compass_bricklet

package
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 Go to latest Published: May 11, 2022 License: CC0-1.0 Imports: 5 Imported by: 0

Documentation

Overview

3-axis compass with 10 nanotesla and 0.1° resolution.

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/Compass_Bricklet_Go.html.

Index

Constants

View Source 
const DeviceDisplayName = "Compass Bricklet"
View Source 
const DeviceIdentifier = 2153

Variables

This section is empty.

Functions

This section is empty.

Types

type BootloaderMode 

type BootloaderMode = uint8
const (
	BootloaderModeBootloader                    BootloaderMode = 0
	BootloaderModeFirmware                      BootloaderMode = 1
	BootloaderModeBootloaderWaitForReboot       BootloaderMode = 2
	BootloaderModeFirmwareWaitForReboot         BootloaderMode = 3
	BootloaderModeFirmwareWaitForEraseAndReboot BootloaderMode = 4
)

type BootloaderStatus 

type BootloaderStatus = uint8
const (
	BootloaderStatusOK                        BootloaderStatus = 0
	BootloaderStatusInvalidMode               BootloaderStatus = 1
	BootloaderStatusNoChange                  BootloaderStatus = 2
	BootloaderStatusEntryFunctionNotPresent   BootloaderStatus = 3
	BootloaderStatusDeviceIdentifierIncorrect BootloaderStatus = 4
	BootloaderStatusCRCMismatch               BootloaderStatus = 5
)

type CompassBricklet 

type CompassBricklet struct {
	// contains filtered or unexported fields
}

func New 

func New(uid string, ipcon *ipconnection.IPConnection) (CompassBricklet, error)

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

func (*CompassBricklet) DeregisterHeadingCallback 

func (device *CompassBricklet) DeregisterHeadingCallback(registrationId uint64)

Remove a registered Heading callback.

func (*CompassBricklet) DeregisterMagneticFluxDensityCallback 

func (device *CompassBricklet) DeregisterMagneticFluxDensityCallback(registrationId uint64)

Remove a registered Magnetic Flux Density callback.

func (*CompassBricklet) GetAPIVersion 

func (device *CompassBricklet) GetAPIVersion() [3]uint8

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.

func (*CompassBricklet) GetBootloaderMode 

func (device *CompassBricklet) GetBootloaderMode() (mode BootloaderMode, err error)

Returns the current bootloader mode, see SetBootloaderMode.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot

func (*CompassBricklet) GetCalibration 

func (device *CompassBricklet) GetCalibration() (offset [3]int16, gain [3]int16, err error)

Returns the calibration parameters as set by SetCalibration.

func (*CompassBricklet) GetChipTemperature 

func (device *CompassBricklet) GetChipTemperature() (temperature int16, err error)

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.

func (*CompassBricklet) GetConfiguration 

func (device *CompassBricklet) GetConfiguration() (dataRate DataRate, backgroundCalibration bool, err error)

Returns the configuration as set by SetConfiguration.

Associated constants:

  • DataRate100Hz
  • DataRate200Hz
  • DataRate400Hz
  • DataRate600Hz

func (*CompassBricklet) GetHeading 

func (device *CompassBricklet) GetHeading() (heading int16, err error)

Returns the heading (north = 0 degree, east = 90 degree).

Alternatively you can use GetMagneticFluxDensity and calculate the heading with “heading = atan2(y, x) * 180 / PI“.

If you want to get the value periodically, it is recommended to use the RegisterHeadingCallback callback. You can set the callback configuration with SetHeadingCallbackConfiguration.

func (*CompassBricklet) GetHeadingCallbackConfiguration 

func (device *CompassBricklet) GetHeadingCallbackConfiguration() (period uint32, valueHasToChange bool, option ThresholdOption, min int16, max int16, err error)

Returns the callback configuration as set by SetHeadingCallbackConfiguration.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*CompassBricklet) GetIdentity 

func (device *CompassBricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

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 <isolator_bricklet>` is always at position 'z'.

The device identifier numbers can be found `here <device_identifier>`. |device_identifier_constant|

func (*CompassBricklet) GetMagneticFluxDensity 

func (device *CompassBricklet) GetMagneticFluxDensity() (x int32, y int32, z int32, err error)

Returns the https://en.wikipedia.org/wiki/Magnetic_flux for all three axis.

If you want to get the value periodically, it is recommended to use the RegisterMagneticFluxDensityCallback callback. You can set the callback configuration with SetMagneticFluxDensityCallbackConfiguration.

func (*CompassBricklet) GetMagneticFluxDensityCallbackConfiguration 

func (device *CompassBricklet) GetMagneticFluxDensityCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetMagneticFluxDensityCallbackConfiguration.

func (*CompassBricklet) GetResponseExpected 

func (device *CompassBricklet) GetResponseExpected(functionID Function) (bool, error)

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

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

func (*CompassBricklet) GetSPITFPErrorCount 

func (device *CompassBricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)

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.

func (*CompassBricklet) GetStatusLEDConfig 

func (device *CompassBricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error)

Returns the configuration as set by SetStatusLEDConfig

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*CompassBricklet) ReadUID 

func (device *CompassBricklet) ReadUID() (uid uint32, err error)

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

func (*CompassBricklet) RegisterHeadingCallback 

func (device *CompassBricklet) RegisterHeadingCallback(fn func(int16)) uint64

This callback is triggered periodically according to the configuration set by SetHeadingCallbackConfiguration.

The parameter is the same as GetHeading.

func (*CompassBricklet) RegisterMagneticFluxDensityCallback 

func (device *CompassBricklet) RegisterMagneticFluxDensityCallback(fn func(int32, int32, int32)) uint64

This callback is triggered periodically according to the configuration set by SetMagneticFluxDensityCallbackConfiguration.

The parameters are the same as GetMagneticFluxDensity.

func (*CompassBricklet) Reset 

func (device *CompassBricklet) Reset() (err error)

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!

func (*CompassBricklet) SetBootloaderMode 

func (device *CompassBricklet) SetBootloaderMode(mode BootloaderMode) (status BootloaderStatus, err error)

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:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot
  • BootloaderStatusOK
  • BootloaderStatusInvalidMode
  • BootloaderStatusNoChange
  • BootloaderStatusEntryFunctionNotPresent
  • BootloaderStatusDeviceIdentifierIncorrect
  • BootloaderStatusCRCMismatch

func (*CompassBricklet) SetCalibration 

func (device *CompassBricklet) SetCalibration(offset [3]int16, gain [3]int16) (err error)

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.

func (*CompassBricklet) SetConfiguration 

func (device *CompassBricklet) SetConfiguration(dataRate DataRate, backgroundCalibration bool) (err error)

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.

Associated constants:

  • DataRate100Hz
  • DataRate200Hz
  • DataRate400Hz
  • DataRate600Hz

func (*CompassBricklet) SetHeadingCallbackConfiguration 

func (device *CompassBricklet) SetHeadingCallbackConfiguration(period uint32, valueHasToChange bool, option ThresholdOption, min int16, max int16) (err error)

The period is the period with which the RegisterHeadingCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

It is furthermore possible to constrain the callback with thresholds.

The `option`-parameter together with min/max sets a threshold for the RegisterHeadingCallback callback.

The following options are possible: 

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)

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*CompassBricklet) SetMagneticFluxDensityCallbackConfiguration 

func (device *CompassBricklet) SetMagneticFluxDensityCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterMagneticFluxDensityCallback callback is triggered periodically. A value of 0 turns the callback off.

If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

func (*CompassBricklet) SetResponseExpected 

func (device *CompassBricklet) SetResponseExpected(functionID Function, responseExpected bool) error

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.

func (*CompassBricklet) SetResponseExpectedAll 

func (device *CompassBricklet) SetResponseExpectedAll(responseExpected bool)

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

func (*CompassBricklet) SetStatusLEDConfig 

func (device *CompassBricklet) SetStatusLEDConfig(config StatusLEDConfig) (err error)

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:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*CompassBricklet) SetWriteFirmwarePointer 

func (device *CompassBricklet) SetWriteFirmwarePointer(pointer uint32) (err error)

Sets the firmware pointer for WriteFirmware. 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.

func (*CompassBricklet) WriteFirmware 

func (device *CompassBricklet) WriteFirmware(data [64]uint8) (status uint8, err error)

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer 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.

func (*CompassBricklet) WriteUID 

func (device *CompassBricklet) WriteUID(uid uint32) (err error)

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.

type DataRate 

type DataRate = uint8
const (
	DataRate100Hz DataRate = 0
	DataRate200Hz DataRate = 1
	DataRate400Hz DataRate = 2
	DataRate600Hz DataRate = 3
)

type Function 

type Function = uint8
const (
	FunctionGetHeading                                  Function = 1
	FunctionSetHeadingCallbackConfiguration             Function = 2
	FunctionGetHeadingCallbackConfiguration             Function = 3
	FunctionGetMagneticFluxDensity                      Function = 5
	FunctionSetMagneticFluxDensityCallbackConfiguration Function = 6
	FunctionGetMagneticFluxDensityCallbackConfiguration Function = 7
	FunctionSetConfiguration                            Function = 9
	FunctionGetConfiguration                            Function = 10
	FunctionSetCalibration                              Function = 11
	FunctionGetCalibration                              Function = 12
	FunctionGetSPITFPErrorCount                         Function = 234
	FunctionSetBootloaderMode                           Function = 235
	FunctionGetBootloaderMode                           Function = 236
	FunctionSetWriteFirmwarePointer                     Function = 237
	FunctionWriteFirmware                               Function = 238
	FunctionSetStatusLEDConfig                          Function = 239
	FunctionGetStatusLEDConfig                          Function = 240
	FunctionGetChipTemperature                          Function = 242
	FunctionReset                                       Function = 243
	FunctionWriteUID                                    Function = 248
	FunctionReadUID                                     Function = 249
	FunctionGetIdentity                                 Function = 255
	FunctionCallbackHeading                             Function = 4
	FunctionCallbackMagneticFluxDensity                 Function = 8
)

type StatusLEDConfig 

type StatusLEDConfig = uint8
const (
	StatusLEDConfigOff           StatusLEDConfig = 0
	StatusLEDConfigOn            StatusLEDConfig = 1
	StatusLEDConfigShowHeartbeat StatusLEDConfig = 2
	StatusLEDConfigShowStatus    StatusLEDConfig = 3
)

type ThresholdOption 

type ThresholdOption = rune
const (
	ThresholdOptionOff     ThresholdOption = 'x'
	ThresholdOptionOutside ThresholdOption = 'o'
	ThresholdOptionInside  ThresholdOption = 'i'
	ThresholdOptionSmaller ThresholdOption = '<'
	ThresholdOptionGreater ThresholdOption = '>'
)

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