This is the description of the Shell 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 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 8 | #!/bin/sh
# connects to localhost:4223 by default, use --host and --port to change it
# change to your UID
uid=XYZ
# get current coordinates
tinkerforge call gps-bricklet $uid get-coordinates
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Download (example-callback.sh)
1 2 3 4 5 6 7 8 9 10 11 12 13 | #!/bin/sh
# connects to localhost:4223 by default, use --host and --port to change it
# change to your UID
uid=XYZ
# set period for coordinates callback to 1s (1000ms)
# note: the coordinates callback is only called every second if the
# coordinates have changed since the last call!
tinkerforge call gps-bricklet $uid set-coordinates-callback-period 1000
# handle incoming coordinates callbacks
tinkerforge dispatch gps-bricklet $uid coordinates
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Possible exit codes for all tinkerforge commands are:
The common options of the call and dispatch commands are documented here. The specific command structure is shown below.
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The call command is used to call a function of the GPS Bricklet. It can take several options:
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The dispatch command is used to dispatch a callback of the GPS Bricklet. It can take several options:
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The <function> to be called can take different options depending of its kind. All functions can take the following options:
Getter functions can take the following options:
Setter functions can take the following options:
The --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 send and errors are silently ignored, because they cannot be detected.
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The <callback> to be dispatched can take several options:
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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 get-status.
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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 |
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1 | No Fix, get-coordinates and get-altitude return invalid data |
2 | 2D Fix, only get-coordinates returns valid data |
3 | 3D Fix, get-coordinates and get-altitude return valid data |
There is also a blue LED on the Bricklet that indicates the fix status.
The following symbols are available for this function:
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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 get-status.
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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 get-status.
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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 14.05.13 as date and 195923568 means 19:59:23.568 as time.
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Output: | no output |
Restarts the GPS Bricklet, the following restart types are available:
Value | Description |
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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:
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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.
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Output: | no output |
Sets the period in ms with which the coordinates callback is triggered periodically. A value of 0 turns the callback off.
coordinates is only triggered if the coordinates changed since the last triggering.
The default value is 0.
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Returns the period as set by set-coordinates-callback-period.
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Output: | no output |
Sets the period in ms with which the status callback is triggered periodically. A value of 0 turns the callback off.
status is only triggered if the status changed since the last triggering.
The default value is 0.
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Returns the period as set by set-status-callback-period.
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Output: | no output |
Sets the period in ms with which the altitude callback is triggered periodically. A value of 0 turns the callback off.
altitude is only triggered if the altitude changed since the last triggering.
The default value is 0.
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Returns the period as set by set-altitude-callback-period.
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Output: | no output |
Sets the period in ms with which the motion callback is triggered periodically. A value of 0 turns the callback off.
motion is only triggered if the motion changed since the last triggering.
The default value is 0.
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Returns the period as set by set-motion-callback-period.
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Output: | no output |
Sets the period in ms with which the date-time callback is triggered periodically. A value of 0 turns the callback off.
date-time is only triggered if the date or time changed since the last triggering.
The default value is 0.
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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-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.
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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.
coordinates is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated by get-status.
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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.
status is only triggered if the status changed since the last triggering.
The following symbols are available for this function:
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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.
altitude is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated by get-status.
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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.
motion is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated by get-status.
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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.
date-time is only triggered if the date or time changed since the last triggering.