142 lines
4.5 KiB
Arduino
142 lines
4.5 KiB
Arduino
/*
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Configuring the GNSS to automatically send position reports over I2C
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By: Nathan Seidle and Thorsten von Eicken
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SparkFun Electronics
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Date: January 3rd, 2019
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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 the send navigation reports automatically
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and retrieving the latest one via getPVT. This eliminates the blocking in getPVT while the GNSS
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produces a fresh navigation solution at the expense of returning a slighly old solution.
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This can be used over serial or over I2C, this example shows the I2C use. With serial the GNSS
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simply outputs the UBX_NAV_PVT packet. With I2C it queues it into its internal I2C buffer (4KB in
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size?) where it can be retrieved in the next I2C poll.
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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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SAM-M8Q: https://www.sparkfun.com/products/15106
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Hardware Connections:
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Plug a Qwiic cable into the GNSS and a BlackBoard
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GNSS
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS;
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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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Wire.begin();
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if (myGNSS.begin() == false) //Connect to the u-blox 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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myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGNSS.setNavigationFrequency(2); //Produce two solutions per second
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myGNSS.setAutoPVT(true); //Tell the GNSS to "send" each solution
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//myGNSS.saveConfiguration(); //Optional: Save the current settings to flash and BBR
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}
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void loop()
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{
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// Calling getPVT returns true if there actually is a fresh navigation solution available.
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// Start the reading only when valid LLH is available
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if (myGNSS.getPVT() && (myGNSS.getInvalidLlh() == false))
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{
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Serial.println();
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long latitude = myGNSS.getLatitude();
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Serial.print(F("Lat: "));
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Serial.print(latitude);
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long longitude = myGNSS.getLongitude();
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Serial.print(F(" Long: "));
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Serial.print(longitude);
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Serial.print(F(" (degrees * 10^-7)"));
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long altitude = myGNSS.getAltitude();
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Serial.print(F(" Alt: "));
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Serial.print(altitude);
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Serial.print(F(" (mm)"));
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byte SIV = myGNSS.getSIV();
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Serial.print(F(" SIV: "));
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Serial.print(SIV);
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int PDOP = myGNSS.getPDOP();
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Serial.print(F(" PDOP: "));
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Serial.print(PDOP);
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Serial.print(F(" (10^-2)"));
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int nedNorthVel = myGNSS.getNedNorthVel();
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Serial.print(F(" VelN: "));
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Serial.print(nedNorthVel);
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Serial.print(F(" (mm/s)"));
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int nedEastVel = myGNSS.getNedEastVel();
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Serial.print(F(" VelE: "));
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Serial.print(nedEastVel);
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Serial.print(F(" (mm/s)"));
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int nedDownVel = myGNSS.getNedDownVel();
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Serial.print(F(" VelD: "));
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Serial.print(nedDownVel);
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Serial.print(F(" (mm/s)"));
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int verticalAccEst = myGNSS.getVerticalAccEst();
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Serial.print(F(" VAccEst: "));
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Serial.print(verticalAccEst);
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Serial.print(F(" (mm)"));
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int horizontalAccEst = myGNSS.getHorizontalAccEst();
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Serial.print(F(" HAccEst: "));
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Serial.print(horizontalAccEst);
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Serial.print(F(" (mm)"));
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int speedAccEst = myGNSS.getSpeedAccEst();
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Serial.print(F(" SpeedAccEst: "));
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Serial.print(speedAccEst);
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Serial.print(F(" (mm/s)"));
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int headAccEst = myGNSS.getHeadingAccEst();
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Serial.print(F(" HeadAccEst: "));
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Serial.print(headAccEst);
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Serial.print(F(" (degrees * 10^-5)"));
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if (myGNSS.getHeadVehValid() == true) {
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int headVeh = myGNSS.getHeadVeh();
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Serial.print(F(" HeadVeh: "));
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Serial.print(headVeh);
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Serial.print(F(" (degrees * 10^-5)"));
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int magDec = myGNSS.getMagDec();
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Serial.print(F(" MagDec: "));
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Serial.print(magDec);
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Serial.print(F(" (degrees * 10^-2)"));
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int magAcc = myGNSS.getMagAcc();
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Serial.print(F(" MagAcc: "));
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Serial.print(magAcc);
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Serial.print(F(" (degrees * 10^-2)"));
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}
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Serial.println();
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} else {
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Serial.print(".");
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delay(50);
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}
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}
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