This is the description of the Shell 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 Shell API bindings is part of their general description.
The example code below is Public Domain (CC0 1.0).
1 2 3 4 5 6 7 | #!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this
uid=XYZ # Change XYZ to the UID of your GPS Bricklet 3.0
# Get current coordinates
tinkerforge call gps-v3-bricklet $uid get-coordinates
|
Download (example-callback.sh)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 | #!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this
uid=XYZ # Change XYZ to the UID of your GPS Bricklet 3.0
# Handle incoming coordinates callbacks
tinkerforge dispatch gps-v3-bricklet $uid 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!
tinkerforge call gps-v3-bricklet $uid set-coordinates-callback-period 1000
echo "Press key to exit"; read dummy
kill -- -$$ # Stop callback dispatch in background
|
Possible exit codes for all tinkerforge
commands are:
argparse
module is missingThe common options of the call
and dispatch
commands are documented
here. The specific command structure is shown below.
call
gps-v3-bricklet
[<option>..] <uid> <function> [<argument>..]¶Parameters: |
|
---|
The call
command is used to call a function of the GPS Bricklet 3.0. It can take several
options:
--help
shows help for the specific call
command and exits--list-functions
shows a list of known functions of the GPS Bricklet 3.0 and exitsdispatch
gps-v3-bricklet
[<option>..] <uid> <callback>¶Parameters: |
|
---|
The dispatch
command is used to dispatch a callback of the GPS Bricklet 3.0. It can
take several options:
--help
shows help for the specific dispatch
command and exits--list-callbacks
shows a list of known callbacks of the GPS Bricklet 3.0 and exitsgps-v3-bricklet
<uid> <function>
[<option>..] [<argument>..]¶Parameters: |
|
---|
The <function>
to be called can take different options depending of its
kind. All functions can take the following options:
--help
shows help for the specific function and exitsGetter functions can take the following options:
--execute <command>
shell command line to execute for each incoming
response (see section about output formatting
for details)Setter functions can take the following options:
--expect-response
requests response and waits for itThe --expect-response
option for setter functions allows to detect
timeouts and other error conditions calls of setters as well. The device will
then send a response for this purpose. If this option is not given for a
setter function then no response is sent and errors are silently ignored,
because they cannot be detected.
gps-v3-bricklet
<uid> <callback>
[<option>..]¶Parameters: |
|
---|
The <callback>
to be dispatched can take several options:
--help
shows help for the specific callback and exits--execute <command>
shell command line to execute for each incoming
response (see section about output formatting
for details)gps-v3-bricklet
<uid> get-coordinates
¶Output: |
|
---|
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
.
gps-v3-bricklet
<uid> get-status
¶Output: |
|
---|
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.
gps-v3-bricklet
<uid> get-altitude
¶Output: |
|
---|
Returns the current altitude and corresponding geoidal separation.
This data is only valid if there is currently a fix as indicated by
get-status
.
gps-v3-bricklet
<uid> get-motion
¶Output: |
|
---|
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
.
gps-v3-bricklet
<uid> get-date-time
¶Output: |
|
---|
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.
gps-v3-bricklet
<uid> get-satellite-system-status
<satellite-system>¶Parameters: |
|
---|---|
Output: |
|
Returns the
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 symbols are available for this function:
For <satellite-system>:
For fix:
gps-v3-bricklet
<uid> get-satellite-status
<satellite-system> <satellite-number>¶Parameters: |
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---|---|
Output: |
|
Returns the current elevation, azimuth and SNR for a given satellite and satellite system.
The available satellite numbers are:
The following symbols are available for this function:
For <satellite-system>:
gps-v3-bricklet
<uid> restart
<restart-type>¶Parameters: |
|
---|---|
Output: |
|
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 symbols are available for this function:
For <restart-type>:
gps-v3-bricklet
<uid> set-fix-led-config
<config>¶Parameters: |
|
---|---|
Output: |
|
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 symbols are available for this function:
For <config>:
gps-v3-bricklet
<uid> get-fix-led-config
¶Output: |
|
---|
Returns the configuration as set by set-fix-led-config
The following symbols are available for this function:
For config:
gps-v3-bricklet
<uid> set-sbas-config
<sbas-config>¶Parameters: |
|
---|---|
Output: |
|
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 symbols are available for this function:
For <sbas-config>:
gps-v3-bricklet
<uid> get-sbas-config
¶Output: |
|
---|
Returns the SBAS configuration as set by set-sbas-config
The following symbols are available for this function:
For sbas-config:
gps-v3-bricklet
<uid> get-spitfp-error-count
¶Output: |
|
---|
Returns the error count for the communication between Brick and Bricklet.
The errors are divided into
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.
gps-v3-bricklet
<uid> set-status-led-config
<config>¶Parameters: |
|
---|---|
Output: |
|
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 symbols are available for this function:
For <config>:
gps-v3-bricklet
<uid> get-status-led-config
¶Output: |
|
---|
Returns the configuration as set by set-status-led-config
The following symbols are available for this function:
For config:
gps-v3-bricklet
<uid> get-chip-temperature
¶Output: |
|
---|
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.
gps-v3-bricklet
<uid> reset
¶Output: |
|
---|
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!
gps-v3-bricklet
<uid> get-identity
¶Output: |
|
---|
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.
gps-v3-bricklet
<uid> set-coordinates-callback-period
<period>¶Parameters: |
|
---|---|
Output: |
|
Sets the period with which the coordinates
callback is triggered
periodically. A value of 0 turns the callback off.
The coordinates
callback is only triggered if the coordinates changed
since the last triggering.
gps-v3-bricklet
<uid> get-coordinates-callback-period
¶Output: |
|
---|
Returns the period as set by set-coordinates-callback-period
.
gps-v3-bricklet
<uid> set-status-callback-period
<period>¶Parameters: |
|
---|---|
Output: |
|
Sets the period with which the status
callback is triggered
periodically. A value of 0 turns the callback off.
The status
callback is only triggered if the status changed since the
last triggering.
gps-v3-bricklet
<uid> get-status-callback-period
¶Output: |
|
---|
Returns the period as set by set-status-callback-period
.
gps-v3-bricklet
<uid> set-altitude-callback-period
<period>¶Parameters: |
|
---|---|
Output: |
|
Sets the period with which the altitude
callback is triggered
periodically. A value of 0 turns the callback off.
The altitude
callback is only triggered if the altitude changed since the
last triggering.
gps-v3-bricklet
<uid> get-altitude-callback-period
¶Output: |
|
---|
Returns the period as set by set-altitude-callback-period
.
gps-v3-bricklet
<uid> set-motion-callback-period
<period>¶Parameters: |
|
---|---|
Output: |
|
Sets the period with which the motion
callback is triggered
periodically. A value of 0 turns the callback off.
The motion
callback is only triggered if the motion changed since the
last triggering.
gps-v3-bricklet
<uid> get-motion-callback-period
¶Output: |
|
---|
Returns the period as set by set-motion-callback-period
.
gps-v3-bricklet
<uid> set-date-time-callback-period
<period>¶Parameters: |
|
---|---|
Output: |
|
Sets the period with which the date-time
callback is triggered
periodically. A value of 0 turns the callback off.
The date-time
callback is only triggered if the date or time changed
since the last triggering.
gps-v3-bricklet
<uid> get-date-time-callback-period
¶Output: |
|
---|
Returns the period as set by set-date-time-callback-period
.
Callbacks can be used to receive time critical or recurring data from the device:
tinkerforge dispatch gps-v3-bricklet <uid> example
The available callbacks 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.
gps-v3-bricklet
<uid> pulse-per-second
¶Output: |
|
---|
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.
gps-v3-bricklet
<uid> coordinates
¶Output: |
|
---|
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 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
.
gps-v3-bricklet
<uid> status
¶Output: |
|
---|
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 status
callback is only triggered if the status changed since the
last triggering.
gps-v3-bricklet
<uid> altitude
¶Output: |
|
---|
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 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
.
gps-v3-bricklet
<uid> motion
¶Output: |
|
---|
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 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
.
gps-v3-bricklet
<uid> date-time
¶Output: |
|
---|
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 date-time
callback is only triggered if the date or time changed
since the last triggering.
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.
gps-v3-bricklet
<uid> set-bootloader-mode
<mode>¶Parameters: |
|
---|---|
Output: |
|
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 symbols are available for this function:
For <mode>:
For status:
gps-v3-bricklet
<uid> get-bootloader-mode
¶Output: |
|
---|
Returns the current bootloader mode, see set-bootloader-mode
.
The following symbols are available for this function:
For mode:
gps-v3-bricklet
<uid> set-write-firmware-pointer
<pointer>¶Parameters: |
|
---|---|
Output: |
|
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.
gps-v3-bricklet
<uid> write-firmware
<data>¶Parameters: |
|
---|---|
Output: |
|
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.
gps-v3-bricklet
<uid> write-uid
<uid>¶Parameters: |
|
---|---|
Output: |
|
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.
gps-v3-bricklet
<uid> read-uid
¶Output: |
|
---|
Returns the current UID as an integer. Encode as Base58 to get the usual string version.