201 lines
6.3 KiB
C++
201 lines
6.3 KiB
C++
/*
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Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
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By: Nathan Seidle
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SparkFun Electronics
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Date: January 9th, 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 does all steps to configure and enable a ZED-F9P as a base station:
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Begin Survey-In
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Once we've achieved 2m accuracy and 300s have passed, survey is complete
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Enable six RTCM messages
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Begin outputting RTCM bytes
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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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SAM-M8Q: https://www.sparkfun.com/products/15106
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Hardware Connections:
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Plug a Qwiic cable into the GPS and a BlackBoard
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Plug a SerLCD onto the Qwiic bus
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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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Watch the output on the LCD or open the serial monitor at 115200 baud to see the output
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*/
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#define STAT_LED 13
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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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#include <SerLCD.h> //http://librarymanager/All#SparkFun_SerLCD
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SerLCD lcd; // Initialize the library with default I2C address 0x72
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void setup()
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{
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Serial.begin(115200);
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while (!Serial)
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; //Wait for user to open terminal
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Serial.println("Ublox GPS I2C Test");
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Wire.begin();
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pinMode(STAT_LED, OUTPUT);
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digitalWrite(STAT_LED, LOW);
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lcd.begin(Wire); //Set up the LCD for Serial communication at 9600bps
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lcd.setBacklight(0x4B0082); //indigo, a kind of dark purplish blue
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lcd.clear();
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lcd.print(F("LCD Ready"));
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myGPS.begin(Wire);
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if (myGPS.isConnected() == false)
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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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lcd.setCursor(0, 1);
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lcd.print(F("No GPS detected"));
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while (1)
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;
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}
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Wire.setClock(400000); //Increase I2C clock speed to 400kHz
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lcd.setCursor(0, 1);
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lcd.print("GPS Detected");
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//myGPS.setI2COutput(COM_TYPE_RTCM3); //Set the I2C port to output RTCM3 sentences (turn off NMEA noise)
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX sentences (turn off NMEA noise)
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myGPS.saveConfiguration(); //Save the current settings to flash and BBR
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boolean response = true;
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response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
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response &= myGPS.enableRTCMmessage(UBX_RTCM_1074, COM_PORT_I2C, 1);
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response &= myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_I2C, 1);
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response &= myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_I2C, 1);
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response &= myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_I2C, 1);
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response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
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if (response == true)
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{
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Serial.println(F("RTCM messages enabled"));
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}
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else
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{
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Serial.println(F("RTCM failed to enable. Are you sure you have an ZED-F9P? Freezing."));
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while (1)
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; //Freeze
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}
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//Check if Survey is in Progress before initiating one
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response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
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if (response == false)
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{
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Serial.println(F("Failed to get Survey In status. Freezing."));
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while (1)
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; //Freeze
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}
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if (myGPS.svin.active == true)
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{
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Serial.print(F("Survey already in progress."));
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lcd.setCursor(0, 2);
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lcd.print(F("Survey already going"));
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}
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else
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{
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//Start survey
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response = myGPS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
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if (response == false)
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{
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Serial.println(F("Survey start failed"));
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lcd.setCursor(0, 3);
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lcd.print(F("Survey start failed. Freezing."));
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while (1)
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;
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}
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Serial.println(F("Survey started. This will run until 60s has passed and less than 5m accuracy is achieved."));
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}
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while (Serial.available())
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Serial.read(); //Clear buffer
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lcd.clear();
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lcd.print(F("Survey in progress"));
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//Begin waiting for survey to complete
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while (myGPS.svin.valid == false)
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{
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if (Serial.available())
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{
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byte incoming = Serial.read();
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if (incoming == 'x')
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{
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//Stop survey mode
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response = myGPS.disableSurveyMode(); //Disable survey
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Serial.println(F("Survey stopped"));
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break;
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}
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}
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response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
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if (response == true)
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{
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Serial.print(F("Press x to end survey - "));
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Serial.print(F("Time elapsed: "));
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Serial.print((String)myGPS.svin.observationTime);
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lcd.setCursor(0, 1);
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lcd.print(F("Elapsed: "));
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lcd.print((String)myGPS.svin.observationTime);
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Serial.print(F(" Accuracy: "));
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Serial.print((String)myGPS.svin.meanAccuracy);
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Serial.println();
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lcd.setCursor(0, 2);
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lcd.print(F("Accuracy: "));
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lcd.print((String)myGPS.svin.meanAccuracy);
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}
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else
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{
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Serial.println(F("SVIN request failed"));
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}
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delay(1000);
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}
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Serial.println(F("Survey valid!"));
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Serial.println(F("Base survey complete! RTCM now broadcasting."));
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lcd.clear();
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lcd.print(F("Transmitting RTCM"));
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myGPS.setI2COutput(COM_TYPE_UBX | COM_TYPE_RTCM3); //Set the I2C port to output UBX and RTCM sentences (not really an option, turns on NMEA as well)
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}
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void loop()
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{
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myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
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//Do anything you want. Call checkUblox() every second. ZED-F9P has TX buffer of 4k bytes.
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delay(250); //Don't pound too hard on the I2C bus
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}
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//This function gets called from the SparkFun Ublox Arduino Library.
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//As each RTCM byte comes in you can specify what to do with it
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//Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
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void SFE_UBLOX_GPS::processRTCM(uint8_t incoming)
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{
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//Let's just pretty-print the HEX values for now
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if (myGPS.rtcmFrameCounter % 16 == 0)
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Serial.println();
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Serial.print(" ");
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if (incoming < 0x10)
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Serial.print("0");
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Serial.print(incoming, HEX);
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}
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