsV3Bricklet::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:

GPS_V3_BRICKLET_FUNCTION_RESTART = 6
GPS_V3_BRICKLET_FUNCTION_SET_FIX_LED_CONFIG = 9
GPS_V3_BRICKLET_FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 11
GPS_V3_BRICKLET_FUNCTION_SET_STATUS_CALLBACK_PERIOD = 13
GPS_V3_BRICKLET_FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 15
GPS_V3_BRICKLET_FUNCTION_SET_MOTION_CALLBACK_PERIOD = 17
GPS_V3_BRICKLET_FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 19
GPS_V3_BRICKLET_FUNCTION_SET_SBAS_CONFIG = 27
GPS_V3_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
GPS_V3_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
GPS_V3_BRICKLET_FUNCTION_RESET = 243
GPS_V3_BRICKLET_FUNCTION_WRITE_UID = 248

pub fn GpsV3Bricklet::set_response_expected(&mut self, function_id: u8, response_expected: bool) → ()¶

Parameters:	function_id – Type: u8, Range: See constants response_expected – Type: bool

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:

GPS_V3_BRICKLET_FUNCTION_RESTART = 6
GPS_V3_BRICKLET_FUNCTION_SET_FIX_LED_CONFIG = 9
GPS_V3_BRICKLET_FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 11
GPS_V3_BRICKLET_FUNCTION_SET_STATUS_CALLBACK_PERIOD = 13
GPS_V3_BRICKLET_FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 15
GPS_V3_BRICKLET_FUNCTION_SET_MOTION_CALLBACK_PERIOD = 17
GPS_V3_BRICKLET_FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 19
GPS_V3_BRICKLET_FUNCTION_SET_SBAS_CONFIG = 27
GPS_V3_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
GPS_V3_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
GPS_V3_BRICKLET_FUNCTION_RESET = 243
GPS_V3_BRICKLET_FUNCTION_WRITE_UID = 248

pub fn GpsV3Bricklet::set_response_expected_all(&mut self, response_expected: bool) → ()¶

Parameters:	response_expected – Type: bool

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.

pub fn GpsV3Bricklet::set_bootloader_mode(&self, mode: u8) → ConvertingReceiver<u8>¶

Parameters:	mode – Type: u8, Range: See constants
Returns:	status – Type: u8, 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:

GPS_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
GPS_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
GPS_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
GPS_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
GPS_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

GPS_V3_BRICKLET_BOOTLOADER_STATUS_OK = 0
GPS_V3_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE = 1
GPS_V3_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE = 2
GPS_V3_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
GPS_V3_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
GPS_V3_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH = 5

pub fn GpsV3Bricklet::get_bootloader_mode(&self) → ConvertingReceiver<u8>¶

Returns:	mode – Type: u8, Range: See constants

Returns the current bootloader mode, see GpsV3Bricklet::set_bootloader_mode.

The following constants are available for this function:

For mode:

GPS_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
GPS_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
GPS_V3_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
GPS_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
GPS_V3_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

pub fn GpsV3Bricklet::set_write_firmware_pointer(&self, pointer: u32) → ConvertingReceiver<()>¶

Parameters:	pointer – Type: u32, Unit: 1 B, Range: [0 to 2³² - 1]

Sets the firmware pointer for GpsV3Bricklet::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.

pub fn GpsV3Bricklet::write_firmware(&self, data: [u8; 64]) → ConvertingReceiver<u8>¶

Parameters:	data – Type: [u8; 64], Range: [0 to 255]
Returns:	status – Type: u8, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by GpsV3Bricklet::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.

pub fn GpsV3Bricklet::write_uid(&self, uid: u32) → ConvertingReceiver<()>¶

Parameters:	uid – Type: u32, 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.

pub fn GpsV3Bricklet::read_uid(&self) → ConvertingReceiver<u32>¶

Returns:	uid – Type: u32, Range: [0 to 2³² - 1]

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

Constants¶

pub const GpsV3Bricklet::DEVICE_IDENTIFIER¶

This constant is used to identify a GPS Bricklet 3.0.

The GpsV3Bricklet::get_identity function and the IpConnection::get_enumerate_callback_receiver callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

pub const GpsV3Bricklet::DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a GPS Bricklet 3.0.