class GPS(Sensor):
def __init__(self, sensor_id):
super().__init__(sensor_id, 'i16', 'f', 'i16', 'f', 'f', 'f', 'f')
self.gps_ref = MicropyGPS()
def update(self, character):
self.gps_ref.update(character)
def update_data(self):
self.data = \
(self.gps_ref.latitude[0],
self.gps_ref.latitude[1],
self.gps_ref.longitude[0],
self.gps_ref.longitude[1],
self.gps_ref.speed[2],
self.gps_ref.hdop,
self.gps_ref.course)
def __init__(self, sensor_id, uart_bus, int_pin, timer_num):
assert not (int_pin == timer_num == None)
super().__init__(sensor_id, ['f', 'f', 'f', 'u8'])
self.gps_ref = MicropyGPS()
self.prev_lat = None
self.prev_long = None
self.lat = 0.0
self.long = 0.0
self.altitude = 0.0
GPS.uart = pyb.UART(uart_bus, 9600, read_buf_len=1000)
# using class variables because lists can't be created in callbacks
# MicropyGPS creates a list in one of its functions
GPS.pps_pin = int_pin
GPS.ext_pin = pyb.ExtInt(GPS.pps_pin, pyb.ExtInt.IRQ_FALLING,
pyb.Pin.PULL_UP, GPS.pps_callback)
self.timer = pyb.Timer(timer_num, freq=1)
self.timer.callback(lambda t: GPS.timer_callback(t))
def __init__(self, sensor_id, uart_bus, int_pin, timer_num):
assert not (int_pin == timer_num == None)
super().__init__(sensor_id, ['f', 'f', 'f', 'u8'])
self.gps_ref = MicropyGPS()
self.prev_lat = None
self.prev_long = None
self.lat = 0.0
self.long = 0.0
self.altitude = 0.0
GPS.uart = pyb.UART(uart_bus, 9600, read_buf_len=1000)
# using class variables because lists can't be created in callbacks
# MicropyGPS creates a list in one of its functions
GPS.pps_pin = int_pin
GPS.ext_pin = pyb.ExtInt(GPS.pps_pin, pyb.ExtInt.IRQ_FALLING,
pyb.Pin.PULL_UP, GPS.pps_callback)
self.timer = pyb.Timer(timer_num, freq=1)
self.timer.callback(lambda t: GPS.timer_callback(t))
class GPS(Sensor):
gps_indicator = pyb.LED(3)
new_data = False
uart = None
pps_pin = None
pps_timer = 0
extint = None
def __init__(self, sensor_id, uart_bus, int_pin, timer_num):
assert not (int_pin == timer_num == None)
super().__init__(sensor_id, ['f', 'f', 'f', 'u8'])
self.gps_ref = MicropyGPS()
self.prev_lat = None
self.prev_long = None
self.lat = 0.0
self.long = 0.0
self.altitude = 0.0
GPS.uart = pyb.UART(uart_bus, 9600, read_buf_len=1000)
# using class variables because lists can't be created in callbacks
# MicropyGPS creates a list in one of its functions
GPS.pps_pin = int_pin
GPS.ext_pin = pyb.ExtInt(GPS.pps_pin, pyb.ExtInt.IRQ_FALLING,
pyb.Pin.PULL_UP, GPS.pps_callback)
self.timer = pyb.Timer(timer_num, freq=1)
self.timer.callback(lambda t: GPS.timer_callback(t))
def update_gps(self, character):
self.gps_ref.update(character)
def heading(self):
if self.prev_lat is None and self.prev_long is None:
self.prev_lat = self.lat
self.prev_long = self.long
return 0.0
else:
angle = math.atan2(self.long - self.prev_long,
self.lat - self.prev_lat)
self.prev_long = self.long
self.prev_lat = self.lat
return angle
def update_data(self):
self.lat = self.gps_ref.latitude[0] + self.gps_ref.latitude[1] / 60
self.long = self.gps_ref.longitude[0] + self.gps_ref.longitude[1] / 60
return (
self.lat,
-self.long,
## self.gps_ref.geoid_height,
self.gps_ref.altitude,
self.gps_ref.satellites_in_view)
def recved_data(self):
GPS.pps_timer += 1
if GPS.new_data and GPS.pps_timer < 500:
while GPS.uart.any():
self.update_gps(chr(GPS.uart.readchar()))
GPS.new_data = False
return True
else:
return False
@staticmethod
def timer_callback(line):
if GPS.uart.any():
GPS.new_data = True
GPS.gps_indicator.toggle()
@staticmethod
def pps_callback(line):
GPS.pps_timer = 0
def __init__(self, sensor_id):
super().__init__(sensor_id, 'i16', 'f', 'i16', 'f', 'f', 'f', 'f')
self.gps_ref = MicropyGPS()
class GPS(Sensor):
gps_indicator = pyb.LED(3)
new_data = False
uart = None
pps_pin = None
pps_timer = 0
extint = None
def __init__(self, sensor_id, uart_bus, int_pin, timer_num):
assert not (int_pin == timer_num == None)
super().__init__(sensor_id, ['f', 'f', 'f', 'u8'])
self.gps_ref = MicropyGPS()
self.prev_lat = None
self.prev_long = None
self.lat = 0.0
self.long = 0.0
self.altitude = 0.0
GPS.uart = pyb.UART(uart_bus, 9600, read_buf_len=1000)
# using class variables because lists can't be created in callbacks
# MicropyGPS creates a list in one of its functions
GPS.pps_pin = int_pin
GPS.ext_pin = pyb.ExtInt(GPS.pps_pin, pyb.ExtInt.IRQ_FALLING,
pyb.Pin.PULL_UP, GPS.pps_callback)
self.timer = pyb.Timer(timer_num, freq=1)
self.timer.callback(lambda t: GPS.timer_callback(t))
def update_gps(self, character):
self.gps_ref.update(character)
def heading(self):
if self.prev_lat is None and self.prev_long is None:
self.prev_lat = self.lat
self.prev_long = self.long
return 0.0
else:
angle = math.atan2(self.long - self.prev_long,
self.lat - self.prev_lat)
self.prev_long = self.long
self.prev_lat = self.lat
return angle
def update_data(self):
self.lat = self.gps_ref.latitude[0] + self.gps_ref.latitude[1] / 60
self.long = self.gps_ref.longitude[0] + self.gps_ref.longitude[1] / 60
return (
self.lat,
-self.long,
## self.gps_ref.geoid_height,
self.gps_ref.altitude,
self.gps_ref.satellites_in_view
)
def recved_data(self):
GPS.pps_timer += 1
if GPS.new_data and GPS.pps_timer < 500:
while GPS.uart.any():
self.update_gps(chr(GPS.uart.readchar()))
GPS.new_data = False
return True
else:
return False
@staticmethod
def timer_callback(line):
if GPS.uart.any():
GPS.new_data = True
GPS.gps_indicator.toggle()
@staticmethod
def pps_callback(line):
GPS.pps_timer = 0
