111 lines
3.8 KiB
Arduino
111 lines
3.8 KiB
Arduino
/*
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Reading lat and long via UBX binary commands using an RX-only UART
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By: Nathan Seidle, Adapted from Example11 by Felix Jirka
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SparkFun Electronics
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Date: July 2nd, 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 library for serial port use with a single wire connection using the assumeAutoPVT method.
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Saving your pins for other stuff :-)
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This example only works correctly if the module has already been configured is sending PVT messages via its UART1 TX pin.
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Run the previous example to enable the auto PVT messages if you need to.
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Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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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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Preconditions:
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U-Blox module is configured to send cyclical PVT message
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Hardware Connections:
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Connect the U-Blox serial TX pin to Rx of Serial2 (default: GPIO16) on your ESP32
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Or, switch to SoftwareSerial
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Open the serial monitor at 115200 baud to see the output
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*/
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#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS;
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#include <SoftwareSerial.h>
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//#define mySerial Serial2 // Uncomment this line to connect via Serial2
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// - or -
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SoftwareSerial mySerial(10, 11); // Uncomment this line to connect via SoftwareSerial(RX, TX). Connect pin 10 to GNSS TX pin.
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//#define baudRate 9600 // Uncomment this line to select 9600 Baud for the M8
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// - or -
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#define baudRate 38400 // Uncomment this line to select 38400 Baud for the F9
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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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//Use any Serial port with at least a RX Pin connected or a receive only version of SoftwareSerial here
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//Assume that the U-Blox GNSS is running at baudRate baud
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mySerial.begin(baudRate);
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// No need to check return value as internal call to isConnected() will not succeed
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myGNSS.begin(mySerial);
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// Tell the library we are expecting the module to send PVT messages by itself to our Rx pin.
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// You can set second parameter to "false" if you want to control the parsing and eviction of the data (need to call checkUblox cyclically)
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myGNSS.assumeAutoPVT(true, true);
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}
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void loop()
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{
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// If implicit updates are enabled, calling getPVT will trigger parsing of the incoming messages
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// and return true once a PVT message has been parsed.
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// In case you want to use explicit updates, wrap this in a timer and call checkUblox()
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// as often as needed, not to overflow your UART buffers.
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//
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// Important note: the PVT message is 100 bytes long. We need to call getPVT often enough
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// to prevent serial buffer overflows on boards like the original RedBoard / UNO.
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// At 38400 Baud, the 100 PVT bytes will arrive in 26ms.
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// On the RedBoard, we need to call getPVT every 5ms to keep up.
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if (myGNSS.getPVT())
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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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Serial.println();
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}
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else
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{
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delay(5); // Delay for 5ms only
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static int counter = 0; // Print a dot every 50ms
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counter++;
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if (counter > 10)
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{
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Serial.print(".");
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counter = 0;
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}
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}
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}
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