178 lines
6.3 KiB
Arduino
178 lines
6.3 KiB
Arduino
/*
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Configuring the GNSS to automatically send position reports over SPI
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Based on code 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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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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NEO-M8U: https://www.sparkfun.com/products/16329
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NEO-M9N: https://www.sparkfun.com/products/17285
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Hardware Connections:
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You need to connect the SPI pins from your microcontroller to the specific pins on your SparkFun product.
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Connections will vary based on your microcontroller, but for reference please refer to this tutorial on SPI:
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https://learn.sparkfun.com/tutorials/serial-peripheral-interface-spi/all
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Most new boards now use the terms:
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CS - Chip Select
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COPI - Controller Out, Peripheral In
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CIPO - Controller in, Peripheral Out
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SCK - Serial Clock
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You can choose any pin for Chip Select, but the others are likely either defined by the library you are using
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(see here for the standard Arduino one: https://www.arduino.cc/en/reference/SPI) or the microcontroller. The
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ESP32 has two standard, selectable SPI ports, for example.
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To enable SPI communication, you will need to solder the DSEL/SPI jumper closed on your u-blox board.
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IMPORTANT: there have been reports that some u-blox devices do not respond to the UBX protocol over SPI
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with the factory settings. You may find you need to connect to the device via USB and u-center and set
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the incoming protocol to UBX only. Make sure you disable all other protocols as inputs if you can't
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get things to work! Hopefully this is just a bug in the u-blox firmware that will be fixed soon ;-)
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*/
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#include <SPI.h> //Needed for SPI 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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// #########################################
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// Instantiate an instance of the SPI class.
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// Your configuration may be different, depending on the microcontroller you are using!
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#define spiPort SPI // This is the SPI port on standard Ardino boards. Comment this line if you want to use a different port.
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//SPIClass spiPort (HSPI); // This is the default SPI interface on some ESP32 boards. Uncomment this line if you are using ESP32.
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// #########################################
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const uint8_t csPin = 10; // On ATmega328 boards, SPI Chip Select is usually pin 10. Change this to match your board.
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// #########################################
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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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spiPort.begin(); // begin the SPI port
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//myGNSS.enableDebugging(); // Uncomment this line to see helpful debug messages on Serial
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// Connect to the u-blox module using SPI port, csPin and speed setting
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// ublox devices generally work up to 5MHz. We'll use 4MHz for this example:
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if (myGNSS.begin(spiPort, csPin, 4000000) == false)
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{
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Serial.println(F("u-blox GNSS not detected on SPI bus. Please check wiring. Freezing."));
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while (1);
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}
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myGNSS.setPortOutput(COM_PORT_SPI, COM_TYPE_UBX); //Set the SPI port to output UBX only (turn off NMEA noise)
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myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
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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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