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GPS/IMU æ°æ®æ¥æ¶è§£æå¨
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åè®®æ ¼å¼: AA 55 TYPE LEN DATA CHECKSUM 0D 0A
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é N)ÚOptionalÚTuple)Ú dataclassc ó \ rS rSr% Sr\\S' \\S' \\S' \\S' \\S' \\S' \\S ' \\S
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' \\S ' \\S ' \\S ' \\S' Srg)ÚGPSDataé u GPS æ°æ®å
ç»æÚlatitudeÚ longitudeÚ heading_angleÚ pitch_angleÚ
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roll_angleÚ east_velocityÚnorth_velocityÚ up_velocityÚaltitudeÚutc_timeÚposition_qualityÚsatellite_count© N© Ú__name__Ú
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__module__Ú __qualname__Ú__firstlineno__Ú__doc__ÚfloatÚ__annotations__ÚintÚ__static_attributes__r ó Ú3e:\GIT\Lawnmower_STM32H7\python\gps_imu_receiver.pyr r sJ á ØOØÓØÓØÓØÓØÓØÓØÓØOØMØÓØÖr r c ój \ rS rSr% Sr\\S' \\S' \\S' \\S' \\S' \\S' \\S ' \\S
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r S r S rSS \S\4S jjrS\4S jrS rS\4S jrS\S\\ 4S jrS\S\\ 4S jrS\ \\ \\ 4 4S jr S r Sr g) ÚGPSIMUReceiveré. u GPS/IMU æ°æ®æ¥æ¶è§£æå¨éª éU é é
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é é z
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åå§å串å£æ¥æ¶å¨
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Args:
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port: 串å£è®¾å¤å (ä¾å¦ 'COM3' æ '/dev/ttyUSB0')
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baudrate: æ³¢ç¹ç (é»è®¤ 921600)
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Nr )r7 r8 ÚserialÚ gps_countÚ imu_countÚ error_count)Úselfr7 r8 s r! Ú__init__ÚGPSIMUReceiver.__init__C s- ð Ø Ø ð ØØ Õr Úreturnc óT [ R " U R U R [ R [ R
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[ R SS9U l [ SU R SU R S35 g! [ a n[ SU 35 SnAg SnAff = f)
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è¿æ¥ä¸²å£
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Returns:
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æåè¿åTrue, 失败è¿åFalse
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ç ð?)r7 r8 ÚbytesizeÚparityÚstopbitsÚtimeoutu [INFO] 串å£å·²è¿æ¥: z @ z bpsTu [ERROR] 串å£è¿æ¥å¤±è´¥: NF) r: ÚSerialr7 r8 Ú EIGHTBITSÚ PARITY_NONEÚ STOPBITS_ONEÚprintÚ Exception)r> Úes r! ÚconnectÚGPSIMUReceiver.connectT s ð Ü --ØYYØ Ü ×)Ñ)Ü ×)Ñ)Ü ×,Ñ,Øñ DKô Ð,¨T¯Y©Y¨K°s¸4¿=¹=¸/ÈÐNÔ OØøÜó Ü Ð0°°Ð4Ô 5Üûð ús BB Â
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disconnectÚGPSIMUReceiver.disconnectj s5 à ;;4;;×.×.Ø KK× Ñ Ô Ü Ð*Õ +ð /;r c ó` U R nUc gUR S5 n[ U5 S:X a gUS U R :w a6 UR S5 n[ U5 S:X a gUS U R :w a M6 UR S5 n[ U5 S:X d US U R :w a gg)uF
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æ¥æ¾å¸§å¤´ AA 55
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Returns:
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æ¾å°è¿åTrue, è¶
æ¶è¿åFalse
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Fr3 r T)r: ÚreadÚlenÚ FRAME_HEADER1Ú FRAME_HEADER2)r> ÚserÚbyte1Úbyte2s r! Ú_find_frame_headerÚ!GPSIMUReceiver._find_frame_headerp s¢ ð kkØ ;Øà Ü u:?ØàAh$×,Ñ,Ó,ØHHQKEÜ5zQØ ð Ah$×,Ñ,Õ,ð
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Ü u:?e Ah¨$×*<Ñ*<Ó <Øàr Úpayloadc ó| [ U5 U R :w a% [ S[ U5 SU R 35 g[ R " U R
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U5 n[ US US US US US US US
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解æGPSæ°æ®å
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Args:
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payload: GPSæ°æ®è´è½½
|
|
Returns:
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解ææåè¿åGPSData对象, 失败è¿åNone
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u [WARN] GPSæ°æ®é¿åº¦é误: ú != Nr r3 r4 é é é é é é é r2 é ) r r
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r r r r r r r r r r u [ERROR] GPSæ°æ®è§£æ失败: )rY ÚGPS_STRUCT_SIZErL ÚstructÚunpackÚGPS_STRUCT_FMTr rM ©r> ra ÚunpackedrN s r! Ú_parse_gps_dataÚ GPSIMUReceiver._parse_gps_data sÙ ð Ü7|t× 3Ñ 3Ó3ÜÐ6´s¸7³|°nÀDÈ×I]ÑI]ÐH^Ð_Ô`Øä }} T×%8Ñ%8¸'ÓBHäØ! !Ø" 1+Ø & qkØ $ QKØ# A;Ø & qkØ '¨{Ø $ QKØ! !Ø! !Ø!)¨"¡ Ø (¨¡ ñ ð øô ó Ü Ð3°A°3Ð7Ô 8Üûð ús =B Á AB Â
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B;Â#B6Â6B;c ó\ [ U5 U R :w a% [ S[ U5 SU R 35 g[ R " U R
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U5 n[ US US US US US US US
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US S 9$ ! [ a n[ S U 35 SnAgSnAff = f)u|
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解æIMUæ°æ®å
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Args:
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payload: IMUæ°æ®è´è½½
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|
Returns:
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解ææåè¿åIMUData对象, 失败è¿åNone
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u [WARN] IMUæ°æ®é¿åº¦é误: rc Nr r3 r4 rd re rf rg rh )r% r& r' r( r) r* r+ r u [ERROR] IMUæ°æ®è§£æ失败: )rY ÚIMU_STRUCT_SIZErL rm rn ÚIMU_STRUCT_FMTr# rM rp s r! Ú_parse_imu_dataÚ GPSIMUReceiver._parse_imu_data s½ ð Ü7|t× 3Ñ 3Ó3ÜÐ6´s¸7³|°nÀDÈ×I]ÑI]ÐH^Ð_Ô`Øä }} T×%8Ñ%8¸'ÓBHäØ Ø Ø Ø {Ø {Ø {Ø $ QKØ! !ñ ð øô ó Ü Ð3°A°3Ð7Ô 8Üûð ús =B Á AB Â
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B+ÂB&Â&B+c ó4 U R ( a U R R ( d gU R nUc gU R 5 ( d gUR S5 n[ U5 S:w a U =R
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S- sl gUS n[ R " SUSS 5 S nUR U5 n[ U5 U:w a0 U =R
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S- sl [ SU S[ U5 35 gUR S 5 n[ U5 S :w a U =R
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S- sl g[ R " SUSS
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5 S nUS
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nUS n XR :w d XR :w a) U =R
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S- sl [ S US S U S 35 g[ U/5 [ R " SU5 - U- n
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[ U
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5 S- n X{:w a) U =R
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S- sl [ SUS SU S 35 gX0R :X a* U =R S- sl U R! U5 n U S4$ X0R" :X a* U =R$ S- sl U R' U5 n SU 4$ U =R
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S- sl [ SUS 35 g)u_
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æ¥æ¶å¹¶è§£æä¸ä¸ªæ°æ®å
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Returns:
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(gps_data, imu_data) å
ç», å
¶ä¸ä¸ä¸ªä¸ºNone
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)NNNrd r3 r z<Hu$ [WARN] æ°æ®é¿åº¦ä¸å¹é
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re r4 u [WARN] 帧尾é误: Ú02XÚ iÿÿ u# [WARN] Checksumæ ¡éªå¤±è´¥: æ¥æ¶Ú04Xu , 计ç®u [WARN] æªç¥æ°æ®ç±»å: )r: rR r_ rX rY r= rm rn rL Ú FRAME_FOOTER1Ú FRAME_FOOTER2ÚbytesÚpackÚsumÚTYPE_GPSr; rr ÚTYPE_IMUr< rw )r> r\ Ú header_dataÚ data_typeÚdata_lenra Ú footer_dataÚchecksum_receivedÚfooter1Úfooter2Úframe_for_checksumÚchecksum_calculatedÚgps_dataÚimu_datas r! Úreceive_packetÚ GPSIMUReceiver.receive_packetÌ s ð {{ $§+¡+×"5×"5Ø àkkØ ;Ø ð ×&Ñ&×(Ñ(Ø ð hhqk Ü {Ó qÓ Ø × Ò Ñ !Õ Ø à N Ü== {°1°QÐ'7Ó8¸Ñ;ð ((8Ó$Ü w<8Ó #Ø × Ò Ñ !Õ Ü Ð8¸¸
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À(Ì3ÈwË<È.ÐYÔ ZØ ð hhqk Ü {Ó qÓ Ø × Ò Ñ !Õ Ø ä "MM¨$° ¸A¸aÐ0@Ó AÀ!Ñ DÐØ a.Ø a.ð ×(Ñ(Ó (¨G×7IÑ7IÓ,IØ × Ò Ñ !Õ Ü Ð)¨'°#¨ °a¸À°}ÐEÔ FØ ô # I ;Ó /´&·+²+¸dÀHÓ2MÑ MÐPWÑ WÐÜ !Ð"4Ó 5¸Ñ >Ðà Ó 3Ø × Ò Ñ !Õ Ü Ð7Ð8IÈ#Ð7NÈhÐWjÐknÐVoÐpÔ qØ ð Ó %Ø NNaÑ NØ×+Ñ+¨GÓ4HØT>Ð !Ø --Ó 'Ø NNaÑ NØ×+Ñ+¨GÓ4HØ>Ð !à × Ò Ñ !Õ Ü Ð/° ¸#¨Ð?Ô @Ø r c óÀ [ S5 [ SU R 35 [ SU R 35 [ SU R 35 [ S5 g)u æå°ç»è®¡ä¿¡æ¯u#
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========== æ¥æ¶ç»è®¡ ==========u GPSæ°æ®å
: u IMUæ°æ®å
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N)rL r; r< r= rT s r! Ú print_statsÚGPSIMUReceiver.print_stats sS ä Ð4Ô6Ü §¡Ð /Ð0Ô1Ü §¡Ð /Ð0Ô1Ü Ð ×!1Ñ!1Ð 2Ð3Ô4Ü Ð0Õ2r )r8 r= r; r< r7 r: N)é ) r r r r r rZ r[ r} r~ r r ro rl rv ru Ústrr r? ÚboolrO rU r_ r r r rr r# rw r r r r r r r! r- r- . sÆ Ù'ð MØMØMØMàHØHð "NØOð NØOñ Sð ¨Cõ ð"ô ò,,ð Dô ð4! uð !°¸'Ñ1Bô !ðF uð °¸'Ñ1Bô ð>G h¨wÑ&7¸À'Ñ9JÐ&JÑ Kô G õR3r r- c ó> Sn Sn[ X5 nUR 5 ( d g[ S5 [ R " 5 nSnSn UR 5 u pgU( a Un[ R " 5 nU( a X-
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S:¼ a [ SUR
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S S UR S S
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UR S S UR S S UR S SUR S SUR S SUR S SUR SUR 35 UnX-
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S: a UR 5 UnMò ! [ a [ S5 Of = fUR 5 UR# 5 g! UR 5 UR# 5 f = f)u 主å½æ°ç¤ºä¾ÚCOM17r Nu0 [INFO] å¼å§æ¥æ¶æ°æ®... (æ Ctrl+C åæ¢)g rC u [GPS] 纬度: z.8fu °, ç»åº¦: u °, èªå: z.2fu °, 俯仰: u °, 横æ»: u °, é度(E/N/U): Ú/u m/s, å«æ: u
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, è´¨é: g $@u
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[INFO] ç¨æ·ä¸æ)r- rO rL Útimer r r
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r r r r r r r r r ÚKeyboardInterruptrU ) ÚPORTÚBAUDRATEÚreceiverÚlast_stats_timeÚlast_print_timeÚlatest_gps_datar Ú_Ú current_times r! Úmainr¤ sØ ð DØHä dÓ-Hà × Ñ × Ñ Øä Ð
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<Ô=ð# Ü ))+Ø Ø àØ"×1Ñ1Ó3KHæØ"*ä 99;Lö LÑ$BÀsÓ#JÜ ×'?Ñ'?ÀÐ&Dð E!Ø!0×!:Ñ!:¸3Ð ?ð @!Ø!0×!>Ñ!>¸sÐ Cð D!Ø!0×!<Ñ!<¸SÐ Að B!Ø!0×!;Ñ!;¸CÐ @ð A(Ø(7×(EÑ(EÀcÐ'JÈ!ÈO×LjÑLjÐknÐKoÐopð rA÷ rMñ rMð NQð qRð R!Ø!0×!@Ñ!@Ð Að B!Ø!0×!AÑ!AÐ BðDô Eð #/ð Ñ-°Ó4Ø×$Ñ$Ô&Ø".ñ/ øô2 ó 'Ü Ð%Ö&ð'úð × Ñ Ô Ø×ÑÕ øð × Ñ Ô Ø×ÑÕ ús$ ²D D> Ä>EÅE: ÅEÅE: Å:"F Ú__main__)r r: rm r Útypingr r Ú dataclassesr r r# r- r¤ r r r r! Ú<module>r¨ st ðñó Û Û ß "Ý !ð ÷ ð ó ð ð ÷ ð ó ð ÷m3ñ m3ò`0 ðf zÓÙ
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