Struct GpsV2Bricklet

pub struct GpsV2Bricklet { /* private fields */ }

Determine position, velocity and altitude using GPS

Implementations

impl GpsV2Bricklet

pub const DEVICE_IDENTIFIER: u16 = 276u16

pub const DEVICE_DISPLAY_NAME: &'static str = "GPS Bricklet 2.0"

pub fn new(uid: Uid, connection: AsyncIpConnection) -> GpsV2Bricklet

Creates an object with the unique device ID uid. This object can then be used after the IP Connection ip_connection is connected.

pub fn get_response_expected( &mut self, fun: GpsV2BrickletFunction, ) -> Result<bool, GetResponseExpectedError>

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by set_response_expected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

See set_response_expected for the list of function ID constants available for this function.

pub fn set_response_expected( &mut self, fun: GpsV2BrickletFunction, response_expected: bool, ) -> Result<(), SetResponseExpectedError>

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

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

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

pub fn get_api_version(&self) -> [u8; 3]

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.

pub async fn get_pulse_per_second_callback_receiver( &mut self, ) -> impl Stream<Item = ()>

This receiver 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 async fn get_coordinates_callback_receiver( &mut self, ) -> impl Stream<Item = CoordinatesEvent>

This receiver is triggered periodically with the period that is set by [set_coordinates_callback_period]. The parameters are the same as for [get_coordinates].

The [get_coordinates_callback_receiver] receiver is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated by [get_status].

pub async fn get_status_callback_receiver( &mut self, ) -> impl Stream<Item = StatusEvent>

This receiver is triggered periodically with the period that is set by [set_status_callback_period]. The parameters are the same as for [get_status].

The [get_status_callback_receiver] receiver is only triggered if the status changed since the last triggering.

pub async fn get_altitude_callback_receiver( &mut self, ) -> impl Stream<Item = AltitudeEvent>

This receiver is triggered periodically with the period that is set by [set_altitude_callback_period]. The parameters are the same as for [get_altitude].

The [get_altitude_callback_receiver] receiver is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated by [get_status].

pub async fn get_motion_callback_receiver( &mut self, ) -> impl Stream<Item = MotionEvent>

This receiver is triggered periodically with the period that is set by [set_motion_callback_period]. The parameters are the same as for [get_motion].

The [get_motion_callback_receiver] receiver is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated by [get_status].

pub async fn get_date_time_callback_receiver( &mut self, ) -> impl Stream<Item = DateTimeEvent>

This receiver 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 [get_date_time_callback_receiver] receiver is only triggered if the date or time changed since the last triggering.

pub async fn get_coordinates(&mut self) -> Result<Coordinates, TinkerforgeError>

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].

pub async fn get_status(&mut self) -> Result<Status, TinkerforgeError>

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 async fn get_altitude(&mut self) -> Result<Altitude, TinkerforgeError>

Returns the current altitude and corresponding geoidal separation.

This data is only valid if there is currently a fix as indicated by [get_status].

pub async fn get_motion(&mut self) -> Result<Motion, TinkerforgeError>

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].

pub async fn get_date_time(&mut self) -> Result<DateTime, TinkerforgeError>

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 async fn restart( &mut self, restart_type: u8, ) -> Result<(), TinkerforgeError>

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
3	Factory reset (clear all system/user configurations at restart)

Associated constants:

• GPS_V2_BRICKLET_RESTART_TYPE_HOT_START
• GPS_V2_BRICKLET_RESTART_TYPE_WARM_START
• GPS_V2_BRICKLET_RESTART_TYPE_COLD_START
• GPS_V2_BRICKLET_RESTART_TYPE_FACTORY_RESET

pub async fn get_satellite_system_status_low_level( &mut self, satellite_system: u8, ) -> Result<SatelliteSystemStatusLowLevel, TinkerforgeError>

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.

Associated constants:

• GPS_V2_BRICKLET_SATELLITE_SYSTEM_GPS
• GPS_V2_BRICKLET_SATELLITE_SYSTEM_GLONASS
• GPS_V2_BRICKLET_SATELLITE_SYSTEM_GALILEO
• GPS_V2_BRICKLET_FIX_NO_FIX
• GPS_V2_BRICKLET_FIX_2D_FIX
• GPS_V2_BRICKLET_FIX_3D_FIX

pub async fn get_satellite_status( &mut self, satellite_system: u8, satellite_number: u8, ) -> Result<SatelliteStatus, TinkerforgeError>

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.

Associated constants:

• GPS_V2_BRICKLET_SATELLITE_SYSTEM_GPS
• GPS_V2_BRICKLET_SATELLITE_SYSTEM_GLONASS
• GPS_V2_BRICKLET_SATELLITE_SYSTEM_GALILEO

pub async fn set_fix_led_config( &mut self, config: u8, ) -> Result<(), TinkerforgeError>

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.

Associated constants:

• GPS_V2_BRICKLET_FIX_LED_CONFIG_OFF
• GPS_V2_BRICKLET_FIX_LED_CONFIG_ON
• GPS_V2_BRICKLET_FIX_LED_CONFIG_SHOW_HEARTBEAT
• GPS_V2_BRICKLET_FIX_LED_CONFIG_SHOW_FIX
• GPS_V2_BRICKLET_FIX_LED_CONFIG_SHOW_PPS

pub async fn get_fix_led_config(&mut self) -> Result<u8, TinkerforgeError>

Returns the configuration as set by [set_fix_led_config]

Associated constants:

• GPS_V2_BRICKLET_FIX_LED_CONFIG_OFF
• GPS_V2_BRICKLET_FIX_LED_CONFIG_ON
• GPS_V2_BRICKLET_FIX_LED_CONFIG_SHOW_HEARTBEAT
• GPS_V2_BRICKLET_FIX_LED_CONFIG_SHOW_FIX
• GPS_V2_BRICKLET_FIX_LED_CONFIG_SHOW_PPS

pub async fn set_coordinates_callback_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_coordinates_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

The [get_coordinates_callback_receiver] receiver is only triggered if the coordinates changed since the last triggering.

pub async fn get_coordinates_callback_period( &mut self, ) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_coordinates_callback_period].

pub async fn set_status_callback_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_status_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

The [get_status_callback_receiver] receiver is only triggered if the status changed since the last triggering.

pub async fn get_status_callback_period( &mut self, ) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_status_callback_period].

pub async fn set_altitude_callback_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_altitude_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

The [get_altitude_callback_receiver] receiver is only triggered if the altitude changed since the last triggering.

pub async fn get_altitude_callback_period( &mut self, ) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_altitude_callback_period].

pub async fn set_motion_callback_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_motion_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

The [get_motion_callback_receiver] receiver is only triggered if the motion changed since the last triggering.

pub async fn get_motion_callback_period( &mut self, ) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_motion_callback_period].

pub async fn set_date_time_callback_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_date_time_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

The [get_date_time_callback_receiver] receiver is only triggered if the date or time changed since the last triggering.

pub async fn get_date_time_callback_period( &mut self, ) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_date_time_callback_period].

pub async fn set_sbas_config( &mut self, sbas_config: u8, ) -> Result<(), TinkerforgeError>

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.

.. versionadded:: 2.0.2$nbsp;(Plugin)

Associated constants:

• GPS_V2_BRICKLET_SBAS_ENABLED
• GPS_V2_BRICKLET_SBAS_DISABLED

pub async fn get_sbas_config(&mut self) -> Result<u8, TinkerforgeError>

Returns the SBAS configuration as set by [set_sbas_config]

.. versionadded:: 2.0.2$nbsp;(Plugin)

Associated constants:

• GPS_V2_BRICKLET_SBAS_ENABLED
• GPS_V2_BRICKLET_SBAS_DISABLED

pub async fn get_spitfp_error_count( &mut self, ) -> Result<SpitfpErrorCount, TinkerforgeError>

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 async fn set_bootloader_mode( &mut self, mode: u8, ) -> Result<u8, TinkerforgeError>

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.

Associated constants:

• GPS_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER
• GPS_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE
• GPS_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
• GPS_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
• GPS_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
• GPS_V2_BRICKLET_BOOTLOADER_STATUS_OK
• GPS_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE
• GPS_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE
• GPS_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
• GPS_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
• GPS_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH

pub async fn get_bootloader_mode(&mut self) -> Result<u8, TinkerforgeError>

Returns the current bootloader mode, see [set_bootloader_mode].

Associated constants:

• GPS_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER
• GPS_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE
• GPS_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
• GPS_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
• GPS_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT

pub async fn set_write_firmware_pointer( &mut self, pointer: u32, ) -> Result<(), TinkerforgeError>

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.

pub async fn write_firmware( &mut self, data: &[u8; 64], ) -> Result<u8, TinkerforgeError>

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.

pub async fn set_status_led_config( &mut self, config: u8, ) -> Result<(), TinkerforgeError>

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.

Associated constants:

• GPS_V2_BRICKLET_STATUS_LED_CONFIG_OFF
• GPS_V2_BRICKLET_STATUS_LED_CONFIG_ON
• GPS_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
• GPS_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS

pub async fn get_status_led_config(&mut self) -> Result<u8, TinkerforgeError>

Returns the configuration as set by [set_status_led_config]

Associated constants:

• GPS_V2_BRICKLET_STATUS_LED_CONFIG_OFF
• GPS_V2_BRICKLET_STATUS_LED_CONFIG_ON
• GPS_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
• GPS_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS

pub async fn get_chip_temperature(&mut self) -> Result<i16, TinkerforgeError>

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 async fn reset(&mut self) -> Result<(), TinkerforgeError>

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 async fn write_uid(&mut self, uid: u32) -> Result<(), TinkerforgeError>

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 async fn read_uid(&mut self) -> Result<u32, TinkerforgeError>

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

pub async fn get_identity(&mut self) -> Result<Identity, TinkerforgeError>

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. |device_identifier_constant|

Trait Implementations

impl Clone for GpsV2Bricklet

fn clone(&self) -> GpsV2Bricklet

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.