105 lines
4.0 KiB
Arduino
105 lines
4.0 KiB
Arduino
/*
|
|
Configuring the GNSS to automatically send position reports over I2C and display them 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 navigation reports automatically
|
|
and access 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_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
|
|
SFE_UBLOX_GPS myGPS;
|
|
|
|
// Callback: printPVTdata will be called when new NAV PVT data arrives
|
|
// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
|
|
// _____ You can use any name you like for the callback. Use the same name when you call setAutoPVTcallback
|
|
// / _____ This _must_ be UBX_NAV_PVT_data_t
|
|
// | / _____ You can use any name you like for the struct
|
|
// | | /
|
|
// | | |
|
|
void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
|
|
{
|
|
Serial.println();
|
|
|
|
Serial.print(F("Time: ")); // Print the time
|
|
uint8_t hms = ubxDataStruct.hour; // Print the hours
|
|
if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
|
|
Serial.print(hms);
|
|
Serial.print(F(":"));
|
|
hms = ubxDataStruct.min; // Print the minutes
|
|
if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
|
|
Serial.print(hms);
|
|
Serial.print(F(":"));
|
|
hms = ubxDataStruct.sec; // Print the seconds
|
|
if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
|
|
Serial.print(hms);
|
|
Serial.print(F("."));
|
|
unsigned long millisecs = ubxDataStruct.iTOW % 1000; // Print the milliseconds
|
|
if (millisecs < 100) Serial.print(F("0")); // Print the trailing zeros correctly
|
|
if (millisecs < 10) Serial.print(F("0"));
|
|
Serial.print(millisecs);
|
|
|
|
long latitude = ubxDataStruct.lat; // Print the latitude
|
|
Serial.print(F(" Lat: "));
|
|
Serial.print(latitude);
|
|
|
|
long longitude = ubxDataStruct.lon; // Print the longitude
|
|
Serial.print(F(" Long: "));
|
|
Serial.print(longitude);
|
|
Serial.print(F(" (degrees * 10^-7)"));
|
|
|
|
long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
|
|
Serial.print(F(" Height above MSL: "));
|
|
Serial.print(altitude);
|
|
Serial.println(F(" (mm)"));
|
|
}
|
|
|
|
void setup()
|
|
{
|
|
Serial.begin(115200);
|
|
while (!Serial); //Wait for user to open terminal
|
|
Serial.println("SparkFun u-blox Example");
|
|
|
|
Wire.begin();
|
|
|
|
//myGPS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
|
|
|
|
if (myGPS.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);
|
|
}
|
|
|
|
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
|
|
myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
|
|
|
|
myGPS.setNavigationFrequency(2); //Produce two solutions per second
|
|
|
|
myGPS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
myGPS.checkUblox(); // Check for the arrival of new data and process it.
|
|
myGPS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
|
|
|
|
Serial.print(".");
|
|
delay(50);
|
|
}
|