80 lines
2.7 KiB
C++
80 lines
2.7 KiB
C++
/*
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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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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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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_GPS myGPS;
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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 Ublox Example 17");
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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 GPS is running at 9600 baud (the default)
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Serial2.begin(9600);
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// no need to check return value as internal call to isConnected() will not succeed
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myGPS.begin(Serial2);
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// tell lib, 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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myGPS.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 allowed, this will trigger parsing the incoming messages
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// and be 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 as often as needed, not to overflow your UART buffers
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if (myGPS.getPVT())
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{
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long latitude = myGPS.getLatitude();
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Serial.print(F("Lat: "));
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Serial.print(latitude);
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long longitude = myGPS.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 = myGPS.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 = myGPS.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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Serial.println(F("Wait for GPS data"));
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delay(500);
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}
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}
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