LabVIEW - GPS Bricklet

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

An installation guide for the LabVIEW API bindings is part of their general description.

API

Generally, every method of the LabVIEW bindings that outputs a value can report a Tinkerforge.TimeoutException. This error gets reported if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody plugs the device out). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

The namespace for all Brick/Bricklet bindings and the IPConnection is Tinkerforge.*.

Basic Functions

BrickletGPS(uid, ipcon) → gps
Input:
  • uid – Type: String
  • ipcon – Type: .NET Refnum (IPConnection)
Output:
  • gps – Type: .NET Refnum (BrickletGPS)

Creates an object with the unique device ID uid. This object can then be used after the IP Connection is connected (see examples above).

BrickletGPS.GetCoordinates() → latitude, ns, longitude, ew, pdop, hdop, vdop, epe
Output:
  • latitude – Type: Int64, Range: [0 to 232 - 1]
  • ns – Type: Char
  • longitude – Type: Int64, Range: [0 to 232 - 1]
  • ew – Type: Char
  • pdop – Type: Int32, Range: [0 to 216 - 1]
  • hdop – Type: Int32, Range: [0 to 216 - 1]
  • vdop – Type: Int32, Range: [0 to 216 - 1]
  • epe – Type: Int32, Range: [0 to 216 - 1]

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).

PDOP, HDOP and VDOP are the dilution of precision (DOP) values. They specify the additional multiplicative effect of GPS satellite geometry on GPS precision. See here for more information. The values are give in hundredths.

EPE is the "Estimated Position Error". The EPE is given in cm. This is not the absolute maximum error, it is the error with a specific confidence. See here for more information.

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

BrickletGPS.GetStatus() → fix, satellitesView, satellitesUsed
Output:
  • fix – Type: Byte, Range: See constants
  • satellitesView – Type: Byte, Range: [0 to 255]
  • satellitesUsed – Type: Byte, Range: [0 to 255]

Returns the current fix status, the number of satellites that are in view and the number of satellites that are currently used.

Possible fix status values can be:

Value Description
1 No Fix, GetCoordinates(), GetAltitude() and GetMotion() return invalid data
2 2D Fix, only GetCoordinates() and GetMotion() return valid data
3 3D Fix, GetCoordinates(), GetAltitude() and GetMotion() return valid data

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

The following constants are available for this function:

For fix:

  • BrickletGPS.FIX_NO_FIX = 1
  • BrickletGPS.FIX_2D_FIX = 2
  • BrickletGPS.FIX_3D_FIX = 3
BrickletGPS.GetAltitude() → altitude, geoidalSeparation
Output:
  • altitude – Type: Int32, Range: [-231 to 231 - 1]
  • geoidalSeparation – Type: Int32, Range: [-231 to 231 - 1]

Returns the current altitude and corresponding geoidal separation.

Both values are given in cm.

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

BrickletGPS.GetMotion() → course, speed
Output:
  • course – Type: Int64, Range: [0 to 232 - 1]
  • speed – Type: Int64, Range: [0 to 232 - 1]

Returns the current course and speed. Course is given in hundredths degree and speed is given in hundredths km/h. 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().

BrickletGPS.GetDateTime() → date, time
Output:
  • date – Type: Int64, Range: [0 to 232 - 1]
  • time – Type: Int64, Range: [0 to 232 - 1]

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.

Advanced Functions

BrickletGPS.Restart(restartType)
Input:
  • restartType – Type: Byte, Range: See constants

Restarts the GPS Bricklet, the following restart types are available:

Value Description
0 Hot start (use all available data in the NV store)
1 Warm start (don't use ephemeris at restart)
2 Cold start (don't use time, position, almanacs and ephemeris at restart)
3 Factory reset (clear all system/user configurations at restart)

The following constants are available for this function:

For restartType:

  • BrickletGPS.RESTART_TYPE_HOT_START = 0
  • BrickletGPS.RESTART_TYPE_WARM_START = 1
  • BrickletGPS.RESTART_TYPE_COLD_START = 2
  • BrickletGPS.RESTART_TYPE_FACTORY_RESET = 3
BrickletGPS.GetAPIVersion() → apiVersion
Output:
  • apiVersion – Type: Byte[3], Range: [0 to 255]

Returns the version of the API definition (major, minor, revision) 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.

BrickletGPS.GetResponseExpected(functionId) → responseExpected
Input:
  • functionId – Type: Byte, Range: See constants
Output:
  • 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 send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

  • BrickletGPS.FUNCTION_RESTART = 6
  • BrickletGPS.FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 7
  • BrickletGPS.FUNCTION_SET_STATUS_CALLBACK_PERIOD = 9
  • BrickletGPS.FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 11
  • BrickletGPS.FUNCTION_SET_MOTION_CALLBACK_PERIOD = 13
  • BrickletGPS.FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 15
BrickletGPS.SetResponseExpected(functionId, responseExpected)
Input:
  • 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.

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 send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

  • BrickletGPS.FUNCTION_RESTART = 6
  • BrickletGPS.FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 7
  • BrickletGPS.FUNCTION_SET_STATUS_CALLBACK_PERIOD = 9
  • BrickletGPS.FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 11
  • BrickletGPS.FUNCTION_SET_MOTION_CALLBACK_PERIOD = 13
  • BrickletGPS.FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 15
BrickletGPS.SetResponseExpectedAll(responseExpected)
Input:
  • responseExpected – Type: Boolean

Changes the response expected flag for all setter and callback configuration functions of this device at once.

BrickletGPS.GetIdentity() → uid, connectedUid, position, hardwareVersion, firmwareVersion, deviceIdentifier
Output:
  • uid – Type: String, Length: up to 8
  • connectedUid – Type: String, Length: up to 8
  • position – Type: Char
  • hardwareVersion – Type: Byte[3], Range: [0 to 255]
  • firmwareVersion – Type: Byte[3], Range: [0 to 255]
  • deviceIdentifier – Type: Int32, 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' or 'd'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions

BrickletGPS.SetCoordinatesCallbackPeriod(period)
Input:
  • period – Type: Int64, 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.

BrickletGPS.GetCoordinatesCallbackPeriod() → period
Output:
  • period – Type: Int64, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetCoordinatesCallbackPeriod().

BrickletGPS.SetStatusCallbackPeriod(period)
Input:
  • period – Type: Int64, 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.

BrickletGPS.GetStatusCallbackPeriod() → period
Output:
  • period – Type: Int64, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetStatusCallbackPeriod().

BrickletGPS.SetAltitudeCallbackPeriod(period)
Input:
  • period – Type: Int64, 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.

BrickletGPS.GetAltitudeCallbackPeriod() → period
Output:
  • period – Type: Int64, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetAltitudeCallbackPeriod().

BrickletGPS.SetMotionCallbackPeriod(period)
Input:
  • period – Type: Int64, 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.

BrickletGPS.GetMotionCallbackPeriod() → period
Output:
  • period – Type: Int64, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetMotionCallbackPeriod().

BrickletGPS.SetDateTimeCallbackPeriod(period)
Input:
  • period – Type: Int64, 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.

BrickletGPS.GetDateTimeCallbackPeriod() → period
Output:
  • period – Type: Int64, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetDateTimeCallbackPeriod().

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a function to a callback property of the device object. The available callback property and their 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.

event BrickletGPS.CoordinatesCallback → sender, latitude, ns, longitude, ew, pdop, hdop, vdop, epe
Callback Output:
  • sender – Type: .NET Refnum (BrickletGPS)
  • latitude – Type: Int64, Range: [0 to 232 - 1]
  • ns – Type: Char
  • longitude – Type: Int64, Range: [0 to 232 - 1]
  • ew – Type: Char
  • pdop – Type: Int32, Range: [0 to 216 - 1]
  • hdop – Type: Int32, Range: [0 to 216 - 1]
  • vdop – Type: Int32, Range: [0 to 216 - 1]
  • epe – Type: Int32, Range: [0 to 216 - 1]

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().

event BrickletGPS.StatusCallback → sender, fix, satellitesView, satellitesUsed
Callback Output:
  • sender – Type: .NET Refnum (BrickletGPS)
  • fix – Type: Byte, Range: See constants
  • satellitesView – Type: Byte, Range: [0 to 255]
  • satellitesUsed – Type: Byte, Range: [0 to 255]

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

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

The following constants are available for this function:

For fix:

  • BrickletGPS.FIX_NO_FIX = 1
  • BrickletGPS.FIX_2D_FIX = 2
  • BrickletGPS.FIX_3D_FIX = 3
event BrickletGPS.AltitudeCallback → sender, altitude, geoidalSeparation
Callback Output:
  • sender – Type: .NET Refnum (BrickletGPS)
  • altitude – Type: Int32, Range: [-231 to 231 - 1]
  • geoidalSeparation – Type: Int32, 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().

event BrickletGPS.MotionCallback → sender, course, speed
Callback Output:
  • sender – Type: .NET Refnum (BrickletGPS)
  • course – Type: Int64, Range: [0 to 232 - 1]
  • speed – Type: Int64, 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().

event BrickletGPS.DateTimeCallback → sender, date, time
Callback Output:
  • sender – Type: .NET Refnum (BrickletGPS)
  • date – Type: Int64, Range: [0 to 232 - 1]
  • time – Type: Int64, Range: [0 to 232 - 1]

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.

Constants

BrickletGPS.DEVICE_IDENTIFIER

This constant is used to identify a GPS Bricklet.

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.

BrickletGPS.DEVICE_DISPLAY_NAME

This constant represents the human readable name of a GPS Bricklet.