gamblor21

import ulab.numpy as np
import random
import synthio

SAMPLE_SIZE = 200
sinwave1 = np.array(np.sin(np.linspace(0, 2*np.pi, SAMPLE_SIZE, endpoint=False)) * 32767, dtype=np.int16)
sinwave2 = np.array(np.sin(np.linspace(np.pi/2, 2.5*np.pi, SAMPLE_SIZE, endpoint=False)) * 32767, dtype=np.int16)
downwave = np.linspace(32767, -32767, num=3, dtype=np.int16)

noisewave = np.array([random.randint(-32767, 32767) for i in range(SAMPLE_SIZE)], dtype=np.int16)

gamblor21

Steps:
1. Start JlinkRemoteServer on windows
1a. If any issues check firewall rules that WSL can access it
2. In WSL run: JLinkGDBServerCLExe -device ATSAMD51G19A -if SWD -ip 172.30.240.1
2a. IP may change that is windows machine IP (find with ip route command in WSL)
3. arm-none-eabi-gdb build/firmware.elf
3a. target extended-remote :2331

Ensure JTab RST is hooked to Reset (or enable on ItsyBitsy M4 worked)

gamblor21

import board
import neopixel
from adafruit_pixel_framebuf import PixelFramebuffer, VERTICAL
import time
from random import randint, uniform
import random

pixel_pin = board.D5
pixel_width = 8
pixel_height = 4

gamblor21

#if defined(ADAFRUIT_FEATHER_M4_EXPRESS)
#include <Adafruit_GC9A01A.h>

//#define TWO_DISPLAYS

 #if defined(GLOBAL_VAR)
  SPIClass SPI1(&sercom3, 6, 13, 12, SPI_PAD_0_SCK_1, SERCOM_RX_PAD_2);
 #else
  extern SPIClass SPI1;
 #endif

gamblor21

There are two main files here to give GPS asyncio ability.
UART_asyncio - wrap the core busio.UART read and readline methods with methods that will not block.
  I am not sure how many core classes this type of wrapping would work for. But for UART seemed fine.
  Things could be expanded more (write only writes X bytes before letting something else go). CPython's
  serial_asyncio is somewhat close to what I'm doing, though CPython has Transport and Protocols with asyncoio
  that CP does not have.
  
gps_asyncio - Right now a subclass of the adafruit_gps.GPS class but as someone suggested may be better as a 
  fork project as a lot of code had to be copied so not really OO. In theory could refactor the GPS class too
  so the non-async methods all have their own functions and you can override just the async ones. But not even sure

gamblor21

# Location of top-level MicroPython directory
MPY_DIR = ..

# Name of module
MOD = ahrs

# Source files (.c or .py)
SRC = madgwick.c ../lib/libm/ef_sqrt.c ../lib/libm/atan2f.c ../lib/libm/asinfacosf.c ../lib/libm/atanf.c
#SRC = factorial.c