Class: Tinkerforge::BrickletCompass

Inherits:
Device
  • Object
show all
Defined in:
lib/tinkerforge/bricklet_compass.rb

Overview

3-axis compass with 10 nanotesla and 0.1° resolution

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

2153
DEVICE_DISPLAY_NAME =

:nodoc:

'Compass Bricklet'
CALLBACK_HEADING =

This callback is triggered periodically according to the configuration set by BrickletCompass#set_heading_callback_configuration.

The parameter is the same as BrickletCompass#get_heading.

4
CALLBACK_MAGNETIC_FLUX_DENSITY =

This callback is triggered periodically according to the configuration set by BrickletCompass#set_magnetic_flux_density_callback_configuration.

The parameters are the same as BrickletCompass#get_magnetic_flux_density.

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FUNCTION_GET_HEADING =

:nodoc:

1
FUNCTION_SET_HEADING_CALLBACK_CONFIGURATION =

:nodoc:

2
FUNCTION_GET_HEADING_CALLBACK_CONFIGURATION =

:nodoc:

3
FUNCTION_GET_MAGNETIC_FLUX_DENSITY =

:nodoc:

5
FUNCTION_SET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION =

:nodoc:

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FUNCTION_GET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION =

:nodoc:

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FUNCTION_SET_CONFIGURATION =

:nodoc:

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FUNCTION_GET_CONFIGURATION =

:nodoc:

10
FUNCTION_SET_CALIBRATION =

:nodoc:

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FUNCTION_GET_CALIBRATION =

:nodoc:

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FUNCTION_GET_SPITFP_ERROR_COUNT =

:nodoc:

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FUNCTION_SET_BOOTLOADER_MODE =

:nodoc:

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FUNCTION_GET_BOOTLOADER_MODE =

:nodoc:

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FUNCTION_SET_WRITE_FIRMWARE_POINTER =

:nodoc:

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FUNCTION_WRITE_FIRMWARE =

:nodoc:

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FUNCTION_SET_STATUS_LED_CONFIG =

:nodoc:

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FUNCTION_GET_STATUS_LED_CONFIG =

:nodoc:

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FUNCTION_GET_CHIP_TEMPERATURE =

:nodoc:

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FUNCTION_RESET =

:nodoc:

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FUNCTION_WRITE_UID =

:nodoc:

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FUNCTION_READ_UID =

:nodoc:

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FUNCTION_GET_IDENTITY =

:nodoc:

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THRESHOLD_OPTION_OFF =

:nodoc:

'x'
THRESHOLD_OPTION_OUTSIDE =

:nodoc:

'o'
THRESHOLD_OPTION_INSIDE =

:nodoc:

'i'
THRESHOLD_OPTION_SMALLER =

:nodoc:

'<'
THRESHOLD_OPTION_GREATER =

:nodoc:

'>'
DATA_RATE_100HZ =

:nodoc:

0
DATA_RATE_200HZ =

:nodoc:

1
DATA_RATE_400HZ =

:nodoc:

2
DATA_RATE_600HZ =

:nodoc:

3
BOOTLOADER_MODE_BOOTLOADER =

:nodoc:

0
BOOTLOADER_MODE_FIRMWARE =

:nodoc:

1
BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT =

:nodoc:

2
BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT =

:nodoc:

3
BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT =

:nodoc:

4
BOOTLOADER_STATUS_OK =

:nodoc:

0
BOOTLOADER_STATUS_INVALID_MODE =

:nodoc:

1
BOOTLOADER_STATUS_NO_CHANGE =

:nodoc:

2
BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT =

:nodoc:

3
BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT =

:nodoc:

4
BOOTLOADER_STATUS_CRC_MISMATCH =

:nodoc:

5
STATUS_LED_CONFIG_OFF =

:nodoc:

0
STATUS_LED_CONFIG_ON =

:nodoc:

1
STATUS_LED_CONFIG_SHOW_HEARTBEAT =

:nodoc:

2
STATUS_LED_CONFIG_SHOW_STATUS =

:nodoc:

3

Constants inherited from Device

Device::DEVICE_IDENTIFIER_CHECK_MATCH, Device::DEVICE_IDENTIFIER_CHECK_MISMATCH, Device::DEVICE_IDENTIFIER_CHECK_PENDING, Device::RESPONSE_EXPECTED_ALWAYS_TRUE, Device::RESPONSE_EXPECTED_FALSE, Device::RESPONSE_EXPECTED_INVALID_FUNCTION_ID, Device::RESPONSE_EXPECTED_TRUE

Instance Attribute Summary

Attributes inherited from Device

#callback_formats, #expected_response_function_id, #expected_response_sequence_number, #high_level_callbacks, #registered_callbacks, #replaced, #uid

Instance Method Summary collapse

Methods inherited from Device

#check_validity, #dequeue_response, #enqueue_response, #get_api_version, #get_response_expected, #send_request, #set_response_expected, #set_response_expected_all

Constructor Details

#initialize(uid, ipcon) ⇒ BrickletCompass

Creates an object with the unique device ID uid and adds it to the IP Connection ipcon.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 82

def initialize(uid, ipcon)
  super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME

  @api_version = [2, 0, 0]

  @response_expected[FUNCTION_GET_HEADING] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_HEADING_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_HEADING_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_MAGNETIC_FLUX_DENSITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_CALIBRATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_CALIBRATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_WRITE_UID] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE

  @callback_formats[CALLBACK_HEADING] = [10, 's']
  @callback_formats[CALLBACK_MAGNETIC_FLUX_DENSITY] = [20, 'l l l']

  @ipcon.add_device self
end

Instance Method Details

#get_bootloader_mode ⇒ Object

Returns the current bootloader mode, see BrickletCompass#set_bootloader_mode.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 282

def get_bootloader_mode
  check_validity

  send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C'
end

#get_calibration ⇒ Object

Returns the calibration parameters as set by BrickletCompass#set_calibration.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 243

def get_calibration
  check_validity

  send_request FUNCTION_GET_CALIBRATION, [], '', 20, 's3 s3'
end

#get_chip_temperature ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 340

def get_chip_temperature
  check_validity

  send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's'
end

#get_configuration ⇒ Object

Returns the configuration as set by BrickletCompass#set_configuration.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 223

def get_configuration
  check_validity

  send_request FUNCTION_GET_CONFIGURATION, [], '', 10, 'C ?'
end

#get_heading ⇒ Object

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

Alternatively you can use BrickletCompass#get_magnetic_flux_density 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 CALLBACK_HEADING callback. You can set the callback configuration with BrickletCompass#set_heading_callback_configuration.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 125

def get_heading
  check_validity

  send_request FUNCTION_GET_HEADING, [], '', 10, 's'
end

#get_heading_callback_configuration ⇒ Object

Returns the callback configuration as set by BrickletCompass#set_heading_callback_configuration.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 163

def get_heading_callback_configuration
  check_validity

  send_request FUNCTION_GET_HEADING_CALLBACK_CONFIGURATION, [], '', 18, 'L ? k s s'
end

#get_identity ⇒ Object

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|



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# File 'lib/tinkerforge/bricklet_compass.rb', line 387

def get_identity
  send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
end

#get_magnetic_flux_density ⇒ Object

Returns the ‘magnetic flux density (magnetic induction) <en.wikipedia.org/wiki/Magnetic_flux>`__ for all three axis.

If you want to get the value periodically, it is recommended to use the CALLBACK_MAGNETIC_FLUX_DENSITY callback. You can set the callback configuration with BrickletCompass#set_magnetic_flux_density_callback_configuration.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 175

def get_magnetic_flux_density
  check_validity

  send_request FUNCTION_GET_MAGNETIC_FLUX_DENSITY, [], '', 20, 'l l l'
end

#get_magnetic_flux_density_callback_configuration ⇒ Object

Returns the callback configuration as set by BrickletCompass#set_magnetic_flux_density_callback_configuration.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 198

def get_magnetic_flux_density_callback_configuration
  check_validity

  send_request FUNCTION_GET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION, [], '', 13, 'L ?'
end

#get_spitfp_error_count ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 260

def get_spitfp_error_count
  check_validity

  send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L'
end

#get_status_led_config ⇒ Object

Returns the configuration as set by BrickletCompass#set_status_led_config



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# File 'lib/tinkerforge/bricklet_compass.rb', line 328

def get_status_led_config
  check_validity

  send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C'
end

#read_uid ⇒ Object

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



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# File 'lib/tinkerforge/bricklet_compass.rb', line 371

def read_uid
  check_validity

  send_request FUNCTION_READ_UID, [], '', 12, 'L'
end

#register_callback(id, &block) ⇒ Object

Registers a callback with ID id to the block block.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 392

def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end

#reset ⇒ Object

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!



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# File 'lib/tinkerforge/bricklet_compass.rb', line 352

def reset
  check_validity

  send_request FUNCTION_RESET, [], '', 8, ''
end

#set_bootloader_mode(mode) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 275

def set_bootloader_mode(mode)
  check_validity

  send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C'
end

#set_calibration(offset, gain) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 236

def set_calibration(offset, gain)
  check_validity

  send_request FUNCTION_SET_CALIBRATION, [offset, gain], 's3 s3', 8, ''
end

#set_configuration(data_rate, background_calibration) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 216

def set_configuration(data_rate, background_calibration)
  check_validity

  send_request FUNCTION_SET_CONFIGURATION, [data_rate, background_calibration], 'C ?', 8, ''
end

#set_heading_callback_configuration(period, value_has_to_change, option, min, max) ⇒ Object

The period is the period with which the CALLBACK_HEADING 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 CALLBACK_HEADING 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.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 156

def set_heading_callback_configuration(period, value_has_to_change, option, min, max)
  check_validity

  send_request FUNCTION_SET_HEADING_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k s s', 8, ''
end

#set_magnetic_flux_density_callback_configuration(period, value_has_to_change) ⇒ Object

The period is the period with which the CALLBACK_MAGNETIC_FLUX_DENSITY 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.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 190

def set_magnetic_flux_density_callback_configuration(period, value_has_to_change)
  check_validity

  send_request FUNCTION_SET_MAGNETIC_FLUX_DENSITY_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
end

#set_status_led_config(config) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 321

def set_status_led_config(config)
  check_validity

  send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, ''
end

#set_write_firmware_pointer(pointer) ⇒ Object

Sets the firmware pointer for BrickletCompass#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.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 294

def set_write_firmware_pointer(pointer)
  check_validity

  send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, ''
end

#write_firmware(data) ⇒ Object

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



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# File 'lib/tinkerforge/bricklet_compass.rb', line 308

def write_firmware(data)
  check_validity

  send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C'
end

#write_uid(uid) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_compass.rb', line 363

def write_uid(uid)
  check_validity

  send_request FUNCTION_WRITE_UID, [uid], 'L', 8, ''
end