Package com.tinkerforge
Class BrickletCompass
- java.lang.Object
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- com.tinkerforge.DeviceBase
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- com.tinkerforge.Device
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- com.tinkerforge.BrickletCompass
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public class BrickletCompass extends Device
3-axis compass with 10 nanotesla and 0.1° resolution
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Nested Class Summary
Nested Classes Modifier and Type Class Description class
BrickletCompass.Calibration
class
BrickletCompass.Configuration
class
BrickletCompass.HeadingCallbackConfiguration
static interface
BrickletCompass.HeadingListener
This listener is triggered periodically according to the configuration set bysetHeadingCallbackConfiguration(long, boolean, char, int, int)
.class
BrickletCompass.MagneticFluxDensity
class
BrickletCompass.MagneticFluxDensityCallbackConfiguration
static interface
BrickletCompass.MagneticFluxDensityListener
This listener is triggered periodically according to the configuration set bysetMagneticFluxDensityCallbackConfiguration(long, boolean)
.class
BrickletCompass.SPITFPErrorCount
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Nested classes/interfaces inherited from class com.tinkerforge.Device
Device.Identity
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Field Summary
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Constructor Summary
Constructors Constructor Description BrickletCompass(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addHeadingListener(BrickletCompass.HeadingListener listener)
Adds a Heading listener.void
addMagneticFluxDensityListener(BrickletCompass.MagneticFluxDensityListener listener)
Adds a MagneticFluxDensity listener.int
getBootloaderMode()
Returns the current bootloader mode, seesetBootloaderMode(int)
.BrickletCompass.Calibration
getCalibration()
Returns the calibration parameters as set bysetCalibration(int[], int[])
.int
getChipTemperature()
Returns the temperature as measured inside the microcontroller.BrickletCompass.Configuration
getConfiguration()
Returns the configuration as set bysetConfiguration(int, boolean)
.int
getHeading()
Returns the heading (north = 0 degree, east = 90 degree).BrickletCompass.HeadingCallbackConfiguration
getHeadingCallbackConfiguration()
Returns the listener configuration as set bysetHeadingCallbackConfiguration(long, boolean, char, int, int)
.Device.Identity
getIdentity()
Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.BrickletCompass.MagneticFluxDensity
getMagneticFluxDensity()
Returns the `magnetic flux density (magnetic induction) <https://en.wikipedia.org/wiki/Magnetic_flux>`__ for all three axis.BrickletCompass.MagneticFluxDensityCallbackConfiguration
getMagneticFluxDensityCallbackConfiguration()
Returns the listener configuration as set bysetMagneticFluxDensityCallbackConfiguration(long, boolean)
.BrickletCompass.SPITFPErrorCount
getSPITFPErrorCount()
Returns the error count for the communication between Brick and Bricklet.int
getStatusLEDConfig()
Returns the configuration as set bysetStatusLEDConfig(int)
long
readUID()
Returns the current UID as an integer.void
removeHeadingListener(BrickletCompass.HeadingListener listener)
Removes a Heading listener.void
removeMagneticFluxDensityListener(BrickletCompass.MagneticFluxDensityListener listener)
Removes a MagneticFluxDensity listener.void
reset()
Calling this function will reset the Bricklet.int
setBootloaderMode(int mode)
Sets the bootloader mode and returns the status after the requested mode change was instigated.void
setCalibration(int[] offset, int[] gain)
Sets offset and gain for each of the three axes.void
setConfiguration(int dataRate, boolean backgroundCalibration)
Configures the data rate and background calibration.void
setHeadingCallbackConfiguration(long period, boolean valueHasToChange, char option, int min, int max)
The period is the period with which theBrickletCompass.HeadingListener
listener is triggered periodically.void
setMagneticFluxDensityCallbackConfiguration(long period, boolean valueHasToChange)
The period is the period with which theBrickletCompass.MagneticFluxDensityListener
listener is triggered periodically.void
setStatusLEDConfig(int config)
Sets the status LED configuration.void
setWriteFirmwarePointer(long pointer)
Sets the firmware pointer forwriteFirmware(int[])
.int
writeFirmware(int[] data)
Writes 64 Bytes of firmware at the position as written bysetWriteFirmwarePointer(long)
before.void
writeUID(long uid)
Writes a new UID into flash.-
Methods inherited from class com.tinkerforge.DeviceBase
getAPIVersion, getResponseExpected, setResponseExpected, setResponseExpectedAll
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Field Detail
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DEVICE_IDENTIFIER
public static final int DEVICE_IDENTIFIER
- See Also:
- Constant Field Values
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DEVICE_DISPLAY_NAME
public static final java.lang.String DEVICE_DISPLAY_NAME
- See Also:
- Constant Field Values
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FUNCTION_GET_HEADING
public static final byte FUNCTION_GET_HEADING
- See Also:
- Constant Field Values
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FUNCTION_SET_HEADING_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_HEADING_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_HEADING_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_HEADING_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_MAGNETIC_FLUX_DENSITY
public static final byte FUNCTION_GET_MAGNETIC_FLUX_DENSITY
- See Also:
- Constant Field Values
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FUNCTION_SET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_CONFIGURATION
public static final byte FUNCTION_SET_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_CONFIGURATION
public static final byte FUNCTION_GET_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_CALIBRATION
public static final byte FUNCTION_SET_CALIBRATION
- See Also:
- Constant Field Values
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FUNCTION_GET_CALIBRATION
public static final byte FUNCTION_GET_CALIBRATION
- See Also:
- Constant Field Values
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FUNCTION_GET_SPITFP_ERROR_COUNT
public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
- See Also:
- Constant Field Values
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FUNCTION_SET_BOOTLOADER_MODE
public static final byte FUNCTION_SET_BOOTLOADER_MODE
- See Also:
- Constant Field Values
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FUNCTION_GET_BOOTLOADER_MODE
public static final byte FUNCTION_GET_BOOTLOADER_MODE
- See Also:
- Constant Field Values
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FUNCTION_SET_WRITE_FIRMWARE_POINTER
public static final byte FUNCTION_SET_WRITE_FIRMWARE_POINTER
- See Also:
- Constant Field Values
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FUNCTION_WRITE_FIRMWARE
public static final byte FUNCTION_WRITE_FIRMWARE
- See Also:
- Constant Field Values
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FUNCTION_SET_STATUS_LED_CONFIG
public static final byte FUNCTION_SET_STATUS_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_STATUS_LED_CONFIG
public static final byte FUNCTION_GET_STATUS_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_CHIP_TEMPERATURE
public static final byte FUNCTION_GET_CHIP_TEMPERATURE
- See Also:
- Constant Field Values
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FUNCTION_RESET
public static final byte FUNCTION_RESET
- See Also:
- Constant Field Values
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FUNCTION_WRITE_UID
public static final byte FUNCTION_WRITE_UID
- See Also:
- Constant Field Values
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FUNCTION_READ_UID
public static final byte FUNCTION_READ_UID
- See Also:
- Constant Field Values
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FUNCTION_GET_IDENTITY
public static final byte FUNCTION_GET_IDENTITY
- See Also:
- Constant Field Values
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THRESHOLD_OPTION_OFF
public static final char THRESHOLD_OPTION_OFF
- See Also:
- Constant Field Values
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THRESHOLD_OPTION_OUTSIDE
public static final char THRESHOLD_OPTION_OUTSIDE
- See Also:
- Constant Field Values
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THRESHOLD_OPTION_INSIDE
public static final char THRESHOLD_OPTION_INSIDE
- See Also:
- Constant Field Values
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THRESHOLD_OPTION_SMALLER
public static final char THRESHOLD_OPTION_SMALLER
- See Also:
- Constant Field Values
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THRESHOLD_OPTION_GREATER
public static final char THRESHOLD_OPTION_GREATER
- See Also:
- Constant Field Values
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DATA_RATE_100HZ
public static final int DATA_RATE_100HZ
- See Also:
- Constant Field Values
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DATA_RATE_200HZ
public static final int DATA_RATE_200HZ
- See Also:
- Constant Field Values
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DATA_RATE_400HZ
public static final int DATA_RATE_400HZ
- See Also:
- Constant Field Values
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DATA_RATE_600HZ
public static final int DATA_RATE_600HZ
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_BOOTLOADER
public static final int BOOTLOADER_MODE_BOOTLOADER
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE
public static final int BOOTLOADER_MODE_FIRMWARE
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
public static final int BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_OK
public static final int BOOTLOADER_STATUS_OK
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_INVALID_MODE
public static final int BOOTLOADER_STATUS_INVALID_MODE
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_NO_CHANGE
public static final int BOOTLOADER_STATUS_NO_CHANGE
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
public static final int BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
public static final int BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_CRC_MISMATCH
public static final int BOOTLOADER_STATUS_CRC_MISMATCH
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_OFF
public static final int STATUS_LED_CONFIG_OFF
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_ON
public static final int STATUS_LED_CONFIG_ON
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_SHOW_HEARTBEAT
public static final int STATUS_LED_CONFIG_SHOW_HEARTBEAT
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_SHOW_STATUS
public static final int STATUS_LED_CONFIG_SHOW_STATUS
- See Also:
- Constant Field Values
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Constructor Detail
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BrickletCompass
public BrickletCompass(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid. and adds it to the IP Connection \c ipcon.
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Method Detail
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getHeading
public int getHeading() throws TinkerforgeException
Returns the heading (north = 0 degree, east = 90 degree). Alternatively you can usegetMagneticFluxDensity()
and calculate the heading with ``heading = atan2(y, x) * 180 / PI``. If you want to get the value periodically, it is recommended to use theBrickletCompass.HeadingListener
listener. You can set the listener configuration withsetHeadingCallbackConfiguration(long, boolean, char, int, int)
.- Throws:
TinkerforgeException
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setHeadingCallbackConfiguration
public void setHeadingCallbackConfiguration(long period, boolean valueHasToChange, char option, int min, int max) throws TinkerforgeException
The period is the period with which theBrickletCompass.HeadingListener
listener is triggered periodically. A value of 0 turns the listener off. If the `value has to change`-parameter is set to true, the listener is only triggered after the value has changed. If the value didn't change within the period, the listener is triggered immediately on change. If it is set to false, the listener is continuously triggered with the period, independent of the value. It is furthermore possible to constrain the listener with thresholds. The `option`-parameter together with min/max sets a threshold for theBrickletCompass.HeadingListener
listener. The following options are possible: \verbatim "Option", "Description" "'x'", "Threshold is turned off" "'o'", "Threshold is triggered when the value is *outside* the min and max values" "'i'", "Threshold is triggered when the value is *inside* or equal to the min and max values" "'<'", "Threshold is triggered when the value is smaller than the min value (max is ignored)" "'>'", "Threshold is triggered when the value is greater than the min value (max is ignored)" \endverbatim If the option is set to 'x' (threshold turned off) the listener is triggered with the fixed period.- Throws:
TinkerforgeException
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getHeadingCallbackConfiguration
public BrickletCompass.HeadingCallbackConfiguration getHeadingCallbackConfiguration() throws TinkerforgeException
Returns the listener configuration as set bysetHeadingCallbackConfiguration(long, boolean, char, int, int)
.- Throws:
TinkerforgeException
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getMagneticFluxDensity
public BrickletCompass.MagneticFluxDensity getMagneticFluxDensity() throws TinkerforgeException
Returns the `magnetic flux density (magnetic induction) <https://en.wikipedia.org/wiki/Magnetic_flux>`__ for all three axis. If you want to get the value periodically, it is recommended to use theBrickletCompass.MagneticFluxDensityListener
listener. You can set the listener configuration withsetMagneticFluxDensityCallbackConfiguration(long, boolean)
.- Throws:
TinkerforgeException
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setMagneticFluxDensityCallbackConfiguration
public void setMagneticFluxDensityCallbackConfiguration(long period, boolean valueHasToChange) throws TinkerforgeException
The period is the period with which theBrickletCompass.MagneticFluxDensityListener
listener is triggered periodically. A value of 0 turns the listener off. If the `value has to change`-parameter is set to true, the listener is only triggered after the value has changed. If the value didn't change within the period, the listener is triggered immediately on change. If it is set to false, the listener is continuously triggered with the period, independent of the value.- Throws:
TinkerforgeException
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getMagneticFluxDensityCallbackConfiguration
public BrickletCompass.MagneticFluxDensityCallbackConfiguration getMagneticFluxDensityCallbackConfiguration() throws TinkerforgeException
Returns the listener configuration as set bysetMagneticFluxDensityCallbackConfiguration(long, boolean)
.- Throws:
TinkerforgeException
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setConfiguration
public void setConfiguration(int dataRate, boolean backgroundCalibration) throws TinkerforgeException
Configures the data rate and background calibration. * Data Rate: Sets the data rate that is used by the magnetometer. The lower the data rate, the lower is the noise on the data. * Background Calibration: Set to *true* to enable the background calibration and *false* to turn it off. If the background calibration is enabled the sensing polarity is flipped once per second to automatically calculate and remove offset that is caused by temperature changes. This polarity flipping takes about 20ms. This means that once a second you will not get new data for a period of 20ms. We highly recommend that you keep the background calibration enabled and only disable it if the 20ms off-time is a problem in your application.- Throws:
TinkerforgeException
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getConfiguration
public BrickletCompass.Configuration getConfiguration() throws TinkerforgeException
Returns the configuration as set bysetConfiguration(int, boolean)
.- Throws:
TinkerforgeException
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setCalibration
public void setCalibration(int[] offset, int[] gain) throws TinkerforgeException
Sets offset and gain for each of the three axes. The Bricklet is factory calibrated. If you want to re-calibrate the Bricklet we recommend that you do the calibration through Brick Viewer. The calibration is saved in non-volatile memory and only has to be done once.- Throws:
TinkerforgeException
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getCalibration
public BrickletCompass.Calibration getCalibration() throws TinkerforgeException
Returns the calibration parameters as set bysetCalibration(int[], int[])
.- Throws:
TinkerforgeException
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getSPITFPErrorCount
public BrickletCompass.SPITFPErrorCount getSPITFPErrorCount() throws TinkerforgeException
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.- Throws:
TinkerforgeException
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setBootloaderMode
public int setBootloaderMode(int mode) throws TinkerforgeException
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.- Throws:
TinkerforgeException
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getBootloaderMode
public int getBootloaderMode() throws TinkerforgeException
Returns the current bootloader mode, seesetBootloaderMode(int)
.- Throws:
TinkerforgeException
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setWriteFirmwarePointer
public void setWriteFirmwarePointer(long pointer) throws TinkerforgeException
Sets the firmware pointer forwriteFirmware(int[])
. 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.- Throws:
TinkerforgeException
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writeFirmware
public int writeFirmware(int[] data) throws TinkerforgeException
Writes 64 Bytes of firmware at the position as written bysetWriteFirmwarePointer(long)
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.- Throws:
TinkerforgeException
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setStatusLEDConfig
public void setStatusLEDConfig(int config) throws TinkerforgeException
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.- Throws:
TinkerforgeException
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getStatusLEDConfig
public int getStatusLEDConfig() throws TinkerforgeException
Returns the configuration as set bysetStatusLEDConfig(int)
- Throws:
TinkerforgeException
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getChipTemperature
public int getChipTemperature() throws TinkerforgeException
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.- Throws:
TinkerforgeException
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reset
public void reset() throws TinkerforgeException
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!- Throws:
TinkerforgeException
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writeUID
public void writeUID(long uid) throws TinkerforgeException
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.- Throws:
TinkerforgeException
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readUID
public long readUID() throws TinkerforgeException
Returns the current UID as an integer. Encode as Base58 to get the usual string version.- Throws:
TinkerforgeException
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getIdentity
public Device.Identity getIdentity() throws TinkerforgeException
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 :ref:`Isolator Bricklet <isolator_bricklet>` is always at position 'z'. The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|- Specified by:
getIdentity
in classDevice
- Throws:
TinkerforgeException
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addHeadingListener
public void addHeadingListener(BrickletCompass.HeadingListener listener)
Adds a Heading listener.
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removeHeadingListener
public void removeHeadingListener(BrickletCompass.HeadingListener listener)
Removes a Heading listener.
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addMagneticFluxDensityListener
public void addMagneticFluxDensityListener(BrickletCompass.MagneticFluxDensityListener listener)
Adds a MagneticFluxDensity listener.
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removeMagneticFluxDensityListener
public void removeMagneticFluxDensityListener(BrickletCompass.MagneticFluxDensityListener listener)
Removes a MagneticFluxDensity listener.
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