Module GNSS

Example

This program initializes the GNSS and IMU devices, retrieves the current date, time, latitude, and longitude information, and reads the raw data from the accelerometer and gyroscope on the X, Y, and Z axes, then continuously prints this information.

from m5stack import *
from m5ui import *
from uiflow import *
import module

setScreenColor(0x222222)

gnss = module.get(module.GNSS)

gnss.init_gnss(1, 17, 16, 38400, 8, None, 1)
gnss.init_imu(0x68)
gnss.set_mode('normal')
while True:
  print((str('date: ') + str((gnss.gnss_date))))
  print((str('time: ') + str((gnss.gnss_time))))
  print((str('latitude: ') + str((gnss.latitude))))
  print((str('longitude: ') + str((gnss.longitude))))
  print((str('IMU ACC rawX: ') + str((gnss.get_accel(1)[0]))))
  print((str('IMU ACC rawY: ') + str((gnss.get_accel(1)[1]))))
  print((str('IMU ACC rawZ: ') + str((gnss.get_accel(1)[2]))))
  print((str('IMU GYRO rawX: ') + str((gnss.get_gyro(1)[0]))))
  print((str('IMU GYRO rawY: ') + str((gnss.get_gyro(1)[1]))))
  print((str('IMU GYRO rawZ: ') + str((gnss.get_gyro(1)[2]))))
  wait_ms(2)

API

gnss.get_accel(0)[0]

• Retrieves the accelerometer data in the specified direction (e.g., X-axis) in meters per second squared (m/s²), returning a floating-point number.

gnss.get_accel(1)[0]

• Retrieves the raw accelerometer data in the specified direction (e.g., X-axis), returning an integer value.

gnss.altitude

• Retrieves the current altitude in meters, returning a string representation of the altitude.

gnss.course

• Retrieves the course information, returning a string representation of the course. The course refers to the direction relative to the Earth's North Pole.

gnss.gnss_date

• Retrieves the current date information, returning a string representation of the date.

gnss.get_gyro(0)[0]

• Retrieves the gyroscope data in the specified direction (e.g., X-axis) in degrees per second (deg/s), returning a floating-point number.

gnss.get_gyro(1)[0]

• Retrieves the raw gyroscope data in the specified direction (e.g., X-axis), returning an integer value.

gnss.latitude

• Retrieves the latitude information, returning a string in degrees and minutes format (ddmm.mmmmm) with a W/E indicator for west or east longitude.

gnss.latitude_decimal

• Retrieves the latitude in decimal format, returning a floating-point number.

gnss.longitude

• Retrieves the longitude information, returning a string in degrees and minutes format (ddmm.mmmmm) with a S/N indicator for south or north longitude.

gnss.longitude_decimal

• Retrieves the longitude in decimal format, returning a floating-point number.

gnss.get_magneto(0)[0]

• Retrieves the magnetometer data in the specified direction (e.g., X-axis) in microteslas (μT), returning a floating-point number.

gnss.get_magneto(1)[0]

• Retrieves the raw magnetometer data in the specified direction (e.g., X-axis), returning an integer value.

gnss.pos_quality

• Retrieves positioning quality information, returning a string. This is typically used to indicate the quality or accuracy of the GNSS signal.

gnss.get_pressure

• Retrieves the current pressure value from the pressure sensor in hectopascals (hPa), returning a floating-point number.

gnss.satellite_num

• Retrieves the current number of connected satellites, returning a string.

gnss.speed_knot

• Retrieves the speed, returning a string. The speed can be represented in knots (knot) or kilometers per hour (kph).

gnss.get_temperature

• Retrieves the current temperature in degrees Celsius (°C), returning a floating-point number.

gnss.gnss_time

Retrieves the current time, returning a string representation of the time.

gnss.init_gnss(1, 17, 16, 38400, 8, None, 1)

• Initializes the GNSS module. Sets the UART communication parameters, including the UART port, Tx (transmit) pin, Rx (receive) pin, baud rate, data bits, parity, and stop bits.

gnss.init_imu(0x68)

• Initializes the IMU device with the I2C address set to 0x68, used for subsequent I2C communication.

gnss.set_acc_odr(0x09)

• Sets the accelerometer's output data rate. Here, 200Hz is selected, meaning the accelerometer outputs data 200 times per second.

gnss.set_acc_range(0x00)

• Sets the accelerometer's measurement range. Here, 2G is selected, meaning the accelerometer's maximum measurement range is ±2 times gravity (G).

gnss.set_mode('normal')

• Sets the BMI270 sensor to normal operating mode. The BMI270 is an IMU sensor typically used for attitude sensing and motion detection.

gnss.set_acc_odr(0x09)

• Sets the gyroscope's output data rate. Here, 200Hz is selected, meaning the gyroscope outputs data 200 times per second.

gnss.set_gyr_range(0x01)

• Sets the gyroscope's measurement range. Here, 1000 degrees per second (dps) is selected, meaning the gyroscope's maximum measurement range is ±1000 degrees per second.

gnss.set_magneto_odr(0x00)

• Sets the magnetometer's output data rate. Here, 10Hz is selected, meaning the magnetometer outputs data 10 times per second.

gnss.set_time_zone(8)

• Sets the time zone. Here, it is set to 8 hours and 0 minutes, typically used to adjust the time to match the local time zone.