176 lines
6.5 KiB
Arduino
176 lines
6.5 KiB
Arduino
/*
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Send UBX binary commands to enable RTCM sentences on u-blox ZED-F9P module
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By: Nathan Seidle
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SparkFun Electronics
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Date: January 9th, 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 query the module for RELPOS information in the NED frame.
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It assumes you already have RTCM correction data being fed to the receiver.
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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 RedBoard Qwiic or 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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//#define USE_SERIAL1 // Uncomment this line to push the RTCM data from Serial1 to the module via I2C
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size_t numBytes = 0; // Record the number os bytes received from Serial1
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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("u-blox Base station example");
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#ifdef USE_SERIAL1
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// If our board supports it, we can receive the RTCM data on Serial1
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Serial1.begin(115200);
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#endif
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Wire.begin();
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Wire.setClock(400000); //Increase I2C clock speed to 400kHz
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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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// Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
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//myGNSS.factoryDefault(); delay(5000);
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#ifdef USE_SERIAL1
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Serial.print(F("Enabling UBX and RTCM input on I2C. Result: "));
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Serial.print(myGNSS.setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_RTCM3)); //Enable UBX and RTCM input on I2C
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myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
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#endif
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}
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void loop()
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{
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// From v2.0, the data from getRELPOSNED (UBX-NAV-RELPOSNED) is returned in UBX_NAV_RELPOSNED_t packetUBXNAVRELPOSNED
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// Please see u-blox_structs.h for the full definition of UBX_NAV_RELPOSNED_t
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// You can either read the data from packetUBXNAVRELPOSNED directly
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// or can use the helper functions: getRelPosN/E/D; getRelPosAccN/E/D
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if (myGNSS.getRELPOSNED() == true)
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{
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Serial.print("relPosN: ");
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Serial.println(myGNSS.getRelPosN(), 4); // Use the helper functions to get the rel. pos. as m
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Serial.print("relPosE: ");
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Serial.println(myGNSS.getRelPosE(), 4);
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Serial.print("relPosD: ");
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Serial.println(myGNSS.getRelPosD(), 4);
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Serial.print("relPosLength: ");
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Serial.println(myGNSS.packetUBXNAVRELPOSNED->data.relPosLength);
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Serial.print("relPosHeading: ");
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Serial.println(myGNSS.packetUBXNAVRELPOSNED->data.relPosHeading);
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Serial.print("relPosHPN: ");
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Serial.println(myGNSS.packetUBXNAVRELPOSNED->data.relPosHPN);
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Serial.print("relPosHPE: ");
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Serial.println(myGNSS.packetUBXNAVRELPOSNED->data.relPosHPE);
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Serial.print("relPosHPD: ");
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Serial.println(myGNSS.packetUBXNAVRELPOSNED->data.relPosHPD);
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Serial.print("relPosHPLength: ");
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Serial.println(myGNSS.packetUBXNAVRELPOSNED->data.relPosHPLength);
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Serial.print("accN: ");
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Serial.println(myGNSS.getRelPosAccN(), 4); // Use the helper functions to get the rel. pos. accuracy as m
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Serial.print("accE: ");
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Serial.println(myGNSS.getRelPosAccE(), 4);
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Serial.print("accD: ");
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Serial.println(myGNSS.getRelPosAccD(), 4);
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Serial.print("gnssFixOk: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.gnssFixOK == true)
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Serial.println("x");
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else
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Serial.println("");
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Serial.print("diffSolution: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.diffSoln == true)
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Serial.println("x");
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else
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Serial.println("");
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Serial.print("relPosValid: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.relPosValid == true)
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Serial.println("x");
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else
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Serial.println("");
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Serial.print("carrier Solution Type: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 0)
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Serial.println("None");
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else if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 1)
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Serial.println("Float");
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else if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 2)
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Serial.println("Fixed");
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Serial.print("isMoving: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.isMoving == true)
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Serial.println("x");
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else
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Serial.println("");
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Serial.print("refPosMiss: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.refPosMiss == true)
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Serial.println("x");
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else
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Serial.println("");
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Serial.print("refObsMiss: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.refObsMiss == true)
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Serial.println("x");
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else
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Serial.println("");
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}
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else
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Serial.println("RELPOS request failed");
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for (int i = 0; i < 500; i++)
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{
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#ifdef USE_SERIAL1
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uint8_t store[256];
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while ((Serial1.available()) && (numBytes < 256)) // Check if data has been received
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{
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store[numBytes++] = Serial1.read(); // Read a byte from Serial1 and store it
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}
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if (numBytes > 0) // Check if data was received
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{
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//Serial.print("Pushing ");
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//Serial.print(numBytes);
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//Serial.println(" bytes via I2C");
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//On processors which have large I2C buffers, like the ESP32, we can make the push more efficient by
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//calling setI2CTransactionSize first to increase the maximum I2C transmission size
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//(setI2CTransactionSize only needs to be called once, so it should be in setup, not loop)
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//myGNSS.setI2CTransactionSize(128); // Send up to 128 bytes in one I2C transmission
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//The ESP32 seems to have an issue when using a restarts to break up long RTCM pushes
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//You may need to call pushRawData and set the optional 'stop' argument to true:
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//myGNSS.pushRawData(((uint8_t *)&store), numBytes, true); // Push the RTCM data via I2C - always use stops on long RTCM pushes
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myGNSS.pushRawData(((uint8_t *)&store), numBytes); // Push the RTCM data via I2C - using restarts to break up long I2C pushes
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numBytes = 0; // Reset numBytes
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}
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#endif
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delay(10);
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}
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}
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