def gps_read_thread(panda):
global received_messages, received_bytes, send_something
ser = PandaSerial(panda, 1, GPS_BAUD)
while True:
ret = ser.read(1024)
time.sleep(0.001)
if len(ret):
received_messages += 1
received_bytes += len(ret)
if send_something:
ser.write("test")
send_something = False
def test_gps_version(p):
serial = PandaSerial(p, 1, 9600)
# Reset and check twice to make sure the enabling works
for i in range(2):
# Reset GPS
p.set_esp_power(0)
time.sleep(0.5)
p.set_esp_power(1)
time.sleep(1)
# Read startup message and check if version is contained
dat = serial.read(0x1000) # Read one full panda DMA buffer. This should include the startup message
assert b'HPG 1.40ROV' in dat
def __init__(self,
port,
baudrate=115200,
timeout=0,
panda=False,
grey=False):
self.serial_device = port
self.baudrate = baudrate
self.use_sendrecv = False
self.read_only = False
self.debug_level = 0
if panda:
from panda import Panda, PandaSerial
self.panda = Panda()
# resetting U-Blox module
self.panda.set_esp_power(0)
time.sleep(0.1)
self.panda.set_esp_power(1)
time.sleep(0.5)
# can't set above 9600 now...
self.baudrate = 9600
self.dev = PandaSerial(self.panda, 1, self.baudrate)
self.baudrate = 460800
print("upping baud:", self.baudrate)
self.send_nmea("$PUBX,41,1,0007,0003,%u,0" % self.baudrate)
time.sleep(0.1)
self.dev = PandaSerial(self.panda, 1, self.baudrate)
elif grey:
import cereal.messaging as messaging
class BoarddSerial():
def __init__(self):
self.ubloxRaw = messaging.sub_sock('ubloxRaw')
self.buf = ""
def read(self, n):
for msg in messaging.drain_sock(self.ubloxRaw,
len(self.buf) < n):
self.buf += msg.ubloxRaw
ret = self.buf[:n]
self.buf = self.buf[n:]
return ret
def write(self, dat):
pass
self.dev = BoarddSerial()
else:
if self.serial_device.startswith("tcp:"):
import socket
a = self.serial_device.split(':')
destination_addr = (a[1], int(a[2]))
self.dev = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.dev.connect(destination_addr)
self.dev.setblocking(1)
self.dev.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
self.use_sendrecv = True
elif os.path.isfile(self.serial_device):
self.read_only = True
self.dev = open(self.serial_device, mode='rb')
else:
import serial
self.dev = serial.Serial(self.serial_device,
baudrate=self.baudrate,
dsrdtr=False,
rtscts=False,
xonxoff=False,
timeout=timeout)
self.logfile = None
self.log = None
self.preferred_dynamic_model = None
self.preferred_usePPP = None
self.preferred_dgps_timeout = None
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),
".."))
from panda import Panda, PandaSerial
def add_nmea_checksum(msg):
d = msg[1:]
cs = 0
for i in d:
cs ^= ord(i)
return msg + "*%02X" % cs
if __name__ == "__main__":
panda = Panda()
ser = PandaSerial(panda, 1, 9600)
# power cycle by toggling reset
print "resetting"
panda.set_esp_power(0)
time.sleep(0.5)
panda.set_esp_power(1)
time.sleep(0.5)
print "done"
print ser.read(1024)
# upping baud rate
# 460800 has issues
baudrate = 460800
print "upping baud rate"
def init_gps(panda):
def add_nmea_checksum(msg):
d = msg[1:]
cs = 0
for i in d:
cs ^= ord(i)
return msg + "*%02X" % cs
ser = PandaSerial(panda, 1, INIT_GPS_BAUD)
# Power cycle the gps by toggling reset
print("Resetting GPS")
panda.set_esp_power(0)
time.sleep(0.5)
panda.set_esp_power(1)
time.sleep(0.5)
# Upping baud rate
print("Upping GPS baud rate")
msg = add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % GPS_BAUD)+"\r\n"
ser.write(msg)
time.sleep(1) # needs a wait for it to actually send
# Reconnecting with the correct baud
ser = PandaSerial(panda, 1, GPS_BAUD)
# Sending all config messages boardd sends
print("Sending config")
ser.write("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F")
ser.write("\xB5\x62\x06\x3E\x00\x00\x44\xD2")
ser.write("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35")
ser.write("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80")
ser.write("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85")
ser.write("\xB5\x62\x06\x00\x00\x00\x06\x18")
ser.write("\xB5\x62\x06\x00\x01\x00\x01\x08\x22")
ser.write("\xB5\x62\x06\x00\x01\x00\x02\x09\x23")
ser.write("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24")
ser.write("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
ser.write("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
ser.write("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
ser.write("\xB5\x62\x06\x24\x00\x00\x2A\x84")
ser.write("\xB5\x62\x06\x23\x00\x00\x29\x81")
ser.write("\xB5\x62\x06\x1E\x00\x00\x24\x72")
ser.write("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51")
ser.write("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70")
ser.write("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
print("Initialized GPS")