v2.9

lib/SparkFun u-blox Arduino Library/examples/Example13_PVT/Example1_AutoPVT/Example1_AutoPVT.ino

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+/*
+  Configuring the GPS to automatically send position reports over I2C
+  By: Nathan Seidle and Thorsten von Eicken
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  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 GPS the send navigation reports automatically
+  and retrieving the latest one via getPVT. This eliminates the blocking in getPVT while the GPS
+  produces a fresh navigation solution at the expense of returning a slighly old solution.
+
+  This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
+  simply outputs the UBX_NAV_PVT packet. With I2C it queues it into its internal I2C buffer (4KB in
+  size?) where it can be retrieved in the next I2C poll.
+
+  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;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  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.setNavigationFrequency(2); //Produce two solutions per second
+  myGPS.setAutoPVT(true); //Tell the GPS to "send" each solution
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  // Start the reading only when valid LLH is available
+  if (myGPS.getPVT() && (myGPS.getInvalidLlh() == false))
+  {
+    Serial.println();
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    int PDOP = myGPS.getPDOP();
+    Serial.print(F(" PDOP: "));
+    Serial.print(PDOP);
+    Serial.print(F(" (10^-2)"));
+
+    int nedNorthVel = myGPS.getNedNorthVel();
+    Serial.print(F(" VelN: "));
+    Serial.print(nedNorthVel);
+    Serial.print(F(" (mm/s)"));
+
+    int nedEastVel = myGPS.getNedEastVel();
+    Serial.print(F(" VelE: "));
+    Serial.print(nedEastVel);
+    Serial.print(F(" (mm/s)"));
+
+    int nedDownVel = myGPS.getNedDownVel();
+    Serial.print(F(" VelD: "));
+    Serial.print(nedDownVel);
+    Serial.print(F(" (mm/s)"));
+
+    int verticalAccEst = myGPS.getVerticalAccEst();
+    Serial.print(F(" VAccEst: "));
+    Serial.print(verticalAccEst);
+    Serial.print(F(" (mm)"));
+
+    int horizontalAccEst = myGPS.getHorizontalAccEst();
+    Serial.print(F(" HAccEst: "));
+    Serial.print(horizontalAccEst);
+    Serial.print(F(" (mm)"));
+
+    int speedAccEst = myGPS.getSpeedAccEst();
+    Serial.print(F(" SpeedAccEst: "));
+    Serial.print(speedAccEst);
+    Serial.print(F(" (mm/s)"));
+
+    int headAccEst = myGPS.getHeadingAccEst();
+    Serial.print(F(" HeadAccEst: "));
+    Serial.print(headAccEst);
+    Serial.print(F(" (degrees * 10^-5)"));
+
+    if (myGPS.getHeadVehValid() == true) {
+      int headVeh = myGPS.getHeadVeh();
+      Serial.print(F(" HeadVeh: "));
+      Serial.print(headVeh);
+      Serial.print(F(" (degrees * 10^-5)"));
+
+      int magDec = myGPS.getMagDec();
+      Serial.print(F(" MagDec: "));
+      Serial.print(magDec);
+      Serial.print(F(" (degrees * 10^-2)"));
+
+      int magAcc = myGPS.getMagAcc();
+      Serial.print(F(" MagAcc: "));
+      Serial.print(magAcc);
+      Serial.print(F(" (degrees * 10^-2)"));
+    }
+
+    Serial.println();
+  } else {
+    Serial.print(".");
+    delay(50);
+  }
+}