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# 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.

## Examples

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

### Simple

Download (Example Simple.vi)

### Callback

Download (Example Callback.vi), Download (Example Callback - Coordinates Callback.vi)

## 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 -- String
  - ipcon -- .NET Refnum (IPConnection)

  Output:

  - gps -- .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 -- Int64
  - ns -- Char
  - longitude -- Int64
  - ew -- Char
  - pdop -- Int32
  - hdop -- Int32
  - vdop -- Int32
  - epe -- Int32

  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 -- Byte
  - satellitesView -- Byte
  - satellitesUsed -- Byte

  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()` and `GetAltitude()` return invalid data
  2 | 2D Fix, only `GetCoordinates()` returns valid data
  3 | 3D Fix, `GetCoordinates()` and `GetAltitude()` 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:

  - BrickletGPS.FIX_NO_FIX = 1
  - BrickletGPS.FIX_2D_FIX = 2
  - BrickletGPS.FIX_3D_FIX = 3

`BrickletGPS.``GetAltitude`() → altitude, geoidalSeparation

  Output:

  - altitude -- Int64
  - geoidalSeparation -- Int64

  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 -- Int64
  - speed -- Int64

  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 -- Int64
  - time -- Int64

  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.

### Advanced Functions

`BrickletGPS.``Restart`(restartType)

  Input:

  - restartType -- Byte

  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:

  - 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 -- Byte[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.

`BrickletGPS.``GetResponseExpected`(functionId) → responseExpected

  Input:

  - functionId -- Byte

  Output:

  - responseExpected -- 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.

  See `SetResponseExpected()` for the list of function ID constants available for this function.

`BrickletGPS.``SetResponseExpected`(functionId, responseExpected)

  Input:

  - functionId -- Byte
  - responseExpected -- 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 and callbacks it is always disabled.

  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 function ID constants are available for this function:

  - 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 -- 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 -- String
  - connectedUid -- String
  - position -- Char
  - hardwareVersion -- Byte[3]
  - firmwareVersion -- Byte[3]
  - deviceIdentifier -- Int32

  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 -- Int64

  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.

`BrickletGPS.``GetCoordinatesCallbackPeriod`() → period

  Output:

  - period -- Int64

  Returns the period as set by `SetCoordinatesCallbackPeriod()`.

`BrickletGPS.``SetStatusCallbackPeriod`(period)

  Input:

  - period -- Int64

  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.

`BrickletGPS.``GetStatusCallbackPeriod`() → period

  Output:

  - period -- Int64

  Returns the period as set by `SetStatusCallbackPeriod()`.

`BrickletGPS.``SetAltitudeCallbackPeriod`(period)

  Input:

  - period -- Int64

  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.

`BrickletGPS.``GetAltitudeCallbackPeriod`() → period

  Output:

  - period -- Int64

  Returns the period as set by `SetAltitudeCallbackPeriod()`.

`BrickletGPS.``SetMotionCallbackPeriod`(period)

  Input:

  - period -- Int64

  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.

`BrickletGPS.``GetMotionCallbackPeriod`() → period

  Output:

  - period -- Int64

  Returns the period as set by `SetMotionCallbackPeriod()`.

`BrickletGPS.``SetDateTimeCallbackPeriod`(period)

  Input:

  - period -- Int64

  Sets the period in ms with which the `DateTime` callback is triggered periodically. A value of 0 turns the callback off.

  `DateTime` is only triggered if the date or time changed since the last triggering.

  The default value is 0.

`BrickletGPS.``GetDateTimeCallbackPeriod`() → period

  Output:

  - period -- Int64

  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.``Coordinates`(sender, latitude, ns, longitude, ew, pdop, hdop, vdop, epe)

  Input:

  - sender -- .NET Refnum (BrickletGPS)
  - latitude -- Int64
  - ns -- Char
  - longitude -- Int64
  - ew -- Char
  - pdop -- Int32
  - hdop -- Int32
  - vdop -- Int32
  - epe -- Int32

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

  `Coordinates` is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated by `GetStatus()`.

event `BrickletGPS.``Status`(sender, fix, satellitesView, satellitesUsed)

  Input:

  - sender -- .NET Refnum (BrickletGPS)
  - fix -- Byte
  - satellitesView -- Byte
  - satellitesUsed -- Byte

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

  `Status` is only triggered if the status changed since the last triggering.

  The following constants are available for this function:

  - BrickletGPS.FIX_NO_FIX = 1
  - BrickletGPS.FIX_2D_FIX = 2
  - BrickletGPS.FIX_3D_FIX = 3

event `BrickletGPS.``Altitude`(sender, altitude, geoidalSeparation)

  Input:

  - sender -- .NET Refnum (BrickletGPS)
  - altitude -- Int64
  - geoidalSeparation -- Int64

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

  `Altitude` is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated by `GetStatus()`.

event `BrickletGPS.``Motion`(sender, course, speed)

  Input:

  - sender -- .NET Refnum (BrickletGPS)
  - course -- Int64
  - speed -- Int64

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

  `Motion` is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated by `GetStatus()`.

event `BrickletGPS.``DateTime`(sender, date, time)

  Input:

  - sender -- .NET Refnum (BrickletGPS)
  - date -- Int64
  - time -- Int64

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

  `DateTime` 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 `EnumerateCallback` callback of the IP Connection have a `deviceIdentifier` parameter to specify the Brick's or Bricklet's type.

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