v2.9

lib/SparkFun u-blox Arduino Library/examples/ZED-F9P/Example5_RelativePositioningInformation/Example5_RelativePositioningInformation.ino

@@ -0,0 +1,161 @@
+/*
+  Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 9th, 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 query the module for RELPOS information in the NED frame.
+  It assumes you already have RTCM correction data being fed to the receiver.
+
+  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 RedBoard Qwiic or 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;
+
+//#define USE_SERIAL1 // Uncomment this line to push the RTCM data from Serial1 to the module via I2C
+
+size_t numBytes = 0; // Record the number os bytes received from Serial1
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("Ublox Base station example");
+
+#ifdef USE_SERIAL1
+  // If our board supports it, we can receive the RTCM data on Serial1
+  Serial1.begin(115200);
+#endif
+
+  Wire.begin();
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  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);
+  }
+
+  // Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
+  //myGPS.factoryDefault(); delay(5000);
+
+#ifdef USE_SERIAL1
+  Serial.print(F("Enabling UBX and RTCM input on I2C. Result: "));
+  Serial.print(myGPS.setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_RTCM3)); //Enable UBX and RTCM input on I2C
+  myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
+#endif
+}
+
+void loop()
+{
+  if (myGPS.getRELPOSNED() == true)
+  {
+    Serial.print("relPosN: ");
+    Serial.println(myGPS.relPosInfo.relPosN, 4);
+    Serial.print("relPosE: ");
+    Serial.println(myGPS.relPosInfo.relPosE, 4);
+    Serial.print("relPosD: ");
+    Serial.println(myGPS.relPosInfo.relPosD, 4);
+
+    Serial.print("relPosLength: ");
+    Serial.println(myGPS.relPosInfo.relPosLength);
+    Serial.print("relPosHeading: ");
+    Serial.println(myGPS.relPosInfo.relPosHeading);
+
+    Serial.print("relPosHPN: ");
+    Serial.println(myGPS.relPosInfo.relPosHPN);
+    Serial.print("relPosHPE: ");
+    Serial.println(myGPS.relPosInfo.relPosHPE);
+    Serial.print("relPosHPD: ");
+    Serial.println(myGPS.relPosInfo.relPosHPD);
+    Serial.print("relPosHPLength: ");
+    Serial.println(myGPS.relPosInfo.relPosHPLength);
+
+    Serial.print("accN: ");
+    Serial.println(myGPS.relPosInfo.accN, 4);
+    Serial.print("accE: ");
+    Serial.println(myGPS.relPosInfo.accE, 4);
+    Serial.print("accD: ");
+    Serial.println(myGPS.relPosInfo.accD, 4);
+
+    Serial.print("gnssFixOk: ");
+    if (myGPS.relPosInfo.gnssFixOk == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("diffSolution: ");
+    if (myGPS.relPosInfo.diffSoln == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("relPosValid: ");
+    if (myGPS.relPosInfo.relPosValid == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("carrier Solution Type: ");
+    if (myGPS.relPosInfo.carrSoln == 0)
+      Serial.println("None");
+    else if (myGPS.relPosInfo.carrSoln == 1)
+      Serial.println("Float");
+    else if (myGPS.relPosInfo.carrSoln == 2)
+      Serial.println("Fixed");
+
+    Serial.print("isMoving: ");
+    if (myGPS.relPosInfo.isMoving == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("refPosMiss: ");
+    if (myGPS.relPosInfo.refPosMiss == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("refObsMiss: ");
+    if (myGPS.relPosInfo.refObsMiss == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+  }
+  else
+    Serial.println("RELPOS request failed");
+
+  for (int i = 0; i < 500; i++)
+  {
+#ifdef USE_SERIAL1
+    uint8_t store[256];
+    while ((Serial1.available()) && (numBytes < 256)) // Check if data has been received
+    {
+      store[numBytes++] = Serial1.read(); // Read a byte from Serial1 and store it
+    }
+    if (numBytes > 0) // Check if data was received
+    {
+      //Serial.print("Pushing ");
+      //Serial.print(numBytes);
+      //Serial.println(" bytes via I2C");
+      myGPS.pushRawData(((uint8_t *)&store), numBytes); // Push the RTCM data via I2C
+      numBytes = 0; // Reset numBytes
+    }
+#endif
+    delay(10);
+  }
+}