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PaulZC
2021-01-09 06:44:12 +00:00
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examples/NEO-M8P-2/Example1_EnableRTCM/Example1_EnableRTCM.ino
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/*
Send UBX binary commands to enable RTCM sentences on u-blox NEO-M8P module
By: Nathan Seidle
SparkFun Electronics
Date: September 7th, 2018
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example sends the command to enable the four RTCM messages needed for RTK. This
is the first part of a larger tutorial and example to setup an RTK base station.
These commands are only accepted by the NEO-M8P module.
Feel like supporting open source hardware?
Buy a board from SparkFun!
ZED-F9P RTK2: https://www.sparkfun.com/products/15136
NEO-M8P RTK: https://www.sparkfun.com/products/15005
SAM-M8Q: https://www.sparkfun.com/products/15106
Hardware Connections:
Plug a Qwiic cable into the GNSS and a BlackBoard
If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
Open the serial monitor at 115200 baud to see the output
*/
#include <Wire.h> //Needed for I2C to GNSS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while(!Serial); //Wait for user to open terminal
Serial.println(F("u-blox RTCM Enable Example"));
Wire.begin();
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
{
Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
while(Serial.available()) Serial.read(); //Clear any latent chars in serial buffer
Serial.println(F("Press any key to send commands to enable RTCM 3.x"));
while(Serial.available() == 0) ; //Wait for user to press a key
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGPS.saveConfiguration(); //Save the current settings to flash and BBR
boolean response = true;
response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
if (response == true)
{
Serial.println(F("RTCM messages enabled"));
}
else
{
Serial.println(F("RTCM failed to enable. Are you sure you have an NEO-M8P?"));
while(1); //Freeze
}
//RTCM is now enabled but we haven't done a 'survey-in'
//See example 4 for the full Base RTK setup
}
void loop()
{
myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
delay(250); //Don't pound too hard on the I2C bus
}
examples/NEO-M8P-2/Example2_StartRTCMBase/Example2_StartRTCMBase.ino
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/*
Note: compiles OK with v2.0 but is currently untested
Send UBX binary commands to enable RTCM sentences on u-blox NEO-M8P-2 module
By: Nathan Seidle
SparkFun Electronics
Date: September 7th, 2018
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example does all steps to configure and enable a NEO-M8P-2 as a base station:
Begin Survey-In
Once we've achieved 2m accuracy and 300s have passed, survey is complete
Enable four RTCM messages
Begin outputting RTCM bytes
Feel like supporting open source hardware?
Buy a board from SparkFun!
ZED-F9P RTK2: https://www.sparkfun.com/products/15136
NEO-M8P RTK: https://www.sparkfun.com/products/15005
SAM-M8Q: https://www.sparkfun.com/products/15106
Hardware Connections:
Plug a Qwiic cable into the GNSS and a BlackBoard
If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
Open the serial monitor at 115200 baud to see the output
*/
#include <Wire.h> //Needed for I2C to GNSS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println(F("u-blox NEO-M8P-2 base station example"));
Wire.begin();
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
{
Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGPS.saveConfiguration(); //Save the current settings to flash and BBR
while (Serial.available()) Serial.read(); //Clear any latent chars in serial buffer
Serial.println(F("Press any key to send commands to begin Survey-In"));
while (Serial.available() == 0) ; //Wait for user to press a key
boolean response;
//Check if Survey is in Progress before initiating one
// From v2.0, the data from getSurveyStatus (UBX-NAV-SVIN) is returned in UBX_NAV_SVIN_t packetUBXNAVSVIN
// Please see u-blox_structs.h for the full definition of UBX_NAV_SVIN_t
// You can either read the data from packetUBXNAVSVIN directly
// or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; and getSurveyInMeanAccuracy
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
if (response == false) // Check if fresh data was received
{
Serial.println(F("Failed to get Survey In status. Freezing..."));
while (1); //Freeze
}
if (myGPS.getSurveyInActive() == true) // Use the helper function
{
Serial.print(F("Survey already in progress."));
}
else
{
//Start survey
response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in, 300 seconds, 2.0m
if (response == false)
{
Serial.println(F("Survey start failed. Freezing..."));
while (1);
}
Serial.println(F("Survey started. This will run until 300s has passed and less than 2m accuracy is achieved."));
}
while(Serial.available()) Serial.read(); //Clear buffer
//Begin waiting for survey to complete
while (myGPS.getSurveyInValid() == false) // Call the helper function
{
if(Serial.available())
{
byte incoming = Serial.read();
if(incoming == 'x')
{
//Stop survey mode
response = myGPS.disableSurveyMode(); //Disable survey
Serial.println(F("Survey stopped"));
break;
}
}
// From v2.0, the data from getSurveyStatus (UBX-NAV-SVIN) is returned in UBX_NAV_SVIN_t packetUBXNAVSVIN
// Please see u-blox_structs.h for the full definition of UBX_NAV_SVIN_t
// You can either read the data from packetUBXNAVSVIN directly
// or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; and getSurveyInMeanAccuracy
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
if (response == true) // Check if fresh data was received
{
Serial.print(F("Press x to end survey - "));
Serial.print(F("Time elapsed: "));
Serial.print((String)myGPS.getSurveyInObservationTime());
Serial.print(F(" Accuracy: "));
Serial.print((String)myGPS.getSurveyInMeanAccuracy());
Serial.println();
}
else
{
Serial.println(F("SVIN request failed"));
}
delay(1000);
}
Serial.println(F("Survey valid!"));
response = true;
response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
if (response == true)
{
Serial.println(F("RTCM messages enabled"));
}
else
{
Serial.println(F("RTCM failed to enable. Are you sure you have an NEO-M8P?"));
while (1); //Freeze
}
Serial.println(F("Base survey complete! RTCM now broadcasting."));
}
void loop()
{
myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
delay(250); //Don't pound too hard on the I2C bus
}
//This function gets called from the SparkFun u-blox Arduino Library.
//As each RTCM byte comes in you can specify what to do with it
//Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
void SFE_UBLOX_GPS::processRTCM(uint8_t incoming)
{
//Let's just pretty-print the HEX values for now
if (myGPS.rtcmFrameCounter % 16 == 0) Serial.println();
Serial.print(F(" "));
if (incoming < 0x10) Serial.print(F("0"));
Serial.print(incoming, HEX);
}
examples/NEO-M8P-2/Example3_BaseWithLCD/Example3_BaseWithLCD.ino
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/*
Note: compiles OK with v2.0 but is currently untested
Send UBX binary commands to enable RTCM sentences on u-blox NEO-M8P-2 module
By: Nathan Seidle
SparkFun Electronics
Date: September 7th, 2018
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example does all steps to configure and enable a NEO-M8P-2 as a base station:
Begin Survey-In
Once we've achieved 2m accuracy and 300s have passed, survey is complete
Enable four RTCM messages
Begin outputting RTCM bytes
Feel like supporting open source hardware?
Buy a board from SparkFun!
ZED-F9P RTK2: https://www.sparkfun.com/products/15136
NEO-M8P RTK: https://www.sparkfun.com/products/15005
SAM-M8Q: https://www.sparkfun.com/products/15106
Hardware Connections:
Plug a Qwiic cable into the GNSS and a BlackBoard
Plug a SerLCD onto the Qwiic bus
If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
Watch the output on the LCD or open the serial monitor at 115200 baud to see the output
*/
#define STAT_LED 13
#include <Wire.h> //Needed for I2C to GNSS
#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GPS myGPS;
#include <SerLCD.h> //Click here to get the library: http://librarymanager/All#SparkFun_SerLCD
SerLCD lcd; // Initialize the library with default I2C address 0x72
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println(F("u-blox GNSS I2C Test"));
Wire.begin();
pinMode(STAT_LED, OUTPUT);
digitalWrite(STAT_LED, LOW);
lcd.begin(Wire); //Set up the LCD for Serial communication at 9600bps
lcd.setBacklight(0x4B0082); //indigo, a kind of dark purplish blue
lcd.clear();
lcd.print(F("LCD Ready"));
myGPS.begin(Wire);
if (myGPS.isConnected() == false)
{
Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
lcd.setCursor(0, 1);
lcd.print(F("No GNSS detected"));
while (1);
}
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
lcd.setCursor(0, 1);
lcd.print("GNSS Detected");
//Check if Survey is in Progress before initiating one
// From v2.0, the data from getSurveyStatus (UBX-NAV-SVIN) is returned in UBX_NAV_SVIN_t packetUBXNAVSVIN
// Please see u-blox_structs.h for the full definition of UBX_NAV_SVIN_t
// You can either read the data from packetUBXNAVSVIN directly
// or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; and getSurveyInMeanAccuracy
boolean response;
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
if (response == false)
{
Serial.println(F("Failed to get Survey In status"));
while (1); //Freeze
}
if (myGPS.getSurveyInActive() == true) // Use the helper function
{
Serial.print(F("Survey already in progress."));
lcd.setCursor(0, 2);
lcd.print(F("Survey already going"));
}
else
{
//Start survey
response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in, 300 seconds, 2.0m
if (response == false)
{
Serial.println(F("Survey start failed"));
lcd.setCursor(0, 3);
lcd.print(F("Survey start failed"));
while (1);
}
Serial.println(F("Survey started. This will run until 300s has passed and less than 2m accuracy is achieved."));
}
while (Serial.available()) Serial.read(); //Clear buffer
lcd.clear();
lcd.print(F("Survey in progress"));
//Begin waiting for survey to complete
while (myGPS.getSurveyInValid() == false) // Call the helper function
{
if (Serial.available())
{
byte incoming = Serial.read();
if (incoming == 'x')
{
//Stop survey mode
response = myGPS.disableSurveyMode(); //Disable survey
Serial.println(F("Survey stopped"));
break;
}
}
// From v2.0, the data from getSurveyStatus (UBX-NAV-SVIN) is returned in UBX_NAV_SVIN_t packetUBXNAVSVIN
// Please see u-blox_structs.h for the full definition of UBX_NAV_SVIN_t
// You can either read the data from packetUBXNAVSVIN directly
// or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; and getSurveyInMeanAccuracy
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
if (response == true)
{
Serial.print(F("Press x to end survey - "));
Serial.print(F("Time elapsed: "));
Serial.print((String)myGPS.getSurveyInObservationTime());
lcd.setCursor(0, 1);
lcd.print(F("Elapsed: "));
lcd.print((String)myGPS.getSurveyInObservationTime());
Serial.print(F(" Accuracy: "));
Serial.print((String)myGPS.getSurveyInMeanAccuracy());
Serial.println();
lcd.setCursor(0, 2);
lcd.print(F("Accuracy: "));
lcd.print((String)myGPS.getSurveyInMeanAccuracy());
}
else
{
Serial.println(F("SVIN request failed"));
}
delay(1000);
}
Serial.println(F("Survey valid!"));
response = true;
response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
if (response == true)
{
Serial.println(F("RTCM messages enabled"));
}
else
{
Serial.println(F("RTCM failed to enable. Are you sure you have an NEO-M8P?"));
while (1); //Freeze
}
Serial.println(F("Base survey complete! RTCM now broadcasting."));
lcd.clear();
lcd.print(F("Transmitting RTCM"));
}
void loop()
{
myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
//Do anything you want. Call checkUblox() every second. NEO-M8P-2 has TX buffer of 4k bytes.
delay(250); //Don't pound too hard on the I2C bus
}
//This function gets called from the SparkFun u-blox Arduino Library.
//As each RTCM byte comes in you can specify what to do with it
//Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
void SFE_UBLOX_GPS::processRTCM(uint8_t incoming)
{
//Let's just pretty-print the HEX values for now
if (myGPS.rtcmFrameCounter % 16 == 0) Serial.println();
Serial.print(" ");
if (incoming < 0x10) Serial.print("0");
Serial.print(incoming, HEX);
}