def gps():
# If using I2C, we'll create an I2C interface to talk to using default pins
i2c = board.I2C()
# Create a GPS module instance.
gps = adafruit_gps.GPS_GtopI2C(i2c, debug=False) # Use I2C interface
# Turn on the basic GGA and RMC info (what you typically want)
gps.send_command(b"PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0")
# Set update rate to once a second (1hz)
gps.send_command(b"PMTK220,1000")
rospy.loginfo("Initializing gps publisher")
gps_pub = rospy.Publisher('/gps', NavSatFix, queue_size=5)
rospy.loginfo("Publishing NavSatFix at: " + gps_pub.resolved_name)
rospy.init_node('gps_node')
rate = rospy.Rate(1) # 50hz
while not rospy.is_shutdown():
gps.update()
if gps.has_fix:
nav = NavSatFix()
nav.header.stamp = rospy.Time.now()
nav.header.frame_id = 'Adafruit Mini GPS PA1010D'
nav.latitude = gps.latitude
nav.longitude = gps.longitude
nav.altitude = gps.altitude_m
rospy.loginfo("=" * 40)
rospy.loginfo("Latitude: {0:.6f} degrees".format(gps.latitude))
rospy.loginfo("Longitude: {0:.6f} degrees".format(gps.longitude))
rospy.loginfo("Fix quality: {}".format(gps.fix_quality))
# Some attributes beyond latitude, longitude and timestamp are optional
# and might not be present. Check if they're None before trying to use!
if gps.satellites is not None:
rospy.loginfo("# satellites: {}".format(gps.satellites))
if gps.altitude_m is not None:
rospy.loginfo("Altitude: {} meters".format(gps.altitude_m))
if gps.speed_knots is not None:
rospy.loginfo("Speed: {} knots".format(gps.speed_knots))
if gps.track_angle_deg is not None:
rospy.loginfo("Track angle: {} degrees".format(gps.track_angle_deg))
if gps.horizontal_dilution is not None:
rospy.loginfo("Horizontal dilution: {}".format(gps.horizontal_dilution))
if gps.height_geoid is not None:
rospy.loginfo("Height geoid: {} meters".format(gps.height_geoid))
gps_pub.publish(nav)
else:
# Try again if we don't have a fix yet.
rospy.loginfo("Waiting for fix...")
rate.sleep()
# Create a serial connection for the GPS connection using default speed and
# a slightly higher timeout (GPS modules typically update once a second).
# These are the defaults you should use for the GPS FeatherWing.
# For other boards set RX = GPS module TX, and TX = GPS module RX pins.
# uart = busio.UART(board.TX, board.RX, baudrate=9600, timeout=10)
# for a computer, use the pyserial library for uart access
# import serial
# uart = serial.Serial("/dev/ttyUSB0", baudrate=9600, timeout=10)
# If using I2C, we'll create an I2C interface to talk to using default pins
i2c = board.I2C()
# Create a GPS module instance.
# gps = adafruit_gps.GPS(uart, debug=False) # Use UART/pyserial
gps = adafruit_gps.GPS_GtopI2C(i2c, debug=False) # Use I2C interface
# Initialize the GPS module by changing what data it sends and at what rate.
# These are NMEA extensions for PMTK_314_SET_NMEA_OUTPUT and
# PMTK_220_SET_NMEA_UPDATERATE but you can send anything from here to adjust
# the GPS module behavior:
# https://cdn-shop.adafruit.com/datasheets/PMTK_A11.pdf
# Turn on everything (not all of it is parsed!)
gps.send_command(b"PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0")
# Set update rate to once a second (1hz) which is what you typically want.
gps.send_command(b"PMTK220,1000")
# Or decrease to once every two seconds by doubling the millisecond value.
# Be sure to also increase your UART timeout above!
# gps.send_command(b'PMTK220,2000')
# Create a serial connection for the GPS connection using default speed and
# a slightly higher timeout (GPS modules typically update once a second).
# These are the defaults you should use for the GPS FeatherWing.
# For other boards set RX = GPS module TX, and TX = GPS module RX pins.
#uart = busio.UART(board.TX, board.RX, baudrate=9600, timeout=10)
# for a computer, use the pyserial library for uart access
# import serial
# uart = serial.Serial("/dev/ttyUSB0", baudrate=9600, timeout=10)
# If using I2C, we'll create an I2C interface to talk to using default pins
i2c = board.I2C()
# Create a GPS module instance.
#gps = adafruit_gps.GPS(uart) # Use UART/pyserial
gps = adafruit_gps.GPS_GtopI2C(i2c) # Use I2C interface
# Initialize the GPS module by changing what data it sends and at what rate.
# These are NMEA extensions for PMTK_314_SET_NMEA_OUTPUT and
# PMTK_220_SET_NMEA_UPDATERATE but you can send anything from here to adjust
# the GPS module behavior:
# https://cdn-shop.adafruit.com/datasheets/PMTK_A11.pdf
# Turn on the basic GGA and RMC info (what you typically want)
gps.send_command(b"PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0")
# Turn on just minimum info (RMC only, location):
# gps.send_command(b'PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0')
# Turn off everything:
# gps.send_command(b'PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0')
# Tuen on everything (not all of it is parsed!)
# gps.send_command(b'PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0')
import time
from datetime import datetime
import csv
import time
import board
import busio
import threading
import adafruit_gps
SCL = board.SCL
SDA = board.SDA
i2c = busio.I2C(board.SCL, board.SDA)
gps = adafruit_gps.GPS_GtopI2C(i2c, address=66, debug=False)
gps.send_command(b'PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0')
gps.send_command(b'PMTK220,1000')
## definition: creates main CSV file
def createCSV():
## initialize file name
fileName = 'lab2_output.csv'
## open unique file
with open(fileName, 'w', newline='') as file:
writer = csv.writer(file)
## create header
writer.writerow([
_SENSOR_GPS_BASIC = False
try:
from dateutil import tz
from dateutil import parser
_SENSOR_GPS_BASIC = True
except:
pass
_SENSOR_GPS_ADAFRUIT_I2C = False
try:
if _SENSOR_GPS_BASIC:
import board
import busio
import adafruit_gps
_sensor_adafruit_gps = adafruit_gps.GPS_GtopI2C(busio.I2C(
board.SCL, board.SDA),
debug=False)
_SENSOR_GPS_ADAFRUIT_I2C = True
except:
pass
_SENSOR_GPS_GPSD = False
try:
if _SENSOR_GPS_BASIC and not _SENSOR_GPS_ADAFRUIT_I2C:
from gps3 import gps3
#device test
_gps_socket = gps3.GPSDSocket()
_gps_socket.connect()
_gps_socket.close()
_SENSOR_GPS_GPSD = True
except:
#!/usr/bin/env python3 # Based on the gps_simpletest.py example # from https://github.com/adafruit/Adafruit_CircuitPython_GPS # that was published by Adafruit. # Imports all the libraries we use import time import board import busio import adafruit_gps import csv # Sets up the I2C interface for us to use i2c = board.I2C() # Create a GPS module instance using the I2C interface gps = adafruit_gps.GPS_GtopI2C(i2c, debug=False) # Initialize the GPS module by changing what data it sends and at what rate. # Turns on the basic GGA and RMC information streams gps.send_command(b"PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0") # Below are some other commands from the origional # Adafruit code that you can uncomment for # different sets of data streams, depending # on what you need. # Turn on just minimum info (RMC only, location): # gps.send_command(b'PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0') # Turn off everything: # gps.send_command(b'PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0') # Tuen on everything (not all of it is parsed!)
pixels.fill(GREEN)
time.sleep(0.25)
pixels.fill(TEAL)
sox_sensor = adafruit_lsm6ds.LSM6DS33(i2c)
accx, accy, accz = sox_sensor.acceleration
print("X={0:10.2f} Y={1:10.2f} Z={2:10.2f}".format(accx, accy, accz))
print("accelerometers OK.")
pixels.fill(GREEN)
time.sleep(0.25)
pixels.fill(TEAL)
gyrox, gyroy, gyroz = sox_sensor.gyro
print("X={0:10.2f} Y={1:10.2f} Z={2:10.2f}".format(gyrox, gyroy, gyroz))
print("gyrometer OK.")
pixels.fill(GREEN)
time.sleep(0.25)
pixels.fill(TEAL)
gps = adafruit_gps.GPS_GtopI2C(i2c)
print("gps={}".format(gps.readline()))
print("lat={}".format(gps.latitude))
print("lon={}".format(gps.longitude))
print("gps OK.")
pixels.fill(GREEN)
time.sleep(0.25)
pixels.fill(TEAL)
print("DONE!")
pixels.fill((204, 103, 1))
