kopia lustrzana https://github.com/inmcm/micropyGPS
Merge remote-tracking branch 'origin/master'
inmcm
commit
b4c967b001
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@ -41,6 +41,7 @@ $ python micropyGPS.py
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### Currently Supported Sentences
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* GPRMC
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* GPGLL
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* GPGGA
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* GPVTG
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* GPGSA
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@ -26,7 +26,7 @@
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# More Helper Functions
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# Dynamically limit sentences types to parse
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import math
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from math import floor
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# Import pyb or time for fix time handling
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try:
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@ -104,7 +104,7 @@ class MicropyGPS(object):
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def gprmc(self):
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"""Parse Recommended Minimum Specific GPS/Transit data (RMC)Sentence. Updates UTC timestamp, latitude,
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longitude, Course, Speed, and Date"""
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longitude, Course, Speed, Date, and fix status"""
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# UTC Timestamp
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try:
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@ -198,6 +198,65 @@ class MicropyGPS(object):
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return True
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def gpgll(self):
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"""Parse Geographic Latitude and Longitude (GLL)Sentence. Updates UTC timestamp, latitude,
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longitude, and fix status"""
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# UTC Timestamp
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try:
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utc_string = self.gps_segments[5]
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if utc_string: # Possible timestamp found
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hours = int(utc_string[0:2]) + self.local_offset
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minutes = int(utc_string[2:4])
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seconds = float(utc_string[4:])
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self.timestamp = (hours, minutes, seconds)
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else: # No Time stamp yet
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self.timestamp = (0, 0, 0)
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except ValueError: # Bad Timestamp value present
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return False
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# Check Receiver Data Valid Flag
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if self.gps_segments[6] == 'A': # Data from Receiver is Valid/Has Fix
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# Longitude / Latitude
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try:
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# Latitude
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l_string = self.gps_segments[1]
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lat_degs = int(l_string[0:2])
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lat_mins = float(l_string[2:])
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lat_hemi = self.gps_segments[2]
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# Longitude
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l_string = self.gps_segments[3]
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lon_degs = int(l_string[0:3])
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lon_mins = float(l_string[3:])
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lon_hemi = self.gps_segments[4]
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except ValueError:
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return False
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if lat_hemi not in self.__HEMISPHERES:
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return False
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if lon_hemi not in self.__HEMISPHERES:
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return False
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# Update Object Data
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self.latitude = (lat_degs, lat_mins, lat_hemi)
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self.longitude = (lon_degs, lon_mins, lon_hemi)
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self.valid = True
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# Update Last Fix Time
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self.new_fix_time()
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else: # Clear Position Data if Sentence is 'Invalid'
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self.latitude = (0, 0.0, 'N')
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self.longitude = (0, 0.0, 'W')
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self.valid = False
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return True
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def gpvtg(self):
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"""Parse Track Made Good and Ground Speed (VTG) Sentence. Updates speed and course"""
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try:
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@ -213,7 +272,7 @@ class MicropyGPS(object):
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def gpgga(self):
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"""Parse Global Positioning System Fix Data (GGA) Sentence. Updates UTC timestamp, latitude, longitude,
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fix status, satellites in use, Horizontal Dilution of Precision (HDOP), altitude, and geoid height"""
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fix status, satellites in use, Horizontal Dilution of Precision (HDOP), altitude, geoid height and fix status"""
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try:
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# UTC Timestamp
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@ -293,8 +352,8 @@ class MicropyGPS(object):
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def gpgsa(self):
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"""Parse GNSS DOP and Active Satellites (GSA) sentence. Updates GPS fix type, list of satellites used in
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fix calculation, Position Dilution of Precision (PDOP), Horizontal Dilution of Precision (HDOP), and Vertical
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Dilution of Precision"""
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fix calculation, Position Dilution of Precision (PDOP), Horizontal Dilution of Precision (HDOP), Vertical
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Dilution of Precision, and fix status"""
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# Fix Type (None,2D or 3D)
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try:
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@ -545,7 +604,7 @@ class MicropyGPS(object):
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offset_course = self.course + 11.25
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# Each compass point is separated by 22.5 degrees, divide to find lookup value
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dir_index = math.floor(offset_course / 22.5)
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dir_index = floor(offset_course / 22.5)
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final_dir = self.__DIRECTIONS[dir_index]
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@ -650,7 +709,8 @@ class MicropyGPS(object):
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return date_string
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# All the currently supported NMEA sentences
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supported_sentences = {'GPRMC': gprmc, 'GPGGA': gpgga, 'GPVTG': gpvtg, 'GPGSA': gpgsa, 'GPGSV': gpgsv}
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supported_sentences = {'GPRMC': gprmc, 'GPGGA': gpgga, 'GPVTG': gpvtg, 'GPGSA': gpgsa, 'GPGSV': gpgsv,
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'GPGLL': gpgll}
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if __name__ == "__main__":
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@ -677,6 +737,10 @@ if __name__ == "__main__":
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'$GPGSV,4,2,14,24,30,047,22,04,22,312,26,31,22,204,,12,19,088,23*72',
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'$GPGSV,4,3,14,25,17,127,18,21,16,175,,11,09,315,16,19,05,273,*72',
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'$GPGSV,4,4,14,32,05,303,,15,02,073,*7A']
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test_GLL = ['$GPGLL,3711.0942,N,08671.4472,W,000812.000,A,A*46',
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'$GPGLL,4916.45,N,12311.12,W,225444,A,*1D',
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'$GPGLL,4250.5589,S,14718.5084,E,092204.999,A*2D',
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'$GPGLL,0000.0000,N,00000.0000,E,235947.000,V*2D']
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my_gps = MicropyGPS()
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sentence = ''
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@ -693,10 +757,23 @@ if __name__ == "__main__":
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print('Speed:', my_gps.speed)
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print('Date Stamp:', my_gps.date)
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print('Course', my_gps.course)
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print('Data is Valid', my_gps.valid)
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print('Data is Valid:', my_gps.valid)
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print('Compass Direction:', my_gps.compass_direction())
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print('')
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for GLL_sentence in test_GLL:
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sentence_count += 1
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for y in GLL_sentence:
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sentence = my_gps.update(y)
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print('Parsed a', sentence, 'Sentence')
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print('Parsed Strings', my_gps.gps_segments)
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print('Sentence CRC Value:', hex(my_gps.crc_xor))
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print('Longitude:', my_gps.longitude)
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print('Latitude', my_gps.latitude)
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print('UTC Timestamp:', my_gps.timestamp)
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print('Data is Valid:', my_gps.valid)
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print('')
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for VTG_sentence in test_VTG:
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sentence_count += 1
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for y in VTG_sentence:
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