Software / API Bindings / MATLAB/Octave / API Reference and Examples / Bricklets / GPS Bricklet 3.0

MATLAB/Octave - GPS Bricklet 3.0¶

This is the description of the MATLAB/Octave 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 MATLAB/Octave API bindings is part of their general description.

Examples¶

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

Simple (MATLAB)¶

Download (matlab_example_simple.m)

function matlab_example_simple()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletGPSV3;

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

    ipcon = IPConnection(); % Create IP connection
    gps = handle(BrickletGPSV3(UID, ipcon), 'CallbackProperties'); % Create device object

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

    % Get current coordinates
    coordinates = gps.getCoordinates();

    fprintf('Latitude: %g °\n', coordinates.latitude/1000000.0);
    fprintf('N/S: %s\n', coordinates.ns);
    fprintf('Longitude: %g °\n', coordinates.longitude/1000000.0);
    fprintf('E/W: %s\n', coordinates.ew);

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

Callback (MATLAB)¶

Download (matlab_example_callback.m)

function matlab_example_callback()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletGPSV3;

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

    ipcon = IPConnection(); % Create IP connection
    gps = handle(BrickletGPSV3(UID, ipcon), 'CallbackProperties'); % Create device object

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

    % Register coordinates callback to function cb_coordinates
    set(gps, 'CoordinatesCallback', @(h, e) cb_coordinates(e));

    % 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);

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

% Callback function for coordinates callback
function cb_coordinates(e)
    fprintf('Latitude: %g °\n', e.latitude/1000000.0);
    fprintf('N/S: %s\n', e.ns);
    fprintf('Longitude: %g °\n', e.longitude/1000000.0);
    fprintf('E/W: %s\n', e.ew);
    fprintf('\n');
end

Simple (Octave)¶

Download (octave_example_simple.m)

function octave_example_simple()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your GPS Bricklet 3.0

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    gps = javaObject("com.tinkerforge.BrickletGPSV3", UID, ipcon); % Create device object

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

    % Get current coordinates
    coordinates = gps.getCoordinates();

    fprintf("Latitude: %g °\n", java2int(coordinates.latitude)/1000000.0);
    fprintf("N/S: %s\n", coordinates.ns);
    fprintf("Longitude: %g °\n", java2int(coordinates.longitude)/1000000.0);
    fprintf("E/W: %s\n", coordinates.ew);

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

function int = java2int(value)
    if compare_versions(version(), "3.8", "<=")
        int = value.intValue();
    else
        int = value;
    end
end

Callback (Octave)¶

Download (octave_example_callback.m)

function octave_example_callback()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your GPS Bricklet 3.0

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    gps = javaObject("com.tinkerforge.BrickletGPSV3", UID, ipcon); % Create device object

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

    % Register coordinates callback to function cb_coordinates
    gps.addCoordinatesCallback(@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.setCoordinatesCallbackPeriod(1000);

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

% Callback function for coordinates callback
function cb_coordinates(e)
    fprintf("Latitude: %g °\n", java2int(e.latitude)/1000000.0);
    fprintf("N/S: %s\n", e.ns);
    fprintf("Longitude: %g °\n", java2int(e.longitude)/1000000.0);
    fprintf("E/W: %s\n", e.ew);
    fprintf("\n");
end

function int = java2int(value)
    if compare_versions(version(), "3.8", "<=")
        int = value.intValue();
    else
        int = value;
    end
end

API¶

Generally, every method of the MATLAB bindings that returns a value can throw a TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody unplugs the device). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Beside the TimeoutException there is also a NotConnectedException that is thrown if a method needs to communicate with the device while the IP Connection is not connected.

Since the MATLAB bindings are based on Java and Java does not support multiple return values and return by reference is not possible for primitive types, we use small classes that only consist of member variables. The member variables of the returned objects are described in the corresponding method descriptions.

The package for all Brick/Bricklet bindings and the IP Connection is com.tinkerforge.*

All methods listed below are thread-safe.

Basic Functions¶

class BrickletGPSV3(String uid, IPConnection ipcon)¶

Parameters:	uid – Type: String ipcon – Type: IPConnection
Returns:	gpsV3 – Type: BrickletGPSV3

Creates an object with the unique device ID uid.

In MATLAB:

import com.tinkerforge.BrickletGPSV3;

gpsV3 = BrickletGPSV3('YOUR_DEVICE_UID', ipcon);

In Octave:

gpsV3 = java_new("com.tinkerforge.BrickletGPSV3", "YOUR_DEVICE_UID", ipcon);

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

BrickletGPSV3.Coordinates BrickletGPSV3.getCoordinates()¶

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

BrickletGPSV3.Status BrickletGPSV3.getStatus()¶

Return Object:	hasFix – Type: boolean satellitesView – 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.Altitude BrickletGPSV3.getAltitude()¶

Return Object:	altitude – Type: int, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1] geoidalSeparation – 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 getStatus().

BrickletGPSV3.Motion BrickletGPSV3.getMotion()¶

Return Object:	course – Type: long, Unit: 1/100 °, Range: [0 to 36000] speed – Type: long, 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().

BrickletGPSV3.DateTime BrickletGPSV3.getDateTime()¶

Return Object:	date – Type: long, Range: [10100 to 311299] time – Type: long, 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.SatelliteSystemStatus BrickletGPSV3.getSatelliteSystemStatus(int satelliteSystem)¶

Parameters:	satelliteSystem – Type: int, Range: See constants
Return Object:	satelliteNumbers – Type: int[], Length: variable, Range: [0 to 255] fix – Type: int, Range: See constants pdop – Type: int, Unit: 1/100, Range: [0 to 2¹⁶ - 1] hdop – Type: int, Unit: 1/100, Range: [0 to 2¹⁶ - 1] 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 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:

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.SatelliteStatus BrickletGPSV3.getSatelliteStatus(int satelliteSystem, int satelliteNumber)¶

Parameters:	satelliteSystem – Type: int, Range: See constants satelliteNumber – Type: int, Range: [1 to 32]
Return Object:	elevation – Type: int, Unit: 1 °, Range: [0 to 90] azimuth – Type: int, Unit: 1 °, Range: [0 to 359] 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 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:

BrickletGPSV3.SATELLITE_SYSTEM_GPS = 0
BrickletGPSV3.SATELLITE_SYSTEM_GLONASS = 1
BrickletGPSV3.SATELLITE_SYSTEM_GALILEO = 2

Advanced Functions¶

void BrickletGPSV3.restart(int restartType)¶

Parameters:	restartType – Type: int, 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:

BrickletGPSV3.RESTART_TYPE_HOT_START = 0
BrickletGPSV3.RESTART_TYPE_WARM_START = 1
BrickletGPSV3.RESTART_TYPE_COLD_START = 2
BrickletGPSV3.RESTART_TYPE_FACTORY_RESET = 3

void BrickletGPSV3.setFixLEDConfig(int config)¶

Parameters:	config – Type: int, 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:

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

int BrickletGPSV3.getFixLEDConfig()¶

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

Returns the configuration as set by setFixLEDConfig()

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

void BrickletGPSV3.setSBASConfig(int sbasConfig)¶

Parameters:	sbasConfig – Type: int, 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:

BrickletGPSV3.SBAS_ENABLED = 0
BrickletGPSV3.SBAS_DISABLED = 1

int BrickletGPSV3.getSBASConfig()¶

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

Returns the SBAS configuration as set by setSBASConfig()

The following constants are available for this function:

For sbasConfig:

BrickletGPSV3.SBAS_ENABLED = 0
BrickletGPSV3.SBAS_DISABLED = 1

BrickletGPSV3.SPITFPErrorCount BrickletGPSV3.getSPITFPErrorCount()¶

Return Object:	errorCountAckChecksum – Type: long, Range: [0 to 2³² - 1] errorCountMessageChecksum – Type: long, Range: [0 to 2³² - 1] errorCountFrame – Type: long, Range: [0 to 2³² - 1] errorCountOverflow – Type: long, Range: [0 to 2³² - 1]

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

ACK checksum errors,
message checksum errors,
framing errors and
overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

void BrickletGPSV3.setStatusLEDConfig(int config)¶

Parameters:	config – Type: int, 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:

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

int BrickletGPSV3.getStatusLEDConfig()¶

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

Returns the configuration as set by setStatusLEDConfig()

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

int BrickletGPSV3.getChipTemperature()¶

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.

void BrickletGPSV3.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!

BrickletGPSV3.Identity BrickletGPSV3.getIdentity()¶

Return Object:

Return Object:	uid – Type: String, Length: up to 8 connectedUid – Type: String, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, Range: [0 to 255] firmwareVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, Range: [0 to 255] deviceIdentifier – Type: int, 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: short[], Length: 3

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

firmwareVersion – Type: short[], Length: 3

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

deviceIdentifier – 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¶

void BrickletGPSV3.setCoordinatesCallbackPeriod(long period)¶

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

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

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

long BrickletGPSV3.getCoordinatesCallbackPeriod()¶

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

Returns the period as set by setCoordinatesCallbackPeriod().

void BrickletGPSV3.setStatusCallbackPeriod(long period)¶

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

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

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

long BrickletGPSV3.getStatusCallbackPeriod()¶

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

Returns the period as set by setStatusCallbackPeriod().

void BrickletGPSV3.setAltitudeCallbackPeriod(long period)¶

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

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

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

long BrickletGPSV3.getAltitudeCallbackPeriod()¶

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

Returns the period as set by setAltitudeCallbackPeriod().

void BrickletGPSV3.setMotionCallbackPeriod(long period)¶

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

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

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

long BrickletGPSV3.getMotionCallbackPeriod()¶

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

Returns the period as set by setMotionCallbackPeriod().

void BrickletGPSV3.setDateTimeCallbackPeriod(long period)¶

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

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

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

long BrickletGPSV3.getDateTimeCallbackPeriod()¶

Returns:	period – Type: long, 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 with "set" function of MATLAB. The parameters consist of the IP Connection object, the callback name and the callback function. For example, it looks like this in MATLAB:

function my_callback(e)
    fprintf('Parameter: %s\n', e.param);
end

set(device, 'ExampleCallback', @(h, e) my_callback(e));

Due to a difference in the Octave Java support the "set" function cannot be used in Octave. The registration is done with "add*Callback" functions of the device object. It looks like this in Octave:

function my_callback(e)
    fprintf("Parameter: %s\n", e.param);
end

device.addExampleCallback(@my_callback);

It is possible to add several callbacks and to remove them with the corresponding "remove*Callback" function.

The parameters of the callback are passed to the callback function as fields of the structure e, which is derived from the java.util.EventObject class. The available callback names with corresponding structure fields 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.

callback BrickletGPSV3.PulsePerSecondCallback¶

Event Object:	empty object

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.

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addPulsePerSecondCallback() function. An added callback function can be removed with the removePulsePerSecondCallback() function.

callback BrickletGPSV3.CoordinatesCallback¶

Event Object:	latitude – Type: long, Unit: 1/1000000 °, Range: [0 to 90000000] ns – Type: char, Range: ['N', 'S'] longitude – Type: long, 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 CoordinatesCallback callback is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated by getStatus().

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addCoordinatesCallback() function. An added callback function can be removed with the removeCoordinatesCallback() function.

callback BrickletGPSV3.StatusCallback¶

Event Object:	hasFix – Type: boolean satellitesView – Type: int, 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 StatusCallback callback is only triggered if the status changed since the last triggering.

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addStatusCallback() function. An added callback function can be removed with the removeStatusCallback() function.

callback BrickletGPSV3.AltitudeCallback¶

Event Object:	altitude – Type: int, Unit: 1 cm, Range: [-2³¹ to 2³¹ - 1] geoidalSeparation – Type: int, 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 AltitudeCallback callback is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated by getStatus().

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addAltitudeCallback() function. An added callback function can be removed with the removeAltitudeCallback() function.

callback BrickletGPSV3.MotionCallback¶

Event Object:	course – Type: long, Unit: 1/100 °, Range: [0 to 36000] speed – Type: long, 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 MotionCallback callback is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated by getStatus().

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addMotionCallback() function. An added callback function can be removed with the removeMotionCallback() function.

callback BrickletGPSV3.DateTimeCallback¶

Event Object:	date – Type: long, Range: [10100 to 311299] time – Type: long, 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 DateTimeCallback callback is only triggered if the date or time changed since the last triggering.

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addDateTimeCallback() function. An added callback function can be removed with the removeDateTimeCallback() function.

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.

short[] BrickletGPSV3.getAPIVersion()¶

Return Object:	apiVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, 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.

boolean BrickletGPSV3.getResponseExpected(byte functionId)¶

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:

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

void BrickletGPSV3.setResponseExpected(byte functionId, boolean responseExpected)¶

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:

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

void BrickletGPSV3.setResponseExpectedAll(boolean responseExpected)¶

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.

int BrickletGPSV3.setBootloaderMode(int 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

int BrickletGPSV3.getBootloaderMode()¶

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

Returns the current bootloader mode, see setBootloaderMode().

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

void BrickletGPSV3.setWriteFirmwarePointer(long pointer)¶

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

Sets the firmware pointer for writeFirmware(). The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

int BrickletGPSV3.writeFirmware(int[] 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 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.

void BrickletGPSV3.writeUID(long uid)¶

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

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

long BrickletGPSV3.readUID()¶

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

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

Constants¶

int BrickletGPSV3.DEVICE_IDENTIFIER¶

This constant is used to identify a GPS Bricklet 3.0.

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

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