Initial commit

2021-06-27 21:05:28 +01:00
parent cb24b642de
commit b3929ff9eb
1 changed files with 111 additions and 0 deletions
@@ -0,0 +1,111 @@
+/*
+  Reading lat and long via UBX binary commands over SPI
+  By: Andrew Berridge
+  Date: 27th June 2021
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a u-blox module for its lat/long/altitude over SPI. We also
+  turn off the NMEA output on the SPI port. This decreases the amount of SPI traffic 
+  dramatically.
+
+  Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
+  to something google maps understands simply divide the numbers by 10,000,000. We 
+  do this so that we don't have to use floating point numbers.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  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:
+  You need to connect the SPI pins from your microcontroller to the specific pins on your SparkFun product. 
+  Connections will vary based on your microcontroller, but for reference please refer to this tutorial on SPI:
+  https://learn.sparkfun.com/tutorials/serial-peripheral-interface-spi/all
+  
+  Most new boards now use the terms:
+  CS - Chip Select
+  COP - Controller Out, Peripheral In
+  CIPO - Controller in, Peripheral Out
+  SCK - Serial Clock
+
+  You can choose any pin for Chip Select, but the others are likely either defined by the library you are using
+  (see here for the standard Arduino one: https://www.arduino.cc/en/reference/SPI) or the microcontroller. The
+  ESP32 has two standard, selectable SPI ports, for example.
+
+  IMPORTANT: there have been reports that some ublox devices do not respond to the UBX protocol over SPI
+  with the factory settings. You may find you need to connect to the device via USB and u-center and set
+  the incoming protocol to UBX only. Make sure you disable all other protocols as inputs if you can't
+  get things to work! Hopefully this is just a bug in the ublox firmware that will be fixed soon ;-)
+  
+*/
+
+#include <SPI.h> //Needed for SPI to GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+// Instantiate an instance of the SPI class. 
+// This is the default ESP32 SPI interface. Your configuration may be different, depending on the microcontroller you are using!
+SPIClass spiPort (HSPI); 
+const uint8_t csPin = 15; // Change this to suit your own connection for the chip select pin
+
+long lastTime = 0; //Simple local timer. Limits amount of SPI traffic to u-blox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun u-blox Example");
+
+  spiPort.begin(); 
+
+  myGNSS.setFileBufferSize(100); // set the file buffer size
+  
+  // Connect to the u-blox module using SPI port, csPin and speed setting
+  // ublox devices generally work up to 5Mhz. We'll use 4Mhz for this example:
+  if (myGNSS.begin(spiPort, csPin, 4000000) == false) 
+  {
+    Serial.println(F("u-blox GNSS not detected on SPI bus. Please check wiring. Freezing."));
+    while (1);
+  }
+  myGNSS.disableMessage(UBX_CLASS_HNR, UBX_HNR_PVT, 0x04);
+  myGNSS.disableMessage(UBX_CLASS_HNR, UBX_HNR_ATT, 0x04);
+  myGNSS.disableMessage(UBX_CLASS_HNR, UBX_HNR_INS, 0x04);
+  myGNSS.setAutoPVT(false); //Tell the GNSS to "send" each solution
+  myGNSS.setPortInput(COM_PORT_SPI, COM_TYPE_UBX); //Set the SPI port to output UBX only (turn off NMEA noise)
+  myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause SPI traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+    
+    long latitude = myGNSS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGNSS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGNSS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGNSS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.println();
+  }
+}