v2.9

lib/SparkFun u-blox Arduino Library/examples/Example13_PVT/Example2_AutoPVT_ExplicitUpdate/Example2_AutoPVT_ExplicitUpdate.ino

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+/*
+  Configuring the GPS to automatically send position reports over I2C, with explicit data parsing calls
+  By: Nathan Seidle Thorsten von Eicken and Felix Jirka
+  SparkFun Electronics
+  Date: July 1st, 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 checkUblox when available.
+  This eliminates the implicit update in getPVT when accessing data fields twice.
+  Also this reduces the memory overhead of a separate buffer while introducing a slight error by inconsistencies because of the unsynchronized updates (on a multi core system).
+
+  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, false);    //Tell the GPS to "send" each solution and the lib not to update stale data implicitly
+  myGPS.saveConfiguration();        //Save the current settings to flash and BBR
+}
+
+/*
+     Calling getPVT would return false now (compare to previous example where it would return true), so we just use the data provided
+     If you are using a threaded OS eg. FreeRTOS on an ESP32, the explicit mode of autoPVT allows you to use the data provided on both cores and inside multiple threads
+     The data update in background creates an inconsistent state, but that should not cause issues for most applications as they usually won't change the GPS location significantly within a 2Hz - 5Hz update rate.
+     Also you could oversample (10Hz - 20Hz) the data to smooth out such issues...
+*/
+void loop()
+{
+  static uint16_t counter = 0;
+
+  if (counter % 10 == 0)
+  {
+    // update your AHRS filter here for a ~100Hz update rate
+    // GPS data will be quasi static but data from your IMU will be changing
+  }
+  // debug output each half second
+  if (counter % 500 == 0)
+  {
+    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);
+
+    Serial.println();
+  }
+  // call checkUblox all 50ms to capture the gps data
+  if (counter % 50 == 0)
+  {
+    myGPS.checkUblox();
+  }
+  delay(1);
+  counter++;
+}