New example, updated version

README.md

@@ -6,14 +6,14 @@ The aim of this repository to port the SparkFun_u-blox_GNSS_Arduino_Library to l
 * cd Ublox_Linux_Library
 * git submodule update --init
 
-## How to compile Linux (Assumed that CMake setup done already)
+## How to compile Linux Library (Assumed that CMake setup done already)
 * cd linux_build
 * mkdir build
 * cd build
 * cmake ..
 * make
 
-## How to compile Android (Assumed that NDK setup done already)
+## How to compile Android Library (Assumed that NDK setup done already)
 * cd android_build
 * ndk-build -j2 NDK_PROJECT_PATH=. APP_BUILD_SCRIPT=./Android.mk NDK_APPLICATION_MK=./Application.mk
 

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 +1,161 @@
+/*
+  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 myGPS;
+
+
+int main(int argc, char** argv) {
+    printf("Starting uBlox ZED-F9P\n");
+    printf("u-blox NEO-M8P-2 base station example\n");
+
+    std::string  port = "/dev/ublox_i2c";
+    int address = 0x42;
+
+    if(argc == 1) {
+      printf("\nStarting with default port and address.\n");
+      return 0;
+    } else if (argc == 3) {
+      port = argv[1];
+      address = std::stoi(argv[2], 0, 16);
+    } else if(argc >= 4) {
+      printf ("\nShould give the port and address as input arguments. Currently giving more arguments...\n");
+      return 0;
+    }
+
+
+    printf("Looking for GPS on port %s at address 0x%02X\n", port.c_str(), address);
+
+    TwoWire wireCom(address);
+    wireCom.init(port.c_str());
+
+    if (!(wireCom.available())) {
+      printf("Failed to init i2c,  Please connect ublox GNSS module and try again... \n");
+      return 0;
+    }
+
+    myGPS.begin(wireCom);
+
+
+    myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+    myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+
+
+    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 = myGPS.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
+      printf("Failed to get Survey In status. Exiting...\n");
+      return 1;
+    }
+
+    if (myGPS.getSurveyInActive() == true) {  // Use the helper function
+      printf("Survey already in progress.\n");
+      return 1;
+    } else {
+      //Start survey
+      response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in, 300 seconds, 2.0m
+      if (response == false) {
+        printf("Survey start failed.  Exiting...\n");
+        return 1;
+      }
+      printf("Survey started. This will run until 300s has passed and less than 2m accuracy is achieved.\n");
+    }
+
+
+    //Begin waiting for survey to complete
+    while (myGPS.getSurveyInValid() == false) { // Call the helper function
+
+      // 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 = myGPS.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
+        printf("Time elapsed: %d\n", (int)myGPS.getSurveyInObservationTime());
+        printf(" Accuracy: %f\n", myGPS.getSurveyInMeanAccuracy());
+      } else {
+        printf("SVIN request failed\n");
+      }
+      delay(1000);
+    }
+    printf("Survey valid!\n");
+
+    response = true;
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_I2C, 1);
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_I2C, 1);
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
+
+    if (response == true) {
+      printf("RTCM messages enabled!\n");
+    } else {
+      printf("RTCM failed to enable. Are you sure you have an NEO-M8P?");
+      return 1;
+    }
+    printf("Base survey complete! RTCM now broadcasting.\n");
+
+    while (1) {
+      myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
+      delay(250); //Don't pound too hard on the I2C bus
+    }
+    return 0;  // prevent warning, won't reach here.
+}
+
+
+
+//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 (myGPS.rtcmFrameCounter % 16 == 0) Serial.println();
+  Serial.print(F(" "));
+  if (incoming < 0x10) Serial.print(F("0"));
+  Serial.print(incoming, HEX);
+}