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Arduinoの firmware と Android のアプリ†

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Android + Arduino Mega ADK から Raspberry Pi Zero + Raspberry Pi Pico へ移行中†

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Raspberry Pi Zero†

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Raspberry Pi Pico (Arduiono IDE)†

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Raspberry Pi Zero + Raspberry Pi Pico + GPS ... 場所依存表示可能バージョン†

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Hardware†

Raspberry Pi Zero 2 <-> GPIO i2c 400khz-> Raspberry Pi Pico (arduino)
                    <-> GPIO UART <-> Adafruit Ultimate GPS
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i2c 400khz†

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gps†

  • /etc/default/gpsd
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    # Devices gpsd should collect to at boot time.
# They need to be read/writeable, either by user gpsd or the group dialout.
#DEVICES=""
DEVICES="/dev/serial0"
# Other options you want to pass to gpsd
#GPSD_OPTIONS=""
GPSD_OPTIONS="-F /var/run/gpsd.sock"
# Automatically hot add/remove USB GPS devices via gpsdctl
#USBAUTO="true"
↑

Software†

  • systemd, start sh
    • /etc/systemd/system/wiki_bot.service 
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      [Unit]
Description=wiki_bot
After=network.target
 
[Service]
User=pi
Type=simple
WorkingDirectory=/home/pi/python
ExecStart=/home/pi/python/start_wiki_bot.sh
 
[Install]
WantedBy=multi-user.target
    • /home/pi/python/start_wiki_bot.sh 
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      #!/usr/bin/bash
sleep 120
xhost +
export DISPLAY=:0.0
cd /home/pi/python
source testpip/bin/activate
python3 wiki_bot_08.py -s
    • /home/pi/python/start_wiki_bot.sh ... LINE Bot 接続版 
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      #!/usr/bin/bash
sleep 120
xhost +
export DISPLAY=:0.0
cd /home/pi/python/line-bot
ngrok http --domain=<ngrok static domain> 3000 &
cd /home/pi/python
source testpip/bin/activate
python3 wiki_bot_09.py -s
  • bot
    • wiki_bot_ex08.py
    • gps関連追加部分
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      from gps3 import gps3
import math
 
class pico_wiki_bot:
 
    gps_time="n/a_"
    gps_lat="n/a_"
    gps_lon="n/a_"
    gps_alt="n/a_"
    gps_speed="n/a_"
 
    def __init__(self):
        #
        # gps thread
        #
        self.gps_thread=threading.Thread(target=self.start_gps)
        print('new thread, start gps_thread')
        #self.start_script()
        print('self.gps_thread.start()')
        self.gps_thread.start()
        print('script_started.')
 
        #
    def start_gps(self):
        print('start_gps')
        try:
            gps_socket = gps3.GPSDSocket()
            data_stream = gps3.DataStream()
            gps_socket.connect()
            gps_socket.watch()
 
            for new_data in gps_socket:
                if new_data:
                    data_stream.unpack(new_data)
                    self.gps_time=data_stream.TPV['time']
                    self.gps_lat=data_stream.TPV['lat']
                    self.gps_lon=data_stream.TPV['lon']
                    self.gps_alt=data_stream.TPV['alt']
                    self.gps_speed=data_stream.TPV['speed']
                    #print('time : ', self.gps_time)
                    #print('lat : ', self.gps_lat)
                    #print('lon : ', self.gps_lon)
                    #print('alt : ', self.gps_alt)
                    #print('speed : ', self.gps_speed)
        except Exception as e:
            import traceback
            traceback.print_exc()
            print(e)
            print('error')
            return
 
    def geo_distance(self,lat_1,lon_1, lat_2, lon_2): #degree
        if type(lat_1) is str:
            return "n/a"
        if type(lon_1) is str:
            return "n/a"
        if type(lat_2) is str:
            return "n/a"
        if type(lon_2) is str:
            return "n/a"
        pole_radius = 6356752.314245     # 極半径
        equator_radius = 6378137.0       # 赤道半径
 
        da1r=lat_1*3.1415926535/180.0
        do1r=lon_1*3.1415926535/180.0
        da2r=lat_2*3.1415926535/180.0
        do2r=lon_2*3.1415926535/180.0
 
        lat_difference = da1r - da2r     # 緯度差
        lon_difference = do1r - do2r     # 経度差
        lat_average = (da1r + da2r) / 2.0   # 平均緯度
 
        e2 = (pow(equator_radius, 2) - pow(pole_radius, 2)) / pow(equator_radius, 2)  # 第一離心率^2
 
        w = math.sqrt(1- e2 * pow(math.sin(lat_average), 2))
        m = equator_radius * (1 - e2) / pow(w, 3)     # 子午線曲率半径
 
        n = equator_radius / w                             # 卯酉線曲半径
 
        distance = math.sqrt(pow(m * lat_difference, 2) + pow(n * lon_difference * math.cos(lat_average), 2)) # 距離計測
        print('distance={:f}'.format(distance))
        return distance
  • external
↑

Raspberry Pi Pico (Arduiono IDE)†

↑

wiki page†

↑

BDF東雲明朝16x16 フォント†

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Last-modified: 2025-07-22 (火) 21:31:30