def Total_milage_22(self, data):
if len(data) == 4:
self.totaltrip = (data[1] + data[2] * 256) / 10.0
# self.totaltrip_changed = True
return "TOTAL TRIP {0}".format(
self.totaltrip) # TODO: Create NMEA for this of remove
return ERR('ST 22 incorrect length: {}'.format(len(data))).msg
def Trip_milage_21(self, data):
if len(data) == 4:
self.trip = (data[1] + data[2] * 256 +
(data[3] & 0x0F) * 4096) / 100.0
self.trip_changed = True
return VLW(self.trip + self.offset).msg
return ERR('ST 21 incorrect length: {}'.format(len(data))).msg
def Speed_through_water_26(self, data):
if len(data) == 6:
self.speedthroughwater = (data[1] + data[2] * 256) / 100
self.averagespeedthroughwater = (data[3] + data[4] * 256) / 100
# self.speedthroughwater_changed = True
# self.averagespeedthroughwater_changed = True
return VHW(self.speedthroughwater).msg
return ERR('ST 26 incorrect length: {}'.format(len(data))).msg
def Total_and_trip_25(self, data):
if len(data) == 6:
self.totaltrip = (data[1] + data[2] * 256 +
(data[0] >> 4) * 4096) / 10
self.trip = (data[3] + data[4] * 256 +
(data[5] & 0x0F) * 4096) / 100
self.trip_changed = True
# self.totaltrip_changed = True
return VLW(self.trip + self.offset).msg
# TODO: self.output += "TOTAL TRIP {0}".format(self.totaltrip) # TODO: Create NMEA for this of remove
return ERR('ST 25 incorrect length: {}'.format(len(data))).msg
def outputthread(outbuf, test=False):
if test:
outputserial = None
else:
outputserial = pyb.UART(6, 115200)
if upower.vbat() < 2.0:
outbuf.write(ERR('Low Backup Battery').msg)
while True:
yield 0.1
outbuf.print(outputserial)
def seatalkthread(out_buff):
stream = pyb.UART(4, 4800, bits=9)
yield 0.5
st = Seatalk(stream) #, out_buff.log['daily'])
wf = Poller(st.Poll, (4, ), 5)
while True:
reason = (yield wf())
if reason[1]:
st.update(out_buff)
#out_buff.write(st.output)
#st.output = []
if reason[2]:
out_buff.write(ERR('ST DATA TIMEOUT').msg)
def cthread(out_buf):
imu = MPU9250('X', transposition=(0, 1, 2), scaling=(1, -1, 1))
global i2c_object
i2c_object = imu._mpu_i2c
yield 0.03 # Allow accelerometer to settle
compass = TCCompass(imu, timeout=1000)
while True:
yield
try:
if compass.process():
out_buf.write(compass.output)
except:
out_buf.write(ERR('Compass Error').msg)
def process(self, data):
# loop while data available
x = 0
while len(data) > x + 1:
newdata = data[x]
parity = data[x + 1]
x += 2
# if command bit set, set status to command
if self.paritycheck(parity):
self.command = newdata
self.data = []
self.status = Status.Command
# if on command status check for length
elif self.status == Status.Command and self.paritycheck(
parity) is False:
self.data.append(newdata)
self.length = (newdata & 0x0F) + 1
self.status = Status.Length
# if on length status collect data to match length
elif self.status == Status.Length and self.paritycheck(
parity) is False:
self.data.append(newdata)
self.length -= 1
# if length is achieved mark as complete
if self.length == 0:
self.status = Status.Complete
# if status is complete
if self.status == Status.Complete:
out = ''
try:
out = self.Decode[self.command](self.data)
except:
out = ERR("{:2x} SEATALK SENTENCE NOT RECOGNISED".format(
self.command)).msg
finally:
self.output.append(out)
self.status = Status.Empty
return True
return False
def Speed_through_water_20(self, data):
if len(data) == 3:
self.speedthroughwater = (data[1] + data[2] * 256) / 10.0
# self.speedthroughwater_changed = True
return VHW(self.speedthroughwater).msg
return ERR('ST 20 incorrect length: {}'.format(len(data))).msg