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PaulZC
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/*
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Configuring the GNSS to automatically send RXM SFRBX and RAWX reports over I2C and log them to file on SD card
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By: Paul Clark
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SparkFun Electronics
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Date: December 30th, 2020
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example shows how to configure the u-blox GNSS to send RXM SFRBX and RAWX reports automatically
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and log the data to SD card in UBX format.
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** Please note: this example will only work on u-blox ADR or High Precision GNSS or Time Sync products **
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** Please note: this example will only work on processors like the Artemis which have plenty of RAM available **
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Data is logged in u-blox UBX format. Please see the u-blox protocol specification for more details.
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You can replay and analyze the data using u-center:
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https://www.u-blox.com/en/product/u-center
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Or you can use (e.g.) RTKLIB to analyze the data and extract your precise location or produce
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Post-Processed Kinematic data:
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https://rtklibexplorer.wordpress.com/
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http://rtkexplorer.com/downloads/rtklib-code/
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This code is intended to be run on the MicroMod Data Logging Carrier Board using the Artemis Processor
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but can be adapted by changing the chip select pin and SPI definitions:
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https://www.sparkfun.com/products/16829
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https://www.sparkfun.com/products/16401
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Hardware Connections:
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Please see: https://learn.sparkfun.com/tutorials/micromod-data-logging-carrier-board-hookup-guide
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Insert the Artemis Processor into the MicroMod Data Logging Carrier Board and secure with the screw.
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Connect your GNSS breakout to the Carrier Board using a Qwiic cable.
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Connect an antenna to your GNSS board if required.
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Insert a formatted micro-SD card into the socket on the Carrier Board.
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Connect the Carrier Board to your computer using a USB-C cable.
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Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
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This code has been tested using version 1.2.1 of the Apollo3 boards on Arduino IDE 1.8.13.
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Select "SparkFun Artemis MicroMod" as the board type.
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Press upload to upload the code onto the Artemis.
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Open the Serial Monitor at 115200 baud to see the output.
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To minimise I2C bus errors, it is a good idea to open the I2C pull-up split pad links on
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both the MicroMod Data Logging Carrier Board and the u-blox module breakout.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/15136
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NEO-M8P RTK: https://www.sparkfun.com/products/15005
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*/
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#include <SPI.h>
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#include <SD.h>
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#include <Wire.h> //Needed for I2C to GNSS
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#include <SparkFun_Ublox_Arduino_Library.h> //Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GPS myGPS;
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File myFile; //File that all GNSS data is written to
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#define sdChipSelect CS //Primary SPI Chip Select is CS for the MicroMod Artemis Processor. Adjust for your processor if necessary.
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#define sdWriteSize 512 // Write data to the SD card in blocks of 512 bytes
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#define fileBufferSize 16384 // Allocate 16KBytes of RAM for UBX message storage
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unsigned long lastPrint; // Record when the last Serial print took place
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// Note: we'll keep a count of how many SFRBX and RAWX messages arrive - but the count will not be completely accurate.
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// If two or more SFRBX messages arrive together as a group and are processed by one call to checkUblox, the count will
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// only increase by one.
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int numSFRBX = 0; // Keep count of how many SFRBX message groups have been received (see note above)
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int numRAWX = 0; // Keep count of how many RAWX message groups have been received (see note above)
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// Callback: newSFRBX will be called when new RXM SFRBX data arrives
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// See u-blox_structs.h for the full definition of UBX_RXMSFRBX_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoRXMSFRBXcallback
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// / _____ This _must_ be UBX_RXM_SFRBX_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void newSFRBX(UBX_RXM_SFRBX_data_t ubxDataStruct)
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{
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numSFRBX++; // Increment the count
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}
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// Callback: newRAWX will be called when new RXM RAWX data arrives
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// See u-blox_structs.h for the full definition of UBX_RXMRAWX_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoRXMRAWXcallback
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// / _____ This _must_ be UBX_RXM_RAWX_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void newRAWX(UBX_RXM_RAWX_data_t ubxDataStruct)
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{
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numRAWX++; // Increment the count
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}
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println("SparkFun u-blox Example");
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pinMode(LED_BUILTIN, OUTPUT); // Flash LED_BUILTIN each time we write to the SD card
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digitalWrite(LED_BUILTIN, LOW);
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Wire.begin(); // Start I2C communication
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#if defined(AM_PART_APOLLO3)
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Wire.setPullups(0); // On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
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#endif
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while (Serial.available()) // Make sure the Serial buffer is empty
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{
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Serial.read();
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}
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Serial.println(F("Press any key to start logging."));
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while (!Serial.available()) // Wait for the user to press a key
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{
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; // Do nothing
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}
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delay(100); // Wait, just in case multiple characters were sent
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while (Serial.available()) // Empty the Serial buffer
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{
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Serial.read();
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}
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Serial.println("Initializing SD card...");
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// See if the card is present and can be initialized:
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if (!SD.begin(sdChipSelect))
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{
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Serial.println("Card failed, or not present. Freezing...");
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// don't do anything more:
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while (1);
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}
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Serial.println("SD card initialized.");
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// Create or open a file called "RXM_RAWX.ubx" on the SD card.
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// If the file already exists, the new data is appended to the end of the file.
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myFile = SD.open("RXM_RAWX.ubx", FILE_WRITE);
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if(!myFile)
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{
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Serial.println(F("Failed to create UBX data file! Freezing..."));
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while (1);
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}
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//myGPS.enableDebugging(); // Uncomment this line to enable lots of helpful GNSS debug messages on Serial
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//myGPS.enableDebugging(Serial, true); // Or, uncomment this line to enable only the important GNSS debug messages on Serial
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myGPS.disableUBX7Fcheck(); // RAWX data can legitimately contain 0x7F, so we need to disable the "7F" check in checkUbloxI2C
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// RAWX messages can be over 2KBytes in size, so we need to make sure we allocate enough RAM to hold all the data.
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// SD cards can occasionally 'hiccup' and a write takes much longer than usual. The buffer needs to be big enough
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// to hold the backlog of data if/when this happens.
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// getMaxFileBufferAvail will tell us the maximum number of bytes which the file buffer has contained.
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myGPS.setFileBufferSize(fileBufferSize); // setFileBufferSize must be called _before_ .begin
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing..."));
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while (1);
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}
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// Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
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// (This will also disable any "auto" messages that were enabled and saved by other examples and reduce the load on the I2C bus)
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//myGPS.factoryDefault(); delay(5000);
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
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myGPS.setNavigationFrequency(1); //Produce one navigation solution per second (that's plenty for Precise Point Positioning)
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myGPS.setAutoRXMSFRBXcallback(&newSFRBX); // Enable automatic RXM SFRBX messages with callback to newSFRBX
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myGPS.logRXMSFRBX(); // Enable RXM SFRBX data logging
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myGPS.setAutoRXMRAWXcallback(&newRAWX); // Enable automatic RXM RAWX messages with callback to newRAWX
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myGPS.logRXMRAWX(); // Enable RXM RAWX data logging
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Serial.println(F("Press any key to stop logging."));
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lastPrint = millis(); // Initialize lastPrint
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}
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void loop()
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{
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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
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myGPS.checkUblox(); // Check for the arrival of new data and process it.
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myGPS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
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while (myGPS.fileBufferAvailable() >= sdWriteSize) // Check to see if we have at least sdWriteSize waiting in the buffer
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{
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digitalWrite(LED_BUILTIN, HIGH); // Flash LED_BUILTIN each time we write to the SD card
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uint8_t myBuffer[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
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myGPS.extractFileBufferData((uint8_t *)&myBuffer, sdWriteSize); // Extract exactly sdWriteSize bytes from the UBX file buffer and put them into myBuffer
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myFile.write(myBuffer, sdWriteSize); // Write exactly sdWriteSize bytes from myBuffer to the ubxDataFile on the SD card
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// In case the SD writing is slow or there is a lot of data to write, keep checking for the arrival of new data
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myGPS.checkUblox(); // Check for the arrival of new data and process it.
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myGPS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
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digitalWrite(LED_BUILTIN, LOW); // Turn LED_BUILTIN off again
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}
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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
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if (millis() > (lastPrint + 1000)) // Print the message count once per second
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{
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Serial.print(F("Number of message groups received: SFRBX: ")); // Print how many message groups have been received (see note above)
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Serial.print(numSFRBX);
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Serial.print(F(" RAWX: "));
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Serial.println(numRAWX);
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uint16_t maxBufferBytes = myGPS.getMaxFileBufferAvail(); // Get how full the file buffer has been (not how full it is now)
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//Serial.print(F("The maximum number of bytes which the file buffer has contained is: ")); // It is a fun thing to watch how full the buffer gets
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//Serial.println(maxBufferBytes);
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if (maxBufferBytes > ((fileBufferSize / 5) * 4)) // Warn the user if fileBufferSize was more than 80% full
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{
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Serial.println(F("Warning: the file buffer has been over 80% full. Some data may have been lost."));
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}
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lastPrint = millis(); // Update lastPrint
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}
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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
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if (Serial.available()) // Check if the user wants to stop logging
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{
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uint16_t remainingBytes = myGPS.fileBufferAvailable(); // Check if there are any bytes remaining in the file buffer
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while (remainingBytes > 0) // While there is still data in the file buffer
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{
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digitalWrite(LED_BUILTIN, HIGH); // Flash LED_BUILTIN while we write to the SD card
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uint8_t myBuffer[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
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uint16_t bytesToWrite = remainingBytes; // Write the remaining bytes to SD card sdWriteSize bytes at a time
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if (bytesToWrite > sdWriteSize)
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{
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bytesToWrite = sdWriteSize;
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}
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myGPS.extractFileBufferData((uint8_t *)&myBuffer, bytesToWrite); // Extract bytesToWrite bytes from the UBX file buffer and put them into myBuffer
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myFile.write(myBuffer, bytesToWrite); // Write bytesToWrite bytes from myBuffer to the ubxDataFile on the SD card
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remainingBytes -= bytesToWrite; // Decrement remainingBytes
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}
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digitalWrite(LED_BUILTIN, LOW); // Turn LED_BUILTIN off
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myFile.close(); // Close the data file
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Serial.println(F("Logging stopped. Freezing..."));
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while(1); // Do nothing more
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}
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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
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}
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