This guide aims to show you how easy it is to develop GNSS applications with Python on UNIHIKER. At the end of this tutorial, you will be able to further expand the code and develop awesome applications for your needs.
Connect the antenna with the GNSS module (Antenna Interface: IPEX1). Now connect the GNSS module with the UNIHIKER and ensure I2C is selected! The last step is simple, just connect the UNIHIKER with your PC or Laptop (via USB).
The project structure is very simple! Create for example a project directory named “GNSS” and inside two more directories named “img” and “lib”. Also, create a python file “main.py” directly inside “GNSS”. This file will later be used to create the GUI for the application. Inside the directory “img” you store a picture named “satellite.png” and inside the directory “lib” you create the python library file named “DFRobot_GNSS_I2C.py”. The library will be used to communicate with the GNSS module.
Here the overview of the project structure:
Let's start with library file named “DFRobot_GNSS_I2C.py”. There you import 2 modules/packages, define some constants and create a class with a few simple methods. The Python docstrings will explain you detail what each method is doing.
from pinpong.board import I2C
from time import sleep
GNSS_DEVICE_ADDR = 0x20
MODE_GPS = 0x01
MODE_BeiDou = 0x02
MODE_GPS_BeiDou = 0x03
MODE_GLONASS = 0x04
MODE_GPS_GLONASS = 0x05
MODE_BEIDOU_GLONASS = 0x06
MODE_GPS_BEIDOU_GLONASS = 0x07
class DFRobot_GNSS_I2C:
ENABLE_POWER = 0x00
DISABLE_POWER = 0x01
RGB_ON = 0x05
RGB_OFF = 0x02
I2C_YEAR_H = 0x00
I2C_HOUR = 0x04
I2C_LAT_1 = 0x07
I2C_LON_1 = 0x0D
I2C_USE_STAR = 0x13
I2C_ALT_H = 0x14
I2C_SOG_H = 0x17
I2C_COG_H = 0x1A
I2C_GNSS_MODE = 0x22
I2C_SLEEP_MODE = 0x23
I2C_RGB_MODE = 0x24
def __init__(self, i2c_addr=GNSS_DEVICE_ADDR, bus=0):
"""
Initialize the DFRobot_GNSS communication
:param i2c_addr: I2C address
:param bus: I2C bus number
"""
self._addr = i2c_addr
try:
self._i2c = I2C(bus)
except Exception as err:
print(f'Could not initialize i2c! bus: {bus}, error: {err}')
def _write_reg(self, reg, data) -> None:
"""
Write data to the I2C register
:param reg: register address
:param data: data to write
:return: None
"""
if isinstance(data, int):
data = [data]
try:
self._i2c.writeto_mem(self._addr, reg, bytearray(data))
except Exception as err:
print(f'Write issue: {err}')
def _read_reg(self, reg, length) -> bytes:
"""
Reads data from the I2C register
:param reg: I2C register address
:param length: number of bytes to read
:return: bytes
"""
try:
result = self._i2c.readfrom_mem(self._addr, reg, length)
except Exception as err:
print(f'Read issue: {err}')
result = [0, 0]
return result
@staticmethod
def _calculate_latitude_longitude(value: bytes) -> float:
"""
Calculates the latitude and longitude from bytes to float
:param value: gnss bytes
:return: list
"""
val_dd = value[0]
val_mm = value[1]
val_mm_mm = value[2] * 65536 + value[3] * 256 + value[4]
degree = val_dd + val_mm / 60.0 + val_mm_mm / 100000.0 / 60.0
return degree
@staticmethod
def _optional_calculate_bytes_to_float(value: bytes) -> float:
"""
Calculates the bytes to float (for altitude, cog and sog)
:param value: gnss bytes
:return: float
"""
return value[0] * 256 + value[1] + value[2] / 100.0
def set_enable_power(self) -> None:
"""
Enable gnss power
:return: None
"""
self._write_reg(self.I2C_SLEEP_MODE, self.ENABLE_POWER)
sleep(.1)
def set_disable_power(self) -> None:
"""
Disable gnss power
:return: None
"""
self._write_reg(self.I2C_SLEEP_MODE, self.DISABLE_POWER)
sleep(.1)
def set_rgb_on(self) -> None:
"""
Turn LED on
:return: None
"""
self._write_reg(self.I2C_RGB_MODE, self.RGB_ON)
sleep(.1)
def set_rgb_off(self) -> None:
"""
Turn LED off
:return: None
"""
self._write_reg(self.I2C_RGB_MODE, self.RGB_OFF)
sleep(.1)
def set_gnss_mode(self, mode: int) -> None:
"""
Set gnss mode
- 1 for GPS
- 2 for BeiDou
- 3 for GPS + BeiDou
- 4 for GLONASS
- 5 for GPS + GLONASS
- 6 for BeiDou + GLONASS
- 7 for GPS + BeiDou + GLONASS
:param mode: number for mode
:return: None
"""
if 1 <= mode <= 7:
self._write_reg(self.I2C_GNSS_MODE, int(mode))
sleep(.1)
def get_gnss_mode(self) -> int:
"""
Get gnss mode (1 till 7)
:return: number for GNSS mode
"""
result = self._read_reg(self.I2C_GNSS_MODE, 1)
return int(result[0])
def get_num_sta_used(self) -> int:
"""
Get number of current satellite used
:return: number of current satellite used
"""
result = self._read_reg(self.I2C_USE_STAR, 1)
return int(result[0])
def get_date(self) -> str:
"""
Get date and return in format "YYYY-MM-DD"
:return: str
"""
year = 2000
month = 1
day = 1
result = self._read_reg(self.I2C_YEAR_H, 4)
if result != -1:
year = result[0] * 256 + result[1]
month = result[2]
day = result[3]
return f'{year}-{month:02d}-{day:02d}'
def get_time(self) -> str:
"""
Get utc time and return in format "HH:MM:SS"
:return: str
"""
hour = 0
minute = 0
second = 0
result = self._read_reg(self.I2C_HOUR, 3)
if result != -1:
hour = result[0]
minute = result[1]
second = result[2]
return f'{hour:02d}:{minute:02d}:{second:02d}'
def get_lat(self) -> list:
"""
Get latitude and return in format [degree, direction]
:return: list
"""
degree = 0.00
direction = 'S'
result = self._read_reg(self.I2C_LAT_1, 6)
if result != -1:
degree = DFRobot_GNSS_I2C._calculate_latitude_longitude(result)
direction = chr(result[5])
return [degree, direction]
def get_lon(self) -> list:
"""
Get longitude and return in format [degree, direction]
:return: list
"""
degree = 0.00
direction = 'W'
result = self._read_reg(self.I2C_LON_1, 6)
if result != -1:
degree = DFRobot_GNSS_I2C._calculate_latitude_longitude(result)
direction = chr(result[5])
return [degree, direction]
def get_alt(self) -> float:
"""
Get altitude over ground in meters
:return: float
"""
result = self._read_reg(self.I2C_ALT_H, 3)
if result != -1:
high = DFRobot_GNSS_I2C._optional_calculate_bytes_to_float(result)
else:
high = 0.0
return high
def get_cog(self) -> float:
"""
Get course over ground in degrees
:return: float
"""
result = self._read_reg(self.I2C_COG_H, 3)
if result != -1:
cog = DFRobot_GNSS_I2C._optional_calculate_bytes_to_float(result)
else:
cog = 0.0
return cog
def get_sog(self) -> float:
"""
Get speed over ground on knot
:return: float
"""
result = self._read_reg(self.I2C_SOG_H, 3)
if result != -1:
sog = DFRobot_GNSS_I2C._optional_calculate_bytes_to_float(result)
else:
sog = 0.0
return sog
Now you develop the code inside “main.py”. Also, no big magic here! Few modules/packages get imported (incl. the library). A few constants are defined and 2 functions are created. Via Python standard library “Tkinter” the GUI is created.
from pinpong.board import Board
from tkinter import Tk, Label
from PIL import ImageTk, Image
from tkintermapview import TkinterMapView
from lib.DFRobot_GNSS_I2C import DFRobot_GNSS_I2C, MODE_GPS_BEIDOU_GLONASS
SCREEN_WIDTH: int = 240
SCREEN_HEIGHT: int = 320
MINIMUM_SATELLITES: int = 3
DELAY_MILLISECONDS: int = 2000
TILE_SERVER: str = 'https://a.tile.openstreetmap.org/{z}/{x}/{y}.png'
TILE_ZOOM: int = 15
def create_map(display, latitude, longitude) -> None:
"""
Create a map with marker
:param display: tkinter display object
:param latitude: float value of latitude
:param longitude: float value of longitude
:return: None
"""
gmap = TkinterMapView(display, width=SCREEN_WIDTH, height=SCREEN_HEIGHT)
gmap.pack(fill='both', expand=True)
gmap.set_tile_server(TILE_SERVER)
gmap.set_position(latitude[0], longitude[0], marker=True)
gmap.set_zoom(TILE_ZOOM)
def check_satellite() -> None:
"""
Check if minimum of satellites is reached
:return: None
"""
global satellite_found
global screen
global sensor
global image_label
num_satellites = sensor.get_num_sta_used()
current_time = sensor.get_time()
current_date = sensor.get_date()
print(f"Found {num_satellites} satellites at {current_date} {current_time}")
if num_satellites > MINIMUM_SATELLITES and not satellite_found:
satellite_found = True
lat = sensor.get_lat()
long = sensor.get_lon()
sensor.set_disable_power()
image_label.pack_forget()
create_map(display=screen, latitude=lat, longitude=long)
if not satellite_found:
screen.after(DELAY_MILLISECONDS, check_satellite)
if __name__ == '__main__':
Board().begin()
sensor = DFRobot_GNSS_I2C()
sensor.set_gnss_mode(MODE_GPS_BEIDOU_GLONASS)
sensor.set_enable_power()
sensor.set_rgb_on()
satellite_found = False
screen = Tk()
screen.geometry(f'{SCREEN_WIDTH}x{SCREEN_HEIGHT}+0+0')
screen.resizable(False, False)
image_label = Label(screen)
image_label.pack(fill='both')
image_src = Image.open("img/satellite.png")
image = ImageTk.PhotoImage(image_src)
image_label.config(image=image)
check_satellite()
screen.mainloop()
If never used TkinterMapView have a look here! You can do a lot of more with it and also change the map provider by your needs.
Even if UNIHIKER already has a lot of Python packages installed, you have to quickly install TkinterMapView yourself. Therefore connect via SSH (maybe use Putty on Windows) to UNIHIKER and run the following command inside UNIHIKER terminal:
$ pip3 install tkintermapview
After view seconds you should be ready to go.
With SCP you can upload the project from your PC/Laptop to UNIHIKER (maybe use WinSCP or SMB on Windows).
$ scp -r GNSS [email protected]:/root/
The password for user root is dfrobot This is just one possible example, but I cannot tell you which of the infinite possibilities is best for you. Read the wiki if you don't understand what I mean.
Now start the application and wait for satellites …
If you cannot find satellites promptly, change your position (preferably outdoors). After few seconds you should see the final result.
Have fun a leave a like, if you want more like this.
files.zip 
