v2.9

lib/SparkFun u-blox Arduino Library/examples/NEO-M8P-2/Example3_BaseWithLCD/Example3_BaseWithLCD.ino

@@ -0,0 +1,185 @@
+/*
+  Send UBX binary commands to enable RTCM sentences on Ublox NEO-M8P-2 module
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: September 7th, 2018
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example does all steps to configure and enable a NEO-M8P-2 as a base station:
+    Begin Survey-In
+    Once we've achieved 2m accuracy and 300s have passed, survey is complete
+    Enable four RTCM messages
+    Begin outputting RTCM bytes
+
+  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
+  Plug a SerLCD onto the Qwiic bus
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Watch the output on the LCD or open the serial monitor at 115200 baud to see the output
+*/
+
+#define STAT_LED 13
+
+#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;
+
+#include <SerLCD.h> //Click here to get the library: http://librarymanager/All#SparkFun_SerLCD
+SerLCD lcd; // Initialize the library with default I2C address 0x72
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("Ublox GPS I2C Test");
+
+  Wire.begin();
+
+  pinMode(STAT_LED, OUTPUT);
+  digitalWrite(STAT_LED, LOW);
+
+  lcd.begin(Wire); //Set up the LCD for Serial communication at 9600bps
+  lcd.setBacklight(0x4B0082); //indigo, a kind of dark purplish blue
+  lcd.clear();
+  lcd.print(F("LCD Ready"));
+
+  myGPS.begin(Wire);
+  if (myGPS.isConnected() == false)
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    lcd.setCursor(0, 1);
+    lcd.print(F("No GPS detected"));
+    while (1);
+  }
+
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  lcd.setCursor(0, 1);
+  lcd.print("GPS Detected");
+
+  //Check if Survey is in Progress before initiating one
+  boolean response;
+  response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
+  if (response == false)
+  {
+    Serial.println(F("Failed to get Survey In status"));
+    while (1); //Freeze
+  }
+
+  if (myGPS.svin.active == true)
+  {
+    Serial.print(F("Survey already in progress."));
+    lcd.setCursor(0, 2);
+    lcd.print(F("Survey already going"));
+  }
+  else
+  {
+    //Start survey
+    response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in, 300 seconds, 2.0m
+    if (response == false)
+    {
+      Serial.println(F("Survey start failed"));
+      lcd.setCursor(0, 3);
+      lcd.print(F("Survey start failed"));
+      while (1);
+    }
+    Serial.println(F("Survey started. This will run until 300s has passed and less than 2m accuracy is achieved."));
+  }
+
+  while (Serial.available()) Serial.read(); //Clear buffer
+
+  lcd.clear();
+  lcd.print(F("Survey in progress"));
+
+  //Begin waiting for survey to complete
+  while (myGPS.svin.valid == false)
+  {
+    if (Serial.available())
+    {
+      byte incoming = Serial.read();
+      if (incoming == 'x')
+      {
+        //Stop survey mode
+        response = myGPS.disableSurveyMode(); //Disable survey
+        Serial.println(F("Survey stopped"));
+        break;
+      }
+    }
+
+    response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
+    if (response == true)
+    {
+      Serial.print(F("Press x to end survey - "));
+      Serial.print(F("Time elapsed: "));
+      Serial.print((String)myGPS.svin.observationTime);
+
+      lcd.setCursor(0, 1);
+      lcd.print(F("Elapsed: "));
+      lcd.print((String)myGPS.svin.observationTime);
+
+      Serial.print(F(" Accuracy: "));
+      Serial.print((String)myGPS.svin.meanAccuracy);
+      Serial.println();
+
+      lcd.setCursor(0, 2);
+      lcd.print(F("Accuracy: "));
+      lcd.print((String)myGPS.svin.meanAccuracy);
+    }
+    else
+    {
+      Serial.println(F("SVIN request failed"));
+    }
+
+    delay(1000);
+  }
+  Serial.println(F("Survey valid!"));
+
+  response = true;
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, UBX_RTCM_I2C_PORT, 1); //Enable message 1005 to output through I2C port, message every second
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, UBX_RTCM_I2C_PORT, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, UBX_RTCM_I2C_PORT, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, UBX_RTCM_I2C_PORT, 10); //Enable message every 10 seconds
+
+  if (response == true)
+  {
+    Serial.println(F("RTCM messages enabled"));
+  }
+  else
+  {
+    Serial.println(F("RTCM failed to enable. Are you sure you have an NEO-M8P?"));
+    while (1); //Freeze
+  }
+
+  Serial.println(F("Base survey complete! RTCM now broadcasting."));
+  lcd.clear();
+  lcd.print(F("Transmitting RTCM"));
+}
+
+void loop()
+{
+  myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
+
+  //Do anything you want. Call checkUblox() every second. NEO-M8P-2 has TX buffer of 4k bytes.
+  
+  delay(250); //Don't pound too hard on the I2C bus
+}
+
+//This function gets called from the SparkFun Ublox Arduino Library.
+//As each RTCM byte comes in you can specify what to do with it
+//Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
+void SFE_UBLOX_GPS::processRTCM(uint8_t incoming)
+{
+  //Let's just pretty-print the HEX values for now
+  if (myGPS.rtcmFrameCounter % 16 == 0) Serial.println();
+  Serial.print(" ");
+  if (incoming < 0x10) Serial.print("0");
+  Serial.print(incoming, HEX);
+}