diff --git a/linux_build/CMakeLists.txt b/linux_build/CMakeLists.txt index 9701edc..0cde875 100644 --- a/linux_build/CMakeLists.txt +++ b/linux_build/CMakeLists.txt @@ -53,6 +53,21 @@ add_executable( target_link_libraries(ublox_f9p_test ublox_linux util) +# +# Ublox f9p Test +# + +set( + Example2_StartRTCMBase_src + ../linux_examples/Example2_StartRTCMBase.cpp + ) + +add_executable( + Example2_StartRTCMBase ${Example2_StartRTCMBase_src} + ) + +target_link_libraries(Example2_StartRTCMBase ublox_linux util) + # @@ -68,4 +83,4 @@ add_executable( ublox_f9p_i2c_test ${ublox_f9p_i2c_test_src} ) -target_link_libraries(ublox_f9p_i2c_test ublox_linux util) \ No newline at end of file +target_link_libraries(ublox_f9p_i2c_test ublox_linux util) diff --git a/linux_examples/Example2_StartRTCMBase.cpp b/linux_examples/Example2_StartRTCMBase.cpp new file mode 100644 index 0000000..435006a --- /dev/null +++ b/linux_examples/Example2_StartRTCMBase.cpp @@ -0,0 +1,176 @@ +/* + This is modified from + ../SparkFun_u-blox_GNSS_Arduino_Library/examples/NEO-M8P-2/Example2_StartRTCMBase/Example2_StartRTCMBase.ino + to compile under Linux. +*/ + +/* + Note: compiles OK with v2.0 but is currently untested + + Send UBX binary commands to enable RTCM sentences on u-blox 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 GNSS 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 +#include +#include +#include + +#include //Needed for I2C to GNSS + +#include //http://librarymanager/All#SparkFun_u-blox_GNSS +SFE_UBLOX_GNSS myGNSS; + + +void setup() +{ + // Next line did not compile on linux, there is no operator! in class Stream (which Serial is). + // while (!Serial); //Wait for user to open terminal + Serial.println(F("u-blox NEO-M8P-2 base station example")); + + Wire.begin(); + Wire.setClock(400000); //Increase I2C clock speed to 400kHz + + if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port + { + Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing.")); + while (1); + } + + myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise) + myGNSS.saveConfiguration(); //Save the current settings to flash and BBR + + while (Serial.available()) Serial.read(); //Clear any latent chars in serial buffer + Serial.println(F("Press any key to send commands to begin Survey-In")); + while (Serial.available() == 0) ; //Wait for user to press a key + + boolean response; + + //Check if Survey is in Progress before initiating one + // From v2.0, the data from getSurveyStatus (UBX-NAV-SVIN) is returned in UBX_NAV_SVIN_t packetUBXNAVSVIN + // Please see u-blox_structs.h for the full definition of UBX_NAV_SVIN_t + // You can either read the data from packetUBXNAVSVIN directly + // or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; and getSurveyInMeanAccuracy + response = myGNSS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time) + + if (response == false) // Check if fresh data was received + { + Serial.println(F("Failed to get Survey In status. Freezing...")); + while (1); //Freeze + } + + if (myGNSS.getSurveyInActive() == true) // Use the helper function + { + Serial.print(F("Survey already in progress.")); + } + else + { + //Start survey + response = myGNSS.enableSurveyMode(300, 2.000); //Enable Survey in, 300 seconds, 2.0m + if (response == false) + { + Serial.println(F("Survey start failed. Freezing...")); + 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 + + //Begin waiting for survey to complete + while (myGNSS.getSurveyInValid() == false) // Call the helper function + { + if(Serial.available()) + { + byte incoming = Serial.read(); + if(incoming == 'x') + { + //Stop survey mode + response = myGNSS.disableSurveyMode(); //Disable survey + Serial.println(F("Survey stopped")); + break; + } + } + + // From v2.0, the data from getSurveyStatus (UBX-NAV-SVIN) is returned in UBX_NAV_SVIN_t packetUBXNAVSVIN + // Please see u-blox_structs.h for the full definition of UBX_NAV_SVIN_t + // You can either read the data from packetUBXNAVSVIN directly + // or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; and getSurveyInMeanAccuracy + response = myGNSS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time) + if (response == true) // Check if fresh data was received + { + Serial.print(F("Press x to end survey - ")); + Serial.print(F("Time elapsed: ")); + Serial.print((int)myGNSS.getSurveyInObservationTime()); + + Serial.print(F(" Accuracy: ")); + Serial.print(myGNSS.getSurveyInMeanAccuracy()); + Serial.println(); + } + else + { + Serial.println(F("SVIN request failed")); + } + + delay(1000); + } + Serial.println(F("Survey valid!")); + + response = true; + response &= myGNSS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second + response &= myGNSS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_I2C, 1); + response &= myGNSS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_I2C, 1); + response &= myGNSS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 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.")); +} + +void loop() +{ + myGNSS.checkUblox(); //See if new data is available. Process bytes as they come in. + + delay(250); //Don't pound too hard on the I2C bus +} + +//This function gets called from the SparkFun u-blox 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_GNSS::processRTCM(uint8_t incoming) +{ + //Let's just pretty-print the HEX values for now + if (myGNSS.rtcmFrameCounter % 16 == 0) Serial.println(); + Serial.print(F(" ")); + if (incoming < 0x10) Serial.print(F("0")); + Serial.print(incoming, HEX); +}