async def log_kml(fn='/sd/log.kml', interval=10):
yellow.on() # Waiting for data
uart = pyb.UART(4, 9600, read_buf_len=200) # Data on X2
sreader = asyncio.StreamReader(uart)
gps = as_GPS.AS_GPS(sreader, fix_cb=toggle_led)
await gps.data_received(True, True, True, True)
yellow.off()
with open(fn, 'w') as f:
f.write(str_start)
while not sw.value():
f.write(gps.longitude_string(as_GPS.KML))
f.write(',')
f.write(gps.latitude_string(as_GPS.KML))
f.write(',')
f.write(str(gps.altitude))
f.write('\r\n')
blue.toggle()
for _ in range(interval * 10):
await asyncio.sleep_ms(100)
if sw.value():
break
f.write(str_end)
red.off()
green.on()
async def gps_test():
print('Initialising')
# Adapt for other MicroPython hardware
uart = pyb.UART(4, 9600, read_buf_len=200)
# read_buf_len is precautionary: code runs reliably without it.)
sreader = asyncio.StreamReader(uart)
timer = aswitch.Delay_ms(timeout)
sentence_count = 0
gps = as_GPS.AS_GPS(sreader, local_offset=1, fix_cb=callback, fix_cb_args=(timer,))
loop = asyncio.get_event_loop()
print('awaiting first fix')
loop.create_task(sat_test(gps))
loop.create_task(stats(gps))
loop.create_task(navigation(gps))
loop.create_task(course(gps))
loop.create_task(date(gps))
async def run():
sentence_count = 0
test_RMC = ['$GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62\n',
'$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A\n',
'$GPRMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68\n',
'$GPRMC,180041.896,A,3749.1851,N,08338.7891,W,001.9,154.9,240911,,,A*7A\n',
'$GPRMC,180049.896,A,3749.1808,N,08338.7869,W,001.8,156.3,240911,,,A*70\n',
'$GPRMC,092751.000,A,5321.6802,N,00630.3371,W,0.06,31.66,280511,,,A*45\n']
test_VTG = ['$GPVTG,232.9,T,,M,002.3,N,004.3,K,A*01\n']
test_GGA = ['$GPGGA,180050.896,3749.1802,N,08338.7865,W,1,07,1.1,397.4,M,-32.5,M,,0000*6C\n']
test_GSA = ['$GPGSA,A,3,07,11,28,24,26,08,17,,,,,,2.0,1.1,1.7*37\n',
'$GPGSA,A,3,07,02,26,27,09,04,15,,,,,,1.8,1.0,1.5*33\n']
test_GSV = ['$GPGSV,3,1,12,28,72,355,39,01,52,063,33,17,51,272,44,08,46,184,38*74\n',
'$GPGSV,3,2,12,24,42,058,33,11,34,053,33,07,20,171,40,20,15,116,*71\n',
'$GPGSV,3,3,12,04,12,204,34,27,11,324,35,32,11,089,,26,10,264,40*7B\n',
'$GPGSV,3,1,11,03,03,111,00,04,15,270,00,06,01,010,00,13,06,292,00*74\n',
'$GPGSV,3,2,11,14,25,170,00,16,57,208,39,18,67,296,40,19,40,246,00*74\n',
'$GPGSV,3,3,11,22,42,067,42,24,14,311,43,27,05,244,00,,,,*4D\n',
'$GPGSV,4,1,14,22,81,349,25,14,64,296,22,18,54,114,21,51,40,212,*7D\n',
'$GPGSV,4,2,14,24,30,047,22,04,22,312,26,31,22,204,,12,19,088,23*72\n',
'$GPGSV,4,3,14,25,17,127,18,21,16,175,,11,09,315,16,19,05,273,*72\n',
'$GPGSV,4,4,14,32,05,303,,15,02,073,*7A\n']
test_GLL = ['$GPGLL,3711.0942,N,08671.4472,W,000812.000,A,A*46\n',
'$GPGLL,4916.45,N,12311.12,W,225444,A,*1D\n',
'$GPGLL,4250.5589,S,14718.5084,E,092204.999,A*2D\n',
'$GPGLL,0000.0000,N,00000.0000,E,235947.000,V*2D\n']
my_gps = as_GPS.AS_GPS(None)
sentence = ''
for sentence in test_RMC:
my_gps._valid = 0
sentence_count += 1
sentence = await my_gps._update(sentence)
if sentence is None:
print('RMC sentence is invalid.')
else:
print('Parsed a', sentence, 'Sentence')
print('Longitude:', my_gps.longitude())
print('Latitude', my_gps.latitude())
print('UTC Timestamp:', my_gps.utc)
print('Speed:', my_gps.speed())
print('Date Stamp:', my_gps.date)
print('Course', my_gps.course)
print('Data is Valid:', bool(my_gps._valid & 1))
print('Compass Direction:', my_gps.compass_direction())
print('')
for sentence in test_GLL:
my_gps._valid = 0
sentence_count += 1
sentence = await my_gps._update(sentence)
if sentence is None:
print('GLL sentence is invalid.')
else:
print('Parsed a', sentence, 'Sentence')
print('Longitude:', my_gps.longitude())
print('Latitude', my_gps.latitude())
print('UTC Timestamp:', my_gps.utc)
print('Data is Valid:', bool(my_gps._valid & 2))
print('')
for sentence in test_VTG:
my_gps._valid = 0
sentence_count += 1
sentence = await my_gps._update(sentence)
if sentence is None:
print('VTG sentence is invalid.')
else:
print('Parsed a', sentence, 'Sentence')
print('Speed:', my_gps.speed())
print('Course', my_gps.course)
print('Compass Direction:', my_gps.compass_direction())
print('Data is Valid:', bool(my_gps._valid & 4))
print('')
for sentence in test_GGA:
my_gps._valid = 0
sentence_count += 1
sentence = await my_gps._update(sentence)
if sentence is None:
print('GGA sentence is invalid.')
else:
print('Parsed a', sentence, 'Sentence')
print('Longitude', my_gps.longitude())
print('Latitude', my_gps.latitude())
print('UTC Timestamp:', my_gps.utc)
print('Altitude:', my_gps.altitude)
print('Height Above Geoid:', my_gps.geoid_height)
print('Horizontal Dilution of Precision:', my_gps.hdop)
print('Satellites in Use by Receiver:', my_gps.satellites_in_use)
print('Data is Valid:', bool(my_gps._valid & 8))
print('')
for sentence in test_GSA:
my_gps._valid = 0
sentence_count += 1
sentence = await my_gps._update(sentence)
if sentence is None:
print('GSA sentence is invalid.')
else:
print('Parsed a', sentence, 'Sentence')
print('Satellites Used', my_gps.satellites_used)
print('Horizontal Dilution of Precision:', my_gps.hdop)
print('Vertical Dilution of Precision:', my_gps.vdop)
print('Position Dilution of Precision:', my_gps.pdop)
print('Data is Valid:', bool(my_gps._valid & 16))
print('')
for sentence in test_GSV:
my_gps._valid = 0
sentence_count += 1
sentence = await my_gps._update(sentence)
if sentence is None:
print('GSV sentence is invalid.')
else:
print('Parsed a', sentence, 'Sentence')
print('SV Sentences Parsed', my_gps._last_sv_sentence)
print('SV Sentences in Total', my_gps._total_sv_sentences)
print('# of Satellites in View:', my_gps.satellites_in_view)
print('Data is Valid:', bool(my_gps._valid & 32))
data_valid = my_gps._total_sv_sentences > 0 and my_gps._total_sv_sentences == my_gps._last_sv_sentence
print('Is Satellite Data Valid?:', data_valid)
if data_valid:
print('Satellite Data:', my_gps._satellite_data)
print('Satellites Visible:', list(my_gps._satellite_data.keys()))
print('')
print("Pretty Print Examples:")
print('Latitude (degs):', my_gps.latitude_string(as_GPS.DD))
print('Longitude (degs):', my_gps.longitude_string(as_GPS.DD))
print('Latitude (dms):', my_gps.latitude_string(as_GPS.DMS))
print('Longitude (dms):', my_gps.longitude_string(as_GPS.DMS))
print('Latitude (kml):', my_gps.latitude_string(as_GPS.KML))
print('Longitude (kml):', my_gps.longitude_string(as_GPS.KML))
print('Latitude (degs, mins):', my_gps.latitude_string())
print('Longitude (degs, mins):', my_gps.longitude_string())
print('Speed:', my_gps.speed_string(as_GPS.KPH), 'or',
my_gps.speed_string(as_GPS.MPH), 'or',
my_gps.speed_string(as_GPS.KNOT))
print('Date (Long Format):', my_gps.date_string(as_GPS.LONG))
print('Date (Short D/M/Y Format):', my_gps.date_string(as_GPS.DMY))
print('Date (Short M/D/Y Format):', my_gps.date_string(as_GPS.MDY))
print('Time:', my_gps.time_string())
print()
print('### Final Results ###')
print('Sentences Attempted:', sentence_count)
print('Sentences Found:', my_gps.clean_sentences)
print('Sentences Parsed:', my_gps.parsed_sentences)
print('Unsupported sentences:', my_gps.unsupported_sentences)
print('CRC_Fails:', my_gps.crc_fails)
async def run_tests():
uart = UART(4, 9600, read_buf_len=200)
swriter = asyncio.StreamWriter(uart, {})
sreader = asyncio.StreamReader(uart)
sentence_count = 0
test_RMC = [
'$GPRMC,180041.896,A,3749.1851,N,08338.7891,W,001.9,154.9,240911,,,A*7A\n',
'$GPRMC,180049.896,A,3749.1808,N,08338.7869,W,001.8,156.3,240911,,,A*70\n',
'$GPRMC,092751.000,A,5321.6802,N,00630.3371,W,0.06,31.66,280511,,,A*45\n'
]
test_VTG = ['$GPVTG,232.9,T,,M,002.3,N,004.3,K,A*01\n']
test_GGA = [
'$GPGGA,180050.896,3749.1802,N,08338.7865,W,1,07,1.1,397.4,M,-32.5,M,,0000*6C\n'
]
test_GSA = [
'$GPGSA,A,3,07,11,28,24,26,08,17,,,,,,2.0,1.1,1.7*37\n',
'$GPGSA,A,3,07,02,26,27,09,04,15,,,,,,1.8,1.0,1.5*33\n'
]
test_GSV = [
'$GPGSV,3,1,12,28,72,355,39,01,52,063,33,17,51,272,44,08,46,184,38*74\n',
'$GPGSV,3,2,12,24,42,058,33,11,34,053,33,07,20,171,40,20,15,116,*71\n',
'$GPGSV,3,3,12,04,12,204,34,27,11,324,35,32,11,089,,26,10,264,40*7B\n',
'$GPGSV,3,1,11,03,03,111,00,04,15,270,00,06,01,010,00,13,06,292,00*74\n',
'$GPGSV,3,2,11,14,25,170,00,16,57,208,39,18,67,296,40,19,40,246,00*74\n',
'$GPGSV,3,3,11,22,42,067,42,24,14,311,43,27,05,244,00,,,,*4D\n',
'$GPGSV,4,1,14,22,81,349,25,14,64,296,22,18,54,114,21,51,40,212,*7D\n',
'$GPGSV,4,2,14,24,30,047,22,04,22,312,26,31,22,204,,12,19,088,23*72\n',
'$GPGSV,4,3,14,25,17,127,18,21,16,175,,11,09,315,16,19,05,273,*72\n',
'$GPGSV,4,4,14,32,05,303,,15,02,073,*7A\n'
]
test_GLL = [
'$GPGLL,3711.0942,N,08671.4472,W,000812.000,A,A*46\n',
'$GPGLL,4916.45,N,12311.12,W,225444,A,*1D\n',
'$GPGLL,4250.5589,S,14718.5084,E,092204.999,A*2D\n',
'$GPGLL,4250.5589,S,14718.5084,E,092204.999,A*2D\n',
]
# '$GPGLL,0000.0000,N,00000.0000,E,235947.000,V*2D\n', # Will ignore this one
my_gps = as_GPS.AS_GPS(sreader, fix_cb=callback, fix_cb_args=(42, ))
sentence = ''
for sentence in test_RMC:
sentence_count += 1
await swriter.awrite(sentence)
await my_gps.data_received(date=True)
print('Longitude:', my_gps.longitude())
print('Latitude', my_gps.latitude())
print('UTC Time:', my_gps.utc)
print('Speed:', my_gps.speed())
print('Date Stamp:', my_gps.date)
print('Course', my_gps.course)
print('Data is Valid:', my_gps._valid)
print('Compass Direction:', my_gps.compass_direction())
print('')
for sentence in test_GLL:
sentence_count += 1
await swriter.awrite(sentence)
await my_gps.data_received(position=True)
print('Longitude:', my_gps.longitude())
print('Latitude', my_gps.latitude())
print('UTC Time:', my_gps.utc)
print('Data is Valid:', my_gps._valid)
print('')
for sentence in test_VTG:
print('Test VTG', sentence)
sentence_count += 1
await swriter.awrite(sentence)
await asyncio.sleep_ms(
200) # Can't wait for course because of position check
print('Speed:', my_gps.speed())
print('Course', my_gps.course)
print('Compass Direction:', my_gps.compass_direction())
print('')
for sentence in test_GGA:
sentence_count += 1
await swriter.awrite(sentence)
await my_gps.data_received(position=True)
print('Longitude', my_gps.longitude())
print('Latitude', my_gps.latitude())
print('UTC Time:', my_gps.utc)
# print('Fix Status:', my_gps.fix_stat)
print('Altitude:', my_gps.altitude)
print('Height Above Geoid:', my_gps.geoid_height)
print('Horizontal Dilution of Precision:', my_gps.hdop)
print('Satellites in Use by Receiver:', my_gps.satellites_in_use)
print('')
for sentence in test_GSA:
sentence_count += 1
await swriter.awrite(sentence)
await asyncio.sleep_ms(200)
print('Satellites Used', my_gps.satellites_used)
print('Horizontal Dilution of Precision:', my_gps.hdop)
print('Vertical Dilution of Precision:', my_gps.vdop)
print('Position Dilution of Precision:', my_gps.pdop)
print('')
for sentence in test_GSV:
sentence_count += 1
await swriter.awrite(sentence)
await asyncio.sleep_ms(200)
print('SV Sentences Parsed', my_gps._last_sv_sentence)
print('SV Sentences in Total', my_gps._total_sv_sentences)
print('# of Satellites in View:', my_gps.satellites_in_view)
data_valid = my_gps._total_sv_sentences > 0 and my_gps._total_sv_sentences == my_gps._last_sv_sentence
print('Is Satellite Data Valid?:', data_valid)
if data_valid:
print('Satellite Data:', my_gps._satellite_data)
print('Satellites Visible:', list(my_gps._satellite_data.keys()))
print('')
print("Pretty Print Examples:")
print('Latitude (degs):', my_gps.latitude_string(as_GPS.DD))
print('Longitude (degs):', my_gps.longitude_string(as_GPS.DD))
print('Latitude (dms):', my_gps.latitude_string(as_GPS.DMS))
print('Longitude (dms):', my_gps.longitude_string(as_GPS.DMS))
print('Latitude (kml):', my_gps.latitude_string(as_GPS.KML))
print('Longitude (kml):', my_gps.longitude_string(as_GPS.KML))
print('Latitude (degs, mins):', my_gps.latitude_string())
print('Longitude (degs, mins):', my_gps.longitude_string())
print('Speed:', my_gps.speed_string(as_GPS.KPH), 'or',
my_gps.speed_string(as_GPS.MPH), 'or',
my_gps.speed_string(as_GPS.KNOT))
print('Date (Long Format):', my_gps.date_string(as_GPS.LONG))
print('Date (Short D/M/Y Format):', my_gps.date_string(as_GPS.DMY))
print('Date (Short M/D/Y Format):', my_gps.date_string(as_GPS.MDY))
print('Time:', my_gps.time_string())
print()
print('### Final Results ###')
print('Sentences Attempted:', sentence_count)
print('Sentences Found:', my_gps.clean_sentences)
print('Sentences Parsed:', my_gps.parsed_sentences)
print('Unsupported sentences:', my_gps.unsupported_sentences)
print('CRC_Fails:', my_gps.crc_fails)
print("connection lost - moved to fallback loop")
# set colour
pycom.heartbeat(False)
pycom.rgbled(0xf200ea)
try:
gps_uart = UART(2, baudrate=9600, pins=('P9', 'P11'))
except:
print("no gps")
if GPS:
#set up GPS
sreader = asyncio.StreamReader(gps_uart) # Create a StreamReader
gps = as_GPS.AS_GPS(sreader) # Instantiate GPS
if f[3]:
# set up serial connection to arduino using custom pins
conn = UART(1, baudrate=57600, pins=('P4', 'P10'))
# initialise variables for clarity
rc_write = [0, 0, 0, 0, 0, 0] #6 channels
rc_read = [0, 0, 0, 0, 0, 0] # ""
if f[0]:
# set up link to ground station
with datalink_setup() as link:
link.file = normal_file
pycom.heartbeat(False)
pycom.rgbled(0x007f00) # green
from machine import UART
def callback(gps, *_): # Runs for each valid fix
print("GPS latitude: {}, GPS longitude: {}, altitude: {:f}".format(
gps.latitude_string(), gps.longitude_string(), gps.altitude))
print("Date and time: ", gps.date_string(formatting=as_GPS.LONG), " ",
gps.time_string(), " CET")
print("Speed: ", gps.speed_string())
print("no of satellites in view: {:d}".format(gps.satellites_in_view))
uart = UART(2, baudrate=115200, rx=21, tx=22, timeout=10000)
sreader = asyncio.StreamReader(uart) # Create a StreamReader
gps = as_GPS.AS_GPS(sreader,
fix_cb=callback,
cb_mask=as_GPS.GLL | as_GPS.VTG | as_GPS.RMC,
local_offset=2) # Instantiate GPS
async def test():
print('waiting for GPS data')
await gps.data_received(position=True, date=True, altitude=True)
await asyncio.sleep(60) # Run for one minute
print("Error statistics:")
print("crc errors: {:d}".format(gps.crc_fails))
print("no of clean sentences: {:d}".format(gps.clean_sentences))
print("no of parsed sentences: {:d}".format(gps.parsed_sentences))
print("no of unsupported sentences: {:d}".format(
gps.unsupported_sentences))
import uasyncio as asyncio
import as_GPS
from machine import UART
def callback(gps, *_): # Runs for each valid fix
print(gps.latitude(), gps.longitude(), gps.altitude)
uart = UART(2, baudrate=9600, rx=16, tx=17, timeout=10)
sreader = asyncio.StreamReader(uart) # Create a StreamReader
gps = as_GPS.AS_GPS(sreader, fix_cb=callback) # Instantiate GPS
async def test():
print('waiting for GPS data')
await gps.data_received(position=True, altitude=True)
await asyncio.sleep(60) # Run for one minute
loop = asyncio.get_event_loop()
loop.run_until_complete(test())