New example

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)
+target_link_libraries(ublox_f9p_i2c_test ublox_linux util)

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 <stdint.h>
+#include <errno.h>
+#include <unistd.h>
+#include <cstring>
+
+#include <Wire.h> //Needed for I2C to GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //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);
+}