120 lines
4.3 KiB
C++
120 lines
4.3 KiB
C++
/*
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Configuring the GPS to automatically send HPPOSLLH position reports over I2C
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By: Paul Clark
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Date: October 27th 2020
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Based on an earlier example:
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By: Nathan Seidle and Thorsten von Eicken
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SparkFun Electronics
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Date: January 3rd, 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 U-Blox GPS the send navigation reports automatically
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and retrieving the latest one via getHPPOSLLH. This eliminates the blocking in getHPPOSLLH while the GPS
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produces a fresh navigation solution at the expense of returning a slighly old solution.
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This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
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simply outputs the UBX_NAV_HPPOSLLH packet. With I2C it queues it into its internal I2C buffer (4KB in
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size?) where it can be retrieved in the next I2C poll.
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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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Hardware Connections:
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Plug a Qwiic cable into the GPS and a BlackBoard
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GPS
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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");
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Wire.begin();
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//myGPS.enableDebugging(); // Uncomment this line to enable lots of helpful debug messages
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//myGPS.enableDebugging(Serial, true); // Uncomment this line to enable the minimum of helpful debug messages
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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// Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
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//myGPS.factoryDefault(); delay(5000);
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
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myGPS.setNavigationFrequency(1); //Produce one solution per second
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// The acid test: all four of these combinations should work seamlessly :-)
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//myGPS.setAutoPVT(false); // Library will poll each reading
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//myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
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//myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
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//myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
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//myGPS.setAutoPVT(false); // Library will poll each reading
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//myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
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myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
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myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
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}
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void loop()
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{
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// Calling getHPPOSLLH returns true if there actually is a fresh navigation solution available.
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// Calling getPVT returns true if there actually is a fresh navigation solution available.
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if ((myGPS.getHPPOSLLH()) || (myGPS.getPVT()))
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{
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Serial.println();
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long highResLatitude = myGPS.getHighResLatitude();
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Serial.print(F("Hi Res Lat: "));
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Serial.print(highResLatitude);
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int highResLatitudeHp = myGPS.getHighResLatitudeHp();
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Serial.print(F(" "));
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Serial.print(highResLatitudeHp);
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long highResLongitude = myGPS.getHighResLongitude();
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Serial.print(F(" Hi Res Long: "));
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Serial.print(highResLongitude);
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int highResLongitudeHp = myGPS.getHighResLongitudeHp();
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Serial.print(F(" "));
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Serial.print(highResLongitudeHp);
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unsigned long horizAccuracy = myGPS.getHorizontalAccuracy();
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Serial.print(F(" Horiz accuracy: "));
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Serial.print(horizAccuracy);
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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.println(longitude);
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}
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else
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{
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Serial.print(".");
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delay(50);
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}
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}
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