90 lines
3.3 KiB
Arduino
90 lines
3.3 KiB
Arduino
/*
|
|
Configuring the GNSS to automatically send odometer reports over I2C and display the data using a callback
|
|
By: Paul Clark
|
|
SparkFun Electronics
|
|
Date: December 30th, 2020
|
|
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 send odometer reports automatically
|
|
and display the data via a callback. No more polling!
|
|
|
|
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 GPS 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 GPS
|
|
|
|
#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
|
|
SFE_UBLOX_GNSS myGNSS;
|
|
|
|
// Callback: printODOdata will be called when new NAV ODO data arrives
|
|
// See u-blox_structs.h for the full definition of UBX_NAV_ODO_data_t
|
|
// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVODOcallback
|
|
// / _____ This _must_ be UBX_NAV_ODO_data_t
|
|
// | / _____ You can use any name you like for the struct
|
|
// | | /
|
|
// | | |
|
|
void printODOdata(UBX_NAV_ODO_data_t ubxDataStruct)
|
|
{
|
|
Serial.println();
|
|
|
|
Serial.print(F("TOW: ")); // Print the Time Of Week
|
|
unsigned long iTOW = ubxDataStruct.iTOW; // iTOW is in milliseconds
|
|
Serial.print(iTOW);
|
|
Serial.print(F(" (ms)"));
|
|
|
|
Serial.print(F(" Distance: "));
|
|
unsigned long distance = ubxDataStruct.distance; // Print the distance
|
|
Serial.print(distance);
|
|
Serial.print(F(" (m)"));
|
|
|
|
Serial.print(F(" Total Distance: "));
|
|
unsigned long totalDistance = ubxDataStruct.totalDistance; // Print the total distance
|
|
Serial.print(totalDistance);
|
|
Serial.println(F(" (m)"));
|
|
}
|
|
|
|
void setup()
|
|
{
|
|
Serial.begin(115200);
|
|
while (!Serial); //Wait for user to open terminal
|
|
Serial.println("SparkFun u-blox Example");
|
|
|
|
Wire.begin();
|
|
|
|
//myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
|
|
|
|
if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
|
|
{
|
|
Serial.println(F("Ublox GPS 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.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
|
|
|
|
myGNSS.setNavigationFrequency(1); //Produce one solution per second
|
|
|
|
//myGNSS.resetOdometer(); //Uncomment this line to reset the odometer
|
|
|
|
myGNSS.setAutoNAVODOcallback(&printODOdata); // Enable automatic NAV ODO messages with callback to printODOdata
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
myGNSS.checkUblox(); // Check for the arrival of new data and process it.
|
|
myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
|
|
|
|
Serial.print(".");
|
|
delay(50);
|
|
}
|