# ---------------------------------------------------------------
# Power-on the XBEE LP subsystem
xlp_pwr = Pin('PWR_XBEE_LP', Pin.OUT_PP)
xlp_pwr.high()
# Re-direct the XBEE LP subsystem to the MCU
xlp_dir = Pin('XBEE_LP_DIR', Pin.OUT_PP)
xlp_dir.high()
# XBEE LP UART configuration
xhp_uart = UART('XBEE_HP', 115200, rxbuf=0, dma=True)
# Parser configuration
xhp_uart.parser(UART.ParserUBX,
rxbuf=2048,
rxcallback=OnUbloxMsg,
frcallback=OnUbloxParsed)
xhp_uart.parser(UART.ParserRTCM, rxbuf=2048, rxcallback=OnRtcmMsg)
# Main application process
def app_proc():
while True:
# Call the RTCM framer function
xhp_uart.process(UART.ParserRTCM)
# Call the UBX framer function
xhp_uart.process(UART.ParserUBX)
if __name__ == "__main__":
# Start the application process
# ---------------------------------------------------------------
# GNSS Modules
# ---------------------------------------------------------------
# Power-on the GNSS subsystem
gnss_pwr = Pin('PWR_GNSS', Pin.OUT_PP)
gnss_pwr.high()
# UART configuration of ZEDs with application buffer
zed1_uart = UART('ZED1', 115200, rxbuf=1024)
# Parser configuration
zed1_uart.parser(UART.ParserNMEA,
rxbuf=256,
rxcallback=OnNmeaMsg,
frcallback=OnParsedMsg)
# Main application process
def app_proc():
while True:
# ZED Message processor
zed1_uart.process(UART.ParserNMEA)
if __name__ == "__main__":
# Start the application process
_thread.start_new_thread(app_proc, ())
# ---------------------------------------------------------------
# GNSS Modules
# ---------------------------------------------------------------
# Power-on the GNSS subsystem
gnss_pwr = Pin('PWR_GNSS', Pin.OUT_OD)
gnss_pwr.high()
# UART configuration of ZED with application buffer
zed1 = UART('ZED1', 115200, rxbuf=0, dma=False)
# Parser configurations
zed1.parser(UART.ParserNMEA,
rxbuf=256,
rxcallback=OnNmeaMsg,
frcallback=OnNmeaParsed)
zed1.parser(UART.ParserUBX,
rxbuf=256,
rxcallback=OnUbloxMsg,
frcallback=OnUbloxParsed)
# Main application process
def app_proc():
while True:
# Call the UBX framer function
zed1.process(UART.ParserUBX)
# Call the NMEA framer function
zed1.process(UART.ParserNMEA)
# ---------------------------------------------------------------
# GNSS Modules
# ---------------------------------------------------------------
# Power-on the GNSS subsystem
gnss_pwr = Pin('PWR_GNSS', Pin.OUT_OD)
gnss_pwr.high()
# UART configuration of ZED with application buffer
zed1_uart = UART('ZED1', 115200, rxbuf=0, dma=False)
# Parser configurations
zed1_uart.parser(UART.ParserUBX,
rxbuf=2048,
rxcallback=OnUbloxMsg,
frcallback=OnUbloxParsed)
# Main application process
def app_proc():
while True:
# Call the UBX framer processor
zed1_uart.process(UART.ParserUBX)
if __name__ == "__main__":
# Start the application process
_thread.start_new_thread(app_proc, ())
# ---------------------------------------------------------------
# XBEE Expansions
# ---------------------------------------------------------------
# Power-on the XBEE LP subsystem
xlp_pwr = Pin('PWR_XBEE_LP', Pin.OUT_PP)
xlp_pwr.high()
# Re-direct the XBEE LP subsystem to the MCU
xlp_dir = Pin('XBEE_LP_DIR', Pin.OUT_PP)
xlp_dir.high()
# XBEE LP UART configuration
xlp_uart = UART('XBEE_LP', 115200, rxbuf=0, dma=True)
# Parser configuration
xlp_uart.parser(UART.ParserRTCM, rxbuf=1030, rxcallback=OnRtcmMsg)
# Main application process
def app_proc():
while True:
# Call the RTCM framer processor
xlp_uart.process(UART.ParserRTCM)
if __name__ == "__main__":
# Start the application process
_thread.start_new_thread(app_proc, ())
def OnNmeaMsg2(uart, nmeaMsg):
s = 'ZED2: ' + nmeaMsg.decode('utf-8')
print(s)
fp2.write(s + '\n')
# ---------------------------------------------------------------
# ZED2 GNSS NMEA message parsed callback
# ---------------------------------------------------------------
def OnParsedMsg2(msgType, msgItems):
pass
# Parser configuration
zed1_uart.parser(UART.ParserNMEA,
rxbuf=256,
rxcallback=OnNmeaMsg1,
frcallback=OnParsedMsg1)
zed2_uart.parser(UART.ParserNMEA,
rxbuf=256,
rxcallback=OnNmeaMsg2,
frcallback=OnParsedMsg2)
# ---------------------------------------------------------------
# Thread #1 process
# ---------------------------------------------------------------
async def thread1_proc():
global fext1, fext2
global fp1, fp2
while True: