GPS and HTU21D ported to V3

Author: peterhinch

v3/README.md

@@ -1,4 +1,4 @@
-# 1, Guide to uasyncio V3
+# 1 Guide to uasyncio V3
 
 The new release of `uasyncio` is pre-installed in current daily firmware 
 builds. This complete rewrite of `uasyncio` supports CPython 3.8 syntax. A
@@ -7,11 +7,24 @@ design aim is that it should be be a compatible subset of `asyncio`.
 These notes and the tutorial should be read in conjunction with
 [the official docs](http://docs.micropython.org/en/latest/library/uasyncio.html)
 
-There is a new tutorial for V3.
+## 1.1 Resources for V3
 
-#### [V3 Tutorial](./TUTORIAL.md)
+This repo contains the following:
 
-# 2. Overview
+#### [V3 Tutorial](./docs/TUTORIAL.md)  
+#### Test/demo scripts  
+
+Documented in the tutorial.
+
+#### Synchronisation primitives  
+
+Documented in the tutorial.
+
+#### Asynchronous device drivers  
+The device drivers are in the process of being ported. Currently there is a
+[GPS driver](./docs/GPS.md).
+
+# 2 V3 Overview
 
 These notes are intended for users familiar with `asyncio` under CPython.
 
@@ -34,7 +47,7 @@ The `uasyncio` library supports the following features:
 It supports millisecond level timing with the following:
  * `uasyncio.sleep_ms(time)`
 
-It includes the followiing CPython compatible synchronisation primitives:
+It includes the following CPython compatible synchronisation primitives:
  * `Event`.
  * `Lock`.
  * `gather`.
@@ -45,7 +58,7 @@ supported.
 The `Future` class is not supported, nor are the `event_loop` methods
 `call_soon`, `call_later`, `call_at`.
 
-# 3. Porting applications from V2
+# 3 Porting applications from V2
 
 Many applications using the coding style advocated in the V2 tutorial will work
 unchanged. However there are changes, firstly to `uasyncio` syntax and secondly
@@ -65,12 +78,12 @@ related to modules in this repository.
 
 It is possible to write an awaitable class with code portable between
 MicroPython and CPython 3.8. This is discussed
-[in the tutorial](./TUTORIAL.md#412-portable-code).
+[in the tutorial](./docs/TUTORIAL.md#412-portable-code).
 
 ## 3.2 Modules from this repository
 
 Modules `asyn.py` and `aswitch.py` are deprecated for V3 applications. See
-[the tutorial](./TUTORIAL.md) for V3 replacements.
+[the tutorial](./docs/TUTORIAL.md#3-synchronisation) for V3 replacements.
 
 ### 3.2.1 Synchronisation primitives
 
@@ -101,7 +114,7 @@ used with V3:
  * The nonstandard support for `gather` (now properly supported).
 
 The `Event` class in `asyn.py` is now replaced by `Message` - this is discussed
-in [the tutorial](./TUTORIAL.md).
+in [the tutorial](./docs/TUTORIAL.md#36-message).
 
 ### 3.2.3 Switches, Pushbuttons and delays (old aswitch.py)
 
@@ -114,7 +127,7 @@ New versions are provided in this repository. Classes:
  * `Switch` Debounced switch with close and open callbacks.
  * `Pushbutton` Pushbutton with double-click and long press callbacks.
 
-# 4. Outstanding issues with V3
+# 4 Outstanding issues with V3
 
 V3 is still a work in progress. The following is a list of issues which I hope
 will be addressed in due course.

v3/demos/aledflash.py renamed to v3/as_demos/aledflash.py

@@ -0,0 +1 @@
+from .as_GPS import *

v3/demos/apoll.py renamed to v3/as_demos/apoll.py

@@ -555,7 +555,7 @@ def time_since_fix(self):  # ms since last valid fix
         return self._time_diff(self._get_time(), self._fix_time)
 
     def compass_direction(self):  # Return cardinal point as string.
-        from as_GPS_utils import compass_direction
+        from .as_GPS_utils import compass_direction
         return compass_direction(self)
 
     def latitude_string(self, coord_format=DM):
@@ -611,5 +611,5 @@ def time_string(self, local=True):
         return '{:02d}:{:02d}:{:02d}'.format(hrs, mins, secs)
 
     def date_string(self, formatting=MDY):
-        from as_GPS_utils import date_string
+        from .as_GPS_utils import date_string
         return date_string(self, formatting)

v3/demos/auart.py renamed to v3/as_demos/auart.py

@@ -10,7 +10,7 @@
 import pyb
 import utime
 import math
-import as_tGPS
+from .as_tGPS import GPS_Timer
 from primitives.message import Message
 
 # Hardware assumptions. Change as required.
@@ -31,7 +31,7 @@ async def setup():
     uart = pyb.UART(UART_ID, 9600, read_buf_len=200)
     sreader = asyncio.StreamReader(uart)
     pps_pin = pyb.Pin(PPS_PIN, pyb.Pin.IN)
-    return as_tGPS.GPS_Timer(sreader, pps_pin, local_offset=1,
+    return GPS_Timer(sreader, pps_pin, local_offset=1,
                              fix_cb=lambda *_: red.toggle(),
                              pps_cb=lambda *_: green.toggle())
 
@@ -126,9 +126,9 @@ async def us_setup(tick):
     uart = pyb.UART(UART_ID, 9600, read_buf_len=200)
     sreader = asyncio.StreamReader(uart)
     pps_pin = pyb.Pin(PPS_PIN, pyb.Pin.IN)
-    return as_tGPS.GPS_Timer(sreader, pps_pin, local_offset=1,
-                             fix_cb=lambda *_: red.toggle(),
-                             pps_cb=us_cb, pps_cb_args=(tick, yellow))
+    return GPS_Timer(sreader, pps_pin, local_offset=1,
+                     fix_cb=lambda *_: red.toggle(),
+                     pps_cb=us_cb, pps_cb_args=(tick, yellow))
 
 async def do_usec(minutes):
     tick = Message()

v3/demos/auart_hd.py renamed to v3/as_demos/auart_hd.py

@@ -4,7 +4,7 @@
 
 # Copyright (c) 2018 Peter Hinch
 # Released under the MIT License (MIT) - see LICENSE file
-from as_GPS import MDY, DMY, LONG
+from .as_GPS import MDY, DMY, LONG
 
 _DIRECTIONS = ('N', 'NNE', 'NE', 'ENE', 'E', 'ESE', 'SE', 'SSE', 'S', 'SSW',
                'SW', 'WSW', 'W', 'WNW', 'NW', 'NNW')

v3/demos/gather.py renamed to v3/as_demos/gather.py

@@ -7,7 +7,7 @@
 # Copyright (c) 2018 Peter Hinch
 # Released under the MIT License (MIT) - see LICENSE file
 
-import as_GPS
+import as_drivers.as_GPS as as_GPS
 try:
     from micropython import const
 except ImportError:

v3/demos/iorw.py renamed to v3/as_demos/iorw.py

@@ -18,8 +18,8 @@
 import pyb
 import utime
 import math
-import as_tGPS
-import as_rwGPS
+from .as_tGPS import GPS_RWTimer
+from .as_rwGPS import FULL_COLD_START
 
 # Hardware assumptions. Change as required.
 PPS_PIN = pyb.Pin.board.X3
@@ -46,7 +46,7 @@ async def shutdown():
     # session with ctrl-c.
     uart.init(BAUDRATE)
     await asyncio.sleep(0.5)
-    await gps.command(as_rwGPS.FULL_COLD_START)
+    await gps.command(FULL_COLD_START)
     print('Factory reset')
     gps.close()  # Stop ISR
     #print('Restoring default baudrate (9600).')
@@ -67,7 +67,7 @@ async def setup():
     sreader = asyncio.StreamReader(uart)
     swriter = asyncio.StreamWriter(uart, {})
     pps_pin = pyb.Pin(PPS_PIN, pyb.Pin.IN)
-    gps = as_tGPS.GPS_RWTimer(sreader, swriter, pps_pin, local_offset=1,
+    gps = GPS_RWTimer(sreader, swriter, pps_pin, local_offset=1,
                              fix_cb=lambda *_: red.toggle(),
                              pps_cb=lambda *_: blue.toggle())
     gps.FULL_CHECK = False
@@ -179,7 +179,7 @@ async def us_setup(tick):
     sreader = asyncio.StreamReader(uart)
     swriter = asyncio.StreamWriter(uart, {})
     pps_pin = pyb.Pin(PPS_PIN, pyb.Pin.IN)
-    gps = as_tGPS.GPS_RWTimer(sreader, swriter, pps_pin, local_offset=1,
+    gps = GPS_RWTimer(sreader, swriter, pps_pin, local_offset=1,
                              fix_cb=lambda *_: red.toggle(),
                              pps_cb=us_cb, pps_cb_args=(tick, blue))
     gps.FULL_CHECK = False

v3/demos/rate.py renamed to v3/as_demos/rate.py

@@ -2,7 +2,7 @@
 # This is STM-specific: requires pyb module.
 # Hence not as RAM-critical as as_GPS
 
-# Copyright (c) 2018 Peter Hinch
+# Copyright (c) 2018-2020 Peter Hinch
 # Released under the MIT License (MIT) - see LICENSE file
 # TODO Test machine version. Replace LED with callback. Update tests and doc.
 
@@ -17,8 +17,8 @@
 import utime
 import micropython
 import gc
-import as_GPS
-import as_rwGPS
+from .as_GPS import RMC, AS_GPS
+from .as_rwGPS import GPS
 
 micropython.alloc_emergency_exception_buf(100)
 
@@ -31,17 +31,17 @@ def rtc_secs():
 
 # Constructor for GPS_Timer class
 def gps_ro_t_init(self, sreader, pps_pin, local_offset=0,
-                  fix_cb=lambda *_ : None, cb_mask=as_GPS.RMC, fix_cb_args=(),
+                  fix_cb=lambda *_ : None, cb_mask=RMC, fix_cb_args=(),
                   pps_cb=lambda *_ : None, pps_cb_args=()):
-    as_GPS.AS_GPS.__init__(self, sreader, local_offset, fix_cb, cb_mask, fix_cb_args)
+    AS_GPS.__init__(self, sreader, local_offset, fix_cb, cb_mask, fix_cb_args)
     self.setup(pps_pin, pps_cb, pps_cb_args)
 
 # Constructor for GPS_RWTimer class
 def gps_rw_t_init(self, sreader, swriter, pps_pin, local_offset=0,
-                  fix_cb=lambda *_ : None, cb_mask=as_GPS.RMC, fix_cb_args=(),
+                  fix_cb=lambda *_ : None, cb_mask=RMC, fix_cb_args=(),
                   msg_cb=lambda *_ : None, msg_cb_args=(),
                   pps_cb=lambda *_ : None, pps_cb_args=()):
-    as_rwGPS.GPS.__init__(self, sreader, swriter, local_offset, fix_cb, cb_mask, fix_cb_args,
+    GPS.__init__(self, sreader, swriter, local_offset, fix_cb, cb_mask, fix_cb_args,
                  msg_cb, msg_cb_args)
     self.setup(pps_pin, pps_cb, pps_cb_args)
 
@@ -236,5 +236,5 @@ def get_t_split(self):
         self._time[3] = us + ims*1000
         return self._time
 
-GPS_Timer = type('GPS_Timer', (GPS_Tbase, as_GPS.AS_GPS), {'__init__': gps_ro_t_init})
-GPS_RWTimer = type('GPS_RWTimer', (GPS_Tbase, as_rwGPS.GPS), {'__init__': gps_rw_t_init})
+GPS_Timer = type('GPS_Timer', (GPS_Tbase, AS_GPS), {'__init__': gps_ro_t_init})
+GPS_RWTimer = type('GPS_RWTimer', (GPS_Tbase, GPS), {'__init__': gps_rw_t_init})

v3/demos/roundrobin.py renamed to v3/as_demos/roundrobin.py

@@ -8,7 +8,7 @@
 import pyb
 import uasyncio as asyncio
 from primitives.delay_ms import Delay_ms
-import as_GPS
+from .as_GPS import DD, MPH, LONG, AS_GPS
 
 red = pyb.LED(1)
 green = pyb.LED(2)
@@ -52,8 +52,8 @@ async def navigation(gps):
         await gps.data_received(position=True)
         print('***** NAVIGATION DATA *****')
         print('Data is Valid:', gps._valid)
-        print('Longitude:', gps.longitude(as_GPS.DD))
-        print('Latitude', gps.latitude(as_GPS.DD))
+        print('Longitude:', gps.longitude(DD))
+        print('Latitude', gps.latitude(DD))
         print()
 
 async def course(gps):
@@ -62,7 +62,7 @@ async def course(gps):
         await gps.data_received(course=True)
         print('***** COURSE DATA *****')
         print('Data is Valid:', gps._valid)
-        print('Speed:', gps.speed_string(as_GPS.MPH))
+        print('Speed:', gps.speed_string(MPH))
         print('Course', gps.course)
         print('Compass Direction:', gps.compass_direction())
         print()
@@ -75,7 +75,7 @@ async def date(gps):
         print('Data is Valid:', gps._valid)
         print('UTC time:', gps.utc)
         print('Local time:', gps.local_time)
-        print('Date:', gps.date_string(as_GPS.LONG))
+        print('Date:', gps.date_string(LONG))
         print()
 
 async def gps_test():
@@ -86,7 +86,7 @@ async def gps_test():
     sreader = asyncio.StreamReader(uart)
     timer = Delay_ms(timeout)
     sentence_count = 0
-    gps = as_GPS.AS_GPS(sreader, local_offset=1, fix_cb=callback, fix_cb_args=(timer,))
+    gps = AS_GPS(sreader, local_offset=1, fix_cb=callback, fix_cb_args=(timer,))
     print('awaiting first fix')
     asyncio.create_task(sat_test(gps))
     asyncio.create_task(stats(gps))

v3/as_drivers/as_GPS/__init__.py

@@ -1,4 +1,4 @@
-# ast_pb.py
+# ast_pbrw.py
 # Basic test/demo of AS_GPS class (asynchronous GPS device driver)
 # Runs on a Pyboard with GPS data on pin X2.
 # Copyright (c) Peter Hinch 2018-2020
@@ -14,8 +14,8 @@
 import pyb
 import uasyncio as asyncio
 from primitives.delay_ms import Delay_ms
-import as_GPS
-import as_rwGPS
+from .as_GPS import DD, LONG, MPH
+from .as_rwGPS import *
 
 # Avoid multiple baudrates. Tests use 9600 or 19200 only.
 BAUDRATE = 19200
@@ -69,8 +69,8 @@ async def navigation(gps):
         yellow.toggle()
         print('***** NAVIGATION DATA *****')
         print('Data is Valid:', hex(gps._valid))
-        print('Longitude:', gps.longitude(as_GPS.DD))
-        print('Latitude', gps.latitude(as_GPS.DD))
+        print('Longitude:', gps.longitude(DD))
+        print('Latitude', gps.latitude(DD))
         print()
 
 async def course(gps):
@@ -79,7 +79,7 @@ async def course(gps):
         await gps.data_received(course=True)
         print('***** COURSE DATA *****')
         print('Data is Valid:', hex(gps._valid))
-        print('Speed:', gps.speed_string(as_GPS.MPH))
+        print('Speed:', gps.speed_string(MPH))
         print('Course', gps.course)
         print('Compass Direction:', gps.compass_direction())
         print()
@@ -92,7 +92,7 @@ async def date(gps):
         print('Data is Valid:', hex(gps._valid))
         print('UTC Time:', gps.utc)
         print('Local time:', gps.local_time)
-        print('Date:', gps.date_string(as_GPS.LONG))
+        print('Date:', gps.date_string(LONG))
         print()
 
 async def change_status(gps, uart):
@@ -103,10 +103,10 @@ async def change_status(gps, uart):
     print('***** baudrate 19200 *****')
     await asyncio.sleep(5)  # Ensure baudrate is sorted
     print('***** Query VERSION *****')
-    await gps.command(as_rwGPS.VERSION)
+    await gps.command(VERSION)
     await asyncio.sleep(10)
     print('***** Query ENABLE *****')
-    await gps.command(as_rwGPS.ENABLE)
+    await gps.command(ENABLE)
     await asyncio.sleep(10)  # Allow time for 1st report
     await gps.update_interval(2000)
     print('***** Update interval 2s *****')
@@ -115,14 +115,14 @@ async def change_status(gps, uart):
     print('***** Disable satellite in view and channel messages *****')
     await asyncio.sleep(10)
     print('***** Query ENABLE *****')
-    await gps.command(as_rwGPS.ENABLE)
+    await gps.command(ENABLE)
 
 # See README.md re antenna commands
 #    await asyncio.sleep(10)
-#    await gps.command(as_rwGPS.ANTENNA)
+#    await gps.command(ANTENNA)
 #    print('***** Antenna reports requested *****')
 #    await asyncio.sleep(60)
-#    await gps.command(as_rwGPS.NO_ANTENNA)
+#    await gps.command(NO_ANTENNA)
 #    print('***** Antenna reports turned off *****')
 #    await asyncio.sleep(10)
 
@@ -136,12 +136,12 @@ async def gps_test():
     swriter = asyncio.StreamWriter(uart, {})
     timer = Delay_ms(cb_timeout)
     sentence_count = 0
-    gps = as_rwGPS.GPS(sreader, swriter, local_offset=1, fix_cb=callback,
+    gps = GPS(sreader, swriter, local_offset=1, fix_cb=callback,
                        fix_cb_args=(timer,),  msg_cb = message_cb)
     await asyncio.sleep(2)
-    await gps.command(as_rwGPS.DEFAULT_SENTENCES)
+    await gps.command(DEFAULT_SENTENCES)
     print('Set sentence frequencies to default')
-    #await gps.command(as_rwGPS.FULL_COLD_START)
+    #await gps.command(FULL_COLD_START)
     #print('Performed FULL_COLD_START')
     print('awaiting first fix')
     asyncio.create_task(sat_test(gps))
@@ -158,7 +158,7 @@ async def shutdown():
     # session with ctrl-c.
     uart.init(BAUDRATE)
     await asyncio.sleep(1)
-    await gps.command(as_rwGPS.FULL_COLD_START)
+    await gps.command(FULL_COLD_START)
     print('Factory reset')
     #print('Restoring default baudrate.')
     #await gps.baudrate(9600)