Starting to add support for multiple message rates

2021-04-01 13:52:30 +01:00
parent 47f95a10b8
commit de5e73947b
3 changed files with 112 additions and 6 deletions
@@ -0,0 +1,90 @@
+/*
+  Configuring the GNSS to produce multiple messages at different rates
+  By: Paul Clark
+  SparkFun Electronics
+  Date: April 1st, 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 configure the U-Blox GNSS to output multiple messages at different rates:
+  PVT is output once per measurement;
+  POS_ECEF is output every second measurement;
+  VEL_NED is output every third measurement.
+
+  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_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun u-blox Example");
+
+  Wire.begin();
+
+  if (myGNSS.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);
+  }
+
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGNSS.setMeasurementRate(1000); //Produce a measurement every 1000ms
+  myGNSS.setNavigationRate(1); //Produce a navigation solution every measurement
+  
+  myGNSS.setAutoPVTrate(1); //Tell the GNSS to "send" each PVT solution every measurement
+  //myGNSS.setAutoPOSECEFrate(2); //Tell the GNSS to "send" each POS_ECEF solution every second measurement
+  myGNSS.setAutoNAVVELNEDrate(3); //Tell the GNSS to "send" each VEL_NED solution every third measurement
+  //myGNSS.saveConfiguration(); //Optional: Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  if (myGNSS.getPVT())
+  {
+    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.println(F(" (mm)"));
+  }
+
+  // Calling getVELNED returns true if there actually is fresh velocity data available.
+  if (myGNSS.getNAVVELNED())
+  {
+    Serial.print(F("velN: "));
+    Serial.print((float)myGNSS.packetUBXNAVVELNED->data.velN / 100.0, 2); // convert velN to m/s
+
+    Serial.print(F(" velE: "));
+    Serial.print((float)myGNSS.packetUBXNAVVELNED->data.velE / 100.0, 2); // convert velE to m/s
+
+    Serial.print(F(" velD: "));
+    Serial.print((float)myGNSS.packetUBXNAVVELNED->data.velD / 100.0, 2); // convert velD to m/s
+    Serial.println(F(" (m/s)"));
+
+    myGNSS.flushNAVVELNED(); //Mark all the data as read/stale so we get fresh data next time
+  }
+}