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Timo Volkmann 2020-11-18 14:17:42 +01:00
parent 451de46f7b
commit c663a9fb44
74 changed files with 15746 additions and 25 deletions
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10
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9
ex_websocketMessage.json Normal file
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{
"timestamp": 2938502375,
"position": [490663054, 91358016],
"altitude": 221,
"altitude_msl": 221,
"accuracy": [16.2, 20.3],
"speed": [13, 9]
}

12
go.mod Normal file
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@ -0,0 +1,12 @@
module git.timovolkmann.de/gyrogpsc
go 1.15
require (
github.com/daedaleanai/ublox v0.0.0-20201103121443-9befa131d32d
github.com/gorilla/websocket v1.4.2
github.com/sparkfun/SparkFun_Ublox_Arduino_Library v1.8.7 // indirect
github.com/tidwall/pretty v1.0.2
go.bug.st/serial v1.1.1
golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf // indirect
)

26
go.sum Normal file
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github.com/davecgh/go-spew v1.1.0 h1:ZDRjVQ15GmhC3fiQ8ni8+OwkZQO4DARzQgrnXU1Liz8=
github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
github.com/gorilla/websocket v1.4.2 h1:+/TMaTYc4QFitKJxsQ7Yye35DkWvkdLcvGKqM+x0Ufc=
github.com/gorilla/websocket v1.4.2/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
github.com/sparkfun/SparkFun_Ublox_Arduino_Library v1.8.7 h1:T112CHmp+v1bh0W7sp49tZe8SUbw3viSGRTVLziZxfc=
github.com/sparkfun/SparkFun_Ublox_Arduino_Library v1.8.7/go.mod h1:FVoZAzJFrR5D6P8qd2rgpJAV/qF5oODtIT9YjVV+xzY=
github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
github.com/stretchr/testify v1.4.0 h1:2E4SXV/wtOkTonXsotYi4li6zVWxYlZuYNCXe9XRJyk=
github.com/stretchr/testify v1.4.0/go.mod h1:j7eGeouHqKxXV5pUuKE4zz7dFj8WfuZ+81PSLYec5m4=
github.com/tidwall/pretty v1.0.2 h1:Z7S3cePv9Jwm1KwS0513MRaoUe3S01WPbLNV40pwWZU=
github.com/tidwall/pretty v1.0.2/go.mod h1:XNkn88O1ChpSDQmQeStsy+sBenx6DDtFZJxhVysOjyk=
go.bug.st/serial v1.1.1 h1:5J1DpaIaSIruBi7jVnKXnhRS+YQ9+2PLJMtIZKoIgnc=
go.bug.st/serial v1.1.1/go.mod h1:VmYBeyJWp5BnJ0tw2NUJHZdJTGl2ecBGABHlzRK1knY=
golang.org/x/sys v0.0.0-20200909081042-eff7692f9009/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf h1:kt3wY1Lu5MJAnKTfoMR52Cu4gwvna4VTzNOiT8tY73s=
golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
gopkg.in/yaml.v2 v2.2.2 h1:ZCJp+EgiOT7lHqUV2J862kp8Qj64Jo6az82+3Td9dZw=
gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=

65
hyperimu.json Normal file
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@ -0,0 +1,65 @@
{
"os": "hyperimu",
"pocket": [0, 0, 0],
"tmd3702_rgb rgb sensor": [3542, 344, 161],
"sns_tilt": [0, 0, 0],
"pickup": [0, 1, 0],
"game rotation vector": [
0.015651894733309746,
0.008504520170390606,
0.7119147181510925
],
"lsm6ds3c accelerometer-uncalibrated": [
0.0958355963230133,
0.33526939153671265,
9.70869255065918
],
"lsm6ds3c accelerometer": [
0.0958355963230133,
0.33526939153671265,
9.70869255065918
],
"sns_smd": [0, 0, 0],
"motion_detect_": [0, 0, 0],
"pedometer": [0, 0, 0],
"sns_geomag_rv": [
0.011661887168884277,
-0.01352102030068636,
-0.5377604365348816
],
"stationary_detect_": [0, 0, 0],
"op_motion_detect": [0, 0, 0],
"orientation": [71.09732055664062, -1.9538215398788452, 0.5922810435295105],
"dpc": [0, 0, 0],
"ak0991x magnetometer-uncalibrated": [
56.32729721069336,
-55.112823486328125,
-213.12313842773438
],
"ak0991x magnetometer": [
-11.573108673095703,
6.1475372314453125,
-25.809066772460938
],
"gravity": [0.10144591331481934, 0.3342645764350891, 9.800426483154297],
"rotation vector": [
0.01086709089577198,
-0.014117014594376087,
-0.581230103969574
],
"sx9324_sar": [0, 0, 0],
"linear_acceleration_": [0, 0, 0],
"tmd3702_light ambient light sensor": [11, 0, 0],
"lsm6ds3c gyroscope": [
-7.216770900413394E-4,
4.0413951501250267E-4,
-1.3968441635370255E-5
],
"device_orient": [0, 0, 0],
"lsm6ds3c gyroscope-uncalibrated": [
-0.0023666713386774063,
0.0014509651809930801,
-0.005396670661866665
],
"tmd3702_proximity proximity sensor": [5, 0, 0]
}

96
index.html
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@ -2,7 +2,10 @@
<html>
<head>
<meta charset="utf-8">
<script src="https://cdnjs.cloudflare.com/ajax/libs/Chart.js/2.9.4/Chart.bundle.js"></script>
<script>
const GRAPH_RES = 100;
var dataSmartphone = [];
window.addEventListener("load", function(evt) {
var orientation = [0,0,0];
var multiplier = 180/Math.PI/15
@ -35,13 +38,30 @@
}
ws.onmessage = function(evt) {
//print2("RESPONSE: " + evt.data);
let dat = JSON.parse(evt.data)["lsm6dsm gyroscope"]
dataSmartphone.push(evt.data)
// let dat = JSON.parse(evt.data)["bmi26x gyroscope"]
// let dat = JSON.parse(evt.data)["lsm6dsm gyroscope"]
//let dat = JSON.parse(evt.data)["lsm6ds3c gyroscope"]
let dat = JSON.parse(evt.data)
//console.log(dat)
//console.log(dat.orientation)
document.getElementById("gyroscope").style.transform = `rotateX(${-((dat.orientation[1]+90)%360)}deg) rotateY(${dat.orientation[0]}deg) rotateZ(${-dat.orientation[2]}deg)`
/*
console.log(dat)
orientation[0] += dat[0] * multiplier
orientation[1] += dat[1] * multiplier
orientation[2] += dat[2] * multiplier
//console.log(dat.orientation)
document.getElementById("gyroscope").style.transform = `rotateX(${-orientation[0]}deg) rotateY(${orientation[1]}deg) rotateZ(${-orientation[2]}deg) translateZ(50px)`
// dataset.push(orientation[0])
// while (dataset.length >= 50) {
// dataset.shift();
// }
// addData(orientation[0] / multiplier)
*/
addData(dat.orientation[0])
// addData(dat[0])
//document.getElementById("gyroscope").style.transform = `rotateX(${-orientation[0]}deg) rotateY(${orientation[1]}deg) rotateZ(${-orientation[2]}deg) translateZ(50px)`
}
ws.onerror = function(evt) {
print("ERROR: " + evt.data);
@ -64,6 +84,7 @@
return false;
};
});
</script>
<style>
* { box-sizing: border-box; }
@ -151,27 +172,54 @@
<div class="cube__face cube__face--bottom">bottom</div>
</div>
</div>
<p class="radio-group" style="display: none">
<label>
<input type="radio" name="rotate-cube-side" value="front" checked /> front
</label>
<label>
<input type="radio" name="rotate-cube-side" value="right" /> right
</label>
<label>
<input type="radio" name="rotate-cube-side" value="back" /> back
</label>
<label>
<input type="radio" name="rotate-cube-side" value="left" /> left
</label>
<label>
<input type="radio" name="rotate-cube-side" value="top" /> top
</label>
<label>
<input type="radio" name="rotate-cube-side" value="bottom" /> bottom
</label>
</p>
<div style="width: 600px; height: 400px;">
<canvas id="myChart" width="400" height="200"></canvas>
</div>
<script>
var ctx = document.getElementById('myChart').getContext('2d');
var myChart = new Chart(ctx, {
type: 'line',
data: {
labels: new Array(GRAPH_RES),
datasets: [{
label: 'Z',
backgroundColor: 'rgba(255, 99, 132, 0.2)',
borderColor: 'rgba(255, 99, 132, 1)',
borderWidth: 1,
pointRadius: 0,
lineTension: 0.5,
data: new Array(GRAPH_RES)
}]
},
options: {
scales: {
yAxes: [{
ticks: {
// beginAtZero: true
min: -100,
max: 100
}
}]
},
animation: {
duration: 0
}
}
});
myChart.data.labels.fill("", 0, GRAPH_RES);
myChart.data.datasets.forEach((dataset) => dataset.data.fill(0, 0, GRAPH_RES))
function addData(data) {
myChart.data.labels.push("");
myChart.data.datasets.forEach((dataset) => {
dataset.data.push(data);
});
while (myChart.data.labels.length >= GRAPH_RES) {
myChart.data.labels.shift();
myChart.data.datasets.forEach((dataset) => dataset.data.shift())
}
myChart.update();
};
</script>
</td>
<td valign="top" width="50%">
<div id="output"></div>

2
serial/SparkFun_Ublox_Arduino_Library/.gitattributes vendored Normal file
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@ -0,0 +1,2 @@
# Auto detect text files and perform LF normalization
* text=auto

55
serial/SparkFun_Ublox_Arduino_Library/.gitignore vendored Normal file
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@ -0,0 +1,55 @@
# Visual Studio Code files
.vscode
# Windows image file caches
Thumbs.db
ehthumbs.db
# Folder config file
Desktop.ini
# Recycle Bin used on file shares
$RECYCLE.BIN/
# Windows Installer files
*.cab
*.msi
*.msm
*.msp
# Windows shortcuts
*.lnk
# =========================
# Operating System Files
# =========================
# OSX
# =========================
.DS_Store
.AppleDouble
.LSOverride
# Thumbnails
._*
# Files that might appear in the root of a volume
.DocumentRevisions-V100
.fseventsd
.Spotlight-V100
.TemporaryItems
.Trashes
.VolumeIcon.icns
# Directories potentially created on remote AFP share
.AppleDB
.AppleDesktop
Network Trash Folder
Temporary Items
.apdisk
# VIM backup files
*~
[._]*.un~
*.swp

15
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@ -0,0 +1,15 @@
### How to Contribute
Thank you so *much* for offering to help out. We truly appreciate it.
If you'd like to contribute, start by searching through the [issues](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues) and [pull requests](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/pulls) to see whether someone else has raised a similar idea or question.
If you decide to add a feature to this library, please create a PR and follow these best practices:
* Change as little as possible. Do not sumbit a PR that changes 100 lines of whitespace. Break up into multiple PRs if necessary.
* If you've added a new feature document it with a simple example sketch. This serves both as a test of your PR and as a quick way for users to quickly learn how to use your new feature.
* If you add new functions also add them to keywords.txt so that they are properly highlighted in Arduino. [Read more](https://www.arduino.cc/en/Hacking/libraryTutorial).
## Style guide
Please read and follow the [Arduino API style guide](https://www.arduino.cc/en/Reference/APIStyleGuide). Also read and consider the [Arduino style guide](https://www.arduino.cc/en/Reference/StyleGuide).

18
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@ -0,0 +1,18 @@
### Subject of the issue
Describe your issue here. If you reference a datasheet please specify which one and in which section (ie, the protocol manual, section 5.1.2). Additionally, screenshots are easy to paste into github.
### Your workbench
* What development board or microcontroller are you using?
* What version of hardware or breakout board are you using?
* How is the breakout board wired to your microcontroller?
* How is everything being powered?
* Are there any additional details that may help us help you?
### Steps to reproduce
Tell us how to reproduce this issue. Please post stripped down example code demonstrating your issue.
### Expected behavior
Tell us what should happen
### Actual behavior
Tell us what happens instead

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SparkFun License Information
============================
SparkFun uses two different licenses for our files — one for hardware and one for code.
Hardware
---------
**SparkFun hardware is released under [Creative Commons Share-alike 4.0 International](http://creativecommons.org/licenses/by-sa/4.0/).**
Note: This is a human-readable summary of (and not a substitute for) the [license](http://creativecommons.org/licenses/by-sa/4.0/legalcode).
You are free to:
Share — copy and redistribute the material in any medium or format
Adapt — remix, transform, and build upon the material
for any purpose, even commercially.
The licensor cannot revoke these freedoms as long as you follow the license terms.
Under the following terms:
Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
ShareAlike — If you remix, transform, or build upon the material, you must distribute your contributions under the same license as the original.
No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.
Notices:
You do not have to comply with the license for elements of the material in the public domain or where your use is permitted by an applicable exception or limitation.
No warranties are given. The license may not give you all of the permissions necessary for your intended use. For example, other rights such as publicity, privacy, or moral rights may limit how you use the material.
Code
--------
**SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).**
The MIT License (MIT)
Copyright (c) 2016 SparkFun Electronics
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

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SparkFun u-blox Arduino Library
===========================================================
<table class="table table-hover table-striped table-bordered">
<tr align="center">
<td><a href="https://www.sparkfun.com/products/15136"><img src="https://cdn.sparkfun.com//assets/parts/1/3/5/1/4/15136-SparkFun_GPS-RTK2_Board_-_ZED-F9P__Qwiic_-03.jpg"></a></td>
<td><a href="https://www.sparkfun.com/products/15005"><img src="https://cdn.sparkfun.com//assets/parts/1/3/3/2/0/15005-SparkFun_GPS-RTK__Qwiic__-_NEO-M8P-2-00.jpg"></a></td>
<td><a href="https://www.sparkfun.com/products/15193"><img src="https://cdn.sparkfun.com//assets/parts/1/3/6/1/4/15193-SparkFun_GPS_Breakout_-_U.FL__ZOE-M8__Qwiic_-01.jpg"></a></td>
<td><a href="https://www.sparkfun.com/products/15210"><img src="https://cdn.sparkfun.com//assets/parts/1/3/6/4/8/15210-SparkFun_GPS_Breakout_-_Chip_Antenna__SAM-M8Q__Qwiic_-01.jpg"></a></td>
<td><a href="https://www.sparkfun.com/products/15733"><img src="https://cdn.sparkfun.com//assets/parts/1/4/3/2/2/15733-SparkFun_GPS_Breakout_-_NEO-M9N__Chip_Antenna__Qwiic_-01.jpg"></a></td>
</tr>
<tr align="center">
<td><a href="https://www.sparkfun.com/products/15136">SparkFun GPS-RTK2 - ZED-F9P (GPS-15136)</a></td>
<td><a href="https://www.sparkfun.com/products/15005">SparkFun GPS-RTK - NEO-M8P-2 (GPS-15005)</a></td>
<td><a href="https://www.sparkfun.com/products/15193">SparkFun ZOE-M8Q Breakout (GPS-15193)</a></td>
<td><a href="https://www.sparkfun.com/products/15210">SparkFun SAM-M8Q Breakout (GPS-15210)</a></td>
<td><a href="https://www.sparkfun.com/products/15733">SparkFun NEO-M9N Breakout (GPS-15733)</a></td>
</tr>
</table>
U-blox makes some incredible GPS receivers covering everything from low-cost, highly configurable modules such as the SAM-M8Q all the way up to the surveyor grade ZED-F9P with precision of the diameter of a dime. This library focuses on configuration and control of u-blox devices over I2C (called DDC by u-blox) and Serial. The UBX protocol is supported over both I2C and serial, and is a much easier and lighterweight interface to a GPS module. Stop parsing NMEA data! And simply ask for the datums you need.
This library can be installed via the Arduino Library manager. Search for **SparkFun Ublox**.
Although not an integrated part of the library, you will find an example of how to communicate with the older series 6 and 7 modules in the [examples folder](./examples/Series_6_7).
Max (400kHz) I2C Support
-------------------
To achieve 400kHz I2C speed please be sure to remove all pull-ups on the I2C bus. Most, if not all, u-blox modules include pull ups on the I2C lines (sometimes called DDC in their manuals). Cut all I2C pull up jumpers and/or remove them from peripheral boards. Otherwise, various data glitches can occur. See issues [38](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues/38) and [40](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues/40) for more information. If possible, run the I2C bus at 100kHz.
-------------------
Want to help? Please do! We are always looking for ways to improve and build out features of this library.
* We are always interested in adding SPI support with a checkUbloxSPI() function
Thanks to:
* [trycoon](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/pull/7) for fixing the lack of I2C buffer length defines.
* [tve](https://github.com/tve) for building out serial additions and examples.
* [Redstoned](https://github.com/Redstoned) and [davidallenmann](https://github.com/davidallenmann) for adding PVT date and time.
* [wittend](https://forum.sparkfun.com/viewtopic.php?t=49874) for pointing out the RTCM print bug.
* Big thanks to [PaulZC](https://github.com/PaulZC) for implementing the combined key ValSet method, geofence functions, better saveConfig handling, as well as a bunch of small fixes.
* [RollieRowland](https://github.com/RollieRowland) for adding HPPOSLLH (High Precision Geodetic Position).
* [tedder](https://github.com/tedder) for moving iTOW to PVT instead of HPPOS and comment cleanup.
* [grexjmo](https://github.com/grexjmo) for pushing for a better NMEA sentence configuration method.
* [averywallis](https://github.com/averywallis) for adding good comments to the various constants.
* [blazczak](https://github.com/blazczak) and [geeksville](https://github.com/geeksville) for adding support for the series 6 and 7 modules.
* [bjorn@unsurv](https://github.com/unsurv) for adding powerOff and powerOffWithInterrupt.
Need a Python version for Raspberry Pi? Checkout the [Qwiic Ublox GPS Py module](https://github.com/sparkfun/Qwiic_Ublox_Gps_Py).
Need a library for the Ublox and Particle? Checkout the [Particle library](https://github.com/aseelye/SparkFun_Ublox_Particle_Library) fork.
Repository Contents
-------------------
* **/examples** - Example sketches for the library (.ino). Run these from the Arduino IDE.
* **/src** - Source files for the library (.cpp, .h).
* **keywords.txt** - Keywords from this library that will be highlighted in the Arduino IDE.
* **library.properties** - General library properties for the Arduino package manager.
Documentation
--------------
* **[Installing an Arduino Library Guide](https://learn.sparkfun.com/tutorials/installing-an-arduino-library)** - Basic information on how to install an Arduino library.
Polling vs. Auto-Reporting
--------------------------
This library supports two modes of operation for getting navigation information with the `getPVT`
function (based on the `UBX_NAV_PVT` protocol packet): polling and auto-reporting.
The standard method is for the sketch to call `getPVT` (or one of the `getLatitude`, `getLongitude`,
etc. methods) when it needs a fresh navigation solution. At that point the library sends a request
to the GPS to produce a fresh solution. The GPS then waits until the next measurement occurs (e.g.
once per second or as set using `setNavigationFrequency`) and then sends the fresh data.
The advantage of this method is that the data received is always fresh, the downside is that getPVT
can block until the next measurement is made by the GPS, e.g. up to 1 second if the nav frequency is
set to one second.
An alternate method can be chosen using `setAutoPVT(true)` which instructs the GPS to send the
navigation information (`UBX_NAV_PVT` packet) as soon as it is produced. This is the way the older
NMEA navigation data has been used for years. The sketch continues to call `getPVT` as before but
under the hood the library returns the data of the last solution received from the GPS, which may be
a bit out of date (how much depends on the `setNavigationFrequency` value).
The advantage of this method is that getPVT does not block: it returns true if new data is available
and false otherwise. The disadvantages are that the data may be a bit old and that buffering for
these spontaneus `UBX_NAV_PVT` packets is required (100 bytes each). When using Serial the buffering
is an issue because the std serial buffer is 32 or 64 bytes long depending on Arduino version. When
using I2C the buffering is not an issue because the GPS device has at least 1KB of internal buffering
(possibly as large as 4KB).
As an example, assume that the GPS is set to produce 5 navigation
solutions per second and that the sketch only calls getPVT once a second, then the GPS will queue 5
packets in its internal buffer (about 500 bytes) and the library will read those when getPVT is
called, update its internal copy of the nav data 5 times, and return `true` to the sketch. The
sketch calls `getLatitude`, etc. and retrieve the data of the most recent of those 5 packets.
Products That Use This Library
---------------------------------
* [GPS-16481](https://www.sparkfun.com/products/16481) - SparkFun GPS-RTK-SMA Breakout - ZED-F9P (Qwiic)
* [GPS-15136](https://www.sparkfun.com/products/15136) - SparkFun GPS-RTK2 Board - ZED-F9P (Qwiic)
* [GPS-15005](https://www.sparkfun.com/products/15005) - SparkFun GPS-RTK Board - NEO-M8P-2 (Qwiic)
* [GPS-15210](https://www.sparkfun.com/products/15210) - SparkFun GPS Breakout - Chip Antenna, SAM-M8Q (Qwiic)
* [GPS-15193](https://www.sparkfun.com/products/15193) - SparkFun GPS Breakout - Chip Antenna, ZOE-M8Q (Qwiic)
* [GPS-15733](https://www.sparkfun.com/products/15733) - SparkFun GPS Breakout - NEO-M9N, Chip Antenna (Qwiic)
* [GPS-15712](https://www.sparkfun.com/products/15712) - SparkFun GPS Breakout - NEO-M9N, U.FL (Qwiic)
* [GPS-16329](https://www.sparkfun.com/products/16329) - SparkFun GPS Dead Reckoning Breakout - NEO-M8U (Qwiic)
* [SPX-14980](https://www.sparkfun.com/products/14980) - SparkX GPS-RTK Black
* [SPX-15106](https://www.sparkfun.com/products/15106) - SparkX SAM-M8Q
License Information
-------------------
This product is _**open source**_!
Various bits of the code have different licenses applied. Anything SparkFun wrote is beerware; if you see me (or any other SparkFun employee) at the local, and you've found our code helpful, please buy us a round!
Please use, reuse, and modify these files as you see fit. Please maintain attribution to SparkFun Electronics and release anything derivative under the same license.
Distributed as-is; no warranty is given.
- Your friends at SparkFun.

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How I2C (aka DDC) communication works with a uBlox module
===========================================================
When the user calls one of the methods the library will poll the Ublox module for new data.
* Wait for a minimum of 25 ms between polls (configured dynamically when update rate is set)
* Write 0xFD to module
* Read two bytes (0xFD and 0xFE) for bytes available
* If 0x7F or 0xFF then no bytes are available
* Otherwise, read number of bytes and process into NMEA, UBX, or RTCM frame.
* If checksum is valid, flag frame as complete.
This library was originally written to use the I2C interface but Serial has been implemented as well.
How data is processed by this library
===========================================================
A method will call **sendCommand()**. This will begin waiting for a response with either **waitForACKResponse()** or **waitForNoACKResponse()** depending on the command we have sent (CFG commands generate an ACK where others like PVT do not).
Once **waitForACKResponse()** or **waitForNoACKResponse()** is called the library will start checking the ublox module for new bytes. These bytes may be part of a NMEA sentence, an RTCM sentence, or a UBX packet. The library will file each byte into the appropriate container. Once a given sentence or packet is complete, the appropriate processUBX(), processNMEA() will be called. These functions deal with specific processing for each type.
Note: When interfacing to a ublox module over I2C **checkUbloxI2C()** will read all bytes currently sitting in the I2C buffer. This may pick up multiple UBX packets. For example, an ACK for a VALSET may be mixed in with an auto-PVT response. We cannot tell **checkUbloxI2C()** to stop once a given ACK is found because we run the risk of leaving bytes in the I2C buffer and losing them. We don't have this issue with **checkUbloxSerial()**.
**processUBX()** will check the CRC of the UBX packet. If validated, the packet will be marked as valid. Once a packet is marked as valid then **processUBXpacket()** is called to extract the contents. This is most commonly used to get the position, velocity, and time (PVT) out of the packet but is also used to check the nature of an ACK packet.
Once a packet has been processed, **waitForACKResponse()/waitForNoACKResponse()** makes the appropriate decision what to do with it. If a packet satisfies the CLS/ID and characteristics of what **waitForACKResponse()/waitForNoACKResponse()** is waiting for, then it returns back to sendCommand. If the packet didn't match or was invalid then **waitForACKResponse()/waitForNoACKResponse()** will continue to wait until the correct packet is received or we time out. **sendCommand()** then returns with a value from the **sfe_ublox_status_e** enum depending on the success of **waitForACKResponse()/waitForNoACKResponse()**.
If we are getting / polling data from the module, **sendCommand()** will return **SFE_UBLOX_STATUS_DATA_RECEIVED** if the get was successful.
If we are setting / writing data to the module, **sendCommand()** will return **SFE_UBLOX_STATUS_DATA_SENT** if the set was successful.
There are circumstances where the library can get the data it is expecting from the module, but it is overwritten (e.g. by an auto-PVT packet) before **sendCommand()** is able to return. In this case, **sendCommand()** will return the error **SFE_UBLOX_STATUS_DATA_OVERWRITTEN**. We should simply call the library function again, but we will need to reset the packet contents first as they will indeed have been overwritten as the error implies.

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/*
By: Elias Santistevan
SparkFun Electronics
Date: May, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
Feel like supporting open source hardware?
Buy a board from SparkFun!
NEO-M8U: https://www.sparkfun.com/products/16329
ZED-F9R: https://www.sparkfun.com/products/16344
Hardware Connections:
Plug a Qwiic cable into the GPS and a Redboard Qwiic
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
To take advantage of the internal IMU of either the Dead Reckoning GPS
boards (ZED-F9R, NEO-M8U), you must first calibrate it. This includes securing the GPS module
to your vehicle so that it is stable within 2 degrees and that the frame of
reference of the board is consistent with the picture outlined in the
Receiver-Description-Prot-Spec Datasheet under Automotive/Untethered Dead
Reckoning. You may also check either the ZED-F9R or NEO-M8U Hookup Guide for
more information. After the board is secure, you'll need to put the module
through certain conditions for proper calibration: acceleration, turning,
stopping for a few minutes, getting to a speed over 30km/h all under a clear sky
with good GNSS signal. This example simply looks at the
"fusionMode" status which indicates whether the SparkFun Dead Reckoning is
not-calibrated - 0, or calibrated - 1.
*/
#include <Wire.h> //Needed for I2C to GPS
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println(F("SparkFun Ublox Example"));
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
}
void loop()
{
if (myGPS.getEsfInfo()){
Serial.print(F("Fusion Mode: "));
Serial.println(myGPS.imuMeas.fusionMode);
if (myGPS.imuMeas.fusionMode == 1)
Serial.println(F("Sensor is calibrated!"));
}
delay(250);
}

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/*
By: Elias Santistevan
SparkFun Electronics
Date: May, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
Feel like supporting open source hardware?
Buy a board from SparkFun!
NEO-M8U: https://www.sparkfun.com/products/16329
ZED-F9R: https://www.sparkfun.com/products/16344
Hardware Connections:
Plug a Qwiic cable into the GPS and a Redboard Qwiic
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
After calibrating the module, also known as "Fusion Mode", you can get
data directly from the IMU. This data is integrated directly into the GNSS
output, but is provided by the module as well.
*/
#include <Wire.h> //Needed for I2C to GPS
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println(F("SparkFun Ublox Example"));
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
if (myGPS.getEsfInfo()){
Serial.print(F("Fusion Mode: "));
Serial.println(myGPS.imuMeas.fusionMode);
if (myGPS.imuMeas.fusionMode == 1){
Serial.println(F("Fusion Mode is Initialized!"));
}
else {
Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));
Serial.println(F("Please see Example 1 description at top for more information."));
}
}
}
void loop()
{
if (myGPS.getEsfIns())
{
Serial.print(F("X: "));
Serial.println(myGPS.imuMeas.xAngRate);
Serial.print(F("Y: "));
Serial.println(myGPS.imuMeas.yAngRate);
Serial.print(F("Z: "));
Serial.println(myGPS.imuMeas.zAngRate);
Serial.print(F("X Acceleration: "));
Serial.println(myGPS.imuMeas.xAccel);
Serial.print(F("Y Acceleration: "));
Serial.println(myGPS.imuMeas.yAccel);
Serial.print(F("Z Acceleration: "));
Serial.println(myGPS.imuMeas.zAccel);
// These values also have "validity checks" that can be provided by the
// ublox library, add "Vald" to values: e.g. xAngRateVald or xAccelVald.
}
delay(250);
}

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/*
By: Elias Santistevan
SparkFun Electronics
Date: May, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
Feel like supporting open source hardware?
Buy a board from SparkFun!
NEO-M8U: https://www.sparkfun.com/products/16329
ZED-F9R: https://www.sparkfun.com/products/16344
Hardware Connections:
Plug a Qwiic cable into the GPS and a Redboard Qwiic
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
After calibrating the module, also known as "Fusion Mode", you can get
data directly from the IMU. This example code walks you through trouble
shooting or identifying the different states of any individual
"external" (which include internal) sensors you've hooked up (vehicle speed
sensor) or the internal IMU used by the modules. You can see if the sensor is
being used, if it's calibrated, ready, what data type it returns, the state
of the measurement etc.
*/
#include <Wire.h> //Needed for I2C to GPS
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println(F("SparkFun Ublox Example"));
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
// GetEsfInfo also gets the number of sensors used by the ublox module, this
// includes (in the case of the ZED-F9R) wheel tick input from the vehicle
// speed sensor attached to the module.
if (myGPS.getEsfInfo()){
Serial.print(F("Fusion Mode: "));
Serial.println(myGPS.imuMeas.fusionMode);
if (myGPS.imuMeas.fusionMode == 1){
Serial.println(F("Fusion Mode is Initialized!"));
}
else {
Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));
Serial.println(F("Please see Example 1 description at top for more information."));
}
}
}
void loop()
{
for(int i=1; i<=myGPS.ubloxSen.numSens; i++){
myGPS.getSensState(i); // Give the sensor you want to check on.
Serial.print(F("Sensor Data Type: ")); //See ublox receiver description
//or our hookup guide for information on the
//return value.
Serial.println(myGPS.ubloxSen.senType);
Serial.print(F("Being Used: "));
Serial.println(myGPS.ubloxSen.isUsed);
Serial.print(F("Is Ready: "));
Serial.println(myGPS.ubloxSen.isReady);
Serial.print(F("Calibration Status: "));
Serial.println(myGPS.ubloxSen.calibStatus);
Serial.print(F("Time Status: "));
Serial.println(myGPS.ubloxSen.timeStatus);
Serial.print(F("Bad Measure: "));
Serial.println(myGPS.ubloxSen.timeStatus);
Serial.print(F("Bad Time Tag: "));
Serial.println(myGPS.ubloxSen.badTag);
Serial.print(F("Missed Measure : "));
Serial.println(myGPS.ubloxSen.missMeas);
Serial.print(F("Noisy Measure: "));
Serial.println(myGPS.ubloxSen.noisyMeas);
}
}

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/*
By: Elias Santistevan
SparkFun Electronics
Date: May, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
Feel like supporting open source hardware?
Buy a board from SparkFun!
NEO-M8U: https://www.sparkfun.com/products/16329
ZED-F9R: https://www.sparkfun.com/products/16344
Hardware Connections:
Plug a Qwiic cable into the GPS and a Redboard Qwiic
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
After calibrating the module and securing it to your vehicle such that it's
stable within 2 degrees, and the board is oriented correctly with regards to
the vehicle's frame, you can now read the vehicle's "attitude". The attitude
includes the vehicle's heading, pitch, and roll. You can also check the
accuracy of those readings.
*/
#include <Wire.h> //Needed for I2C to GPS
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println(F("SparkFun Ublox Example"));
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
if (myGPS.getEsfInfo()){
Serial.print(F("Fusion Mode: "));
Serial.println(myGPS.imuMeas.fusionMode);
if (myGPS.imuMeas.fusionMode == 1){
Serial.println(F("Fusion Mode is Initialized!"));
}
else {
Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));
Serial.println(F("Please see Example 1 description at top for more information."));
}
}
}
void loop()
{
myGPS.getVehAtt(); // Give the sensor you want to check on.
Serial.print(F("Roll: "));
Serial.println(myGPS.vehAtt.roll);
Serial.print(F("Pitch: "));
Serial.println(myGPS.vehAtt.pitch);
Serial.print(F("Heading: "));
Serial.println(myGPS.vehAtt.heading);
Serial.print(F("Roll Accuracy: "));
Serial.println(myGPS.vehAtt.accRoll);
Serial.print(F("Pitch Accuracy: "));
Serial.println(myGPS.vehAtt.accPitch);
Serial.print(F("Heading Accuracy: "));
Serial.println(myGPS.vehAtt.accHeading);
delay(250);
}

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/*
Reading two altitudes - Mean Sea Level and Ellipsode
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to query a Ublox module for its lat/long/altitude.
getAltitude() reports mm above ellipsode model of the globe. There are some
instances where altitude above Mean Sea Level is better. This example shows how
to use getAltitudeMSL(). The difference varies but is ~20m.
Ellipsoid model: https://www.esri.com/news/arcuser/0703/geoid1of3.html
Difference between Ellipsoid Model and Mean Sea Level: https://eos-gnss.com/elevation-for-beginners/
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Tracks the passing of 2000ms (2 seconds)
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
long altitudeMSL = myGPS.getAltitudeMSL();
Serial.print(F(" AltMSL: "));
Serial.print(altitudeMSL);
Serial.print(F(" (mm)"));
Serial.println();
}
}

58
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/*
Send command to reset module over I2C
By: Nathan Seidle
Date: January 29rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to reset the U-Blox module to factory defaults over I2C.
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:
Connect the U-Blox serial port to Serial1
If you're using an Uno or don't have a 2nd serial port (Serial1), consider using software serial
Open the serial monitor at 115200 baud to see the output
*/
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
while (Serial.available()) Serial.read(); //Trash any incoming chars
Serial.println("Press a key to reset module to factory defaults");
while (Serial.available() == false) ; //Wait for user to send character
myGPS.factoryReset(); //Reset everything: baud rate, I2C address, update rate, everything.
if (myGPS.begin() == false) //Attempt to re-connect
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
Serial.println("Unit has now been factory reset. Freezing...");
while(1);
}
void loop()
{
}

95
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/*
Test baud rate changes on serial, factory reset, and hard reset.
By: Thorsten von Eicken
Date: January 29rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to reset the U-Blox module to factory defaults over serial.
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:
Connect the U-Blox serial port to Serial1
If you're using an Uno or don't have a 2nd serial port (Serial1), consider using software serial
Open the serial monitor at 115200 baud to see the output
*/
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
int state = 0; // steps through auto-baud, reset, etc states
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
}
void loop()
{
Serial.print("===== STATE ");
Serial.println(state);
switch (state) {
case 0: // auto-baud connection, then switch to 38400 and save config
do {
Serial.println("GPS: trying 38400 baud");
Serial1.begin(38400);
if (myGPS.begin(Serial1)) break;
delay(100);
Serial.println("GPS: trying 9600 baud");
Serial1.begin(9600);
if (myGPS.begin(Serial1)) {
Serial.println("GPS: connected at 9600 baud, switching to 38400");
myGPS.setSerialRate(38400);
delay(100);
} else {
delay(2000); //Wait a bit before trying again to limit the Serial output flood
}
} while(1);
myGPS.setUART1Output(COM_TYPE_UBX); //Set the UART port to output UBX only
myGPS.saveConfiguration(); //Save the current settings to flash and BBR
Serial.println("GPS serial connected, saved config");
state++;
break;
case 1: // hardReset, expect to see GPS back at 38400 baud
Serial.println("Issuing hardReset (cold start)");
myGPS.hardReset();
delay(1000);
Serial1.begin(38400);
if (myGPS.begin(Serial1)) {
Serial.println("Success.");
state++;
} else {
Serial.println("*** GPS did not respond at 38400 baud, starting over.");
state = 0;
}
break;
case 2: // factoryReset, expect to see GPS back at 9600 baud
Serial.println("Issuing factoryReset");
myGPS.factoryReset();
delay(2000); // takes more than one second... a loop to resync would be best
Serial1.begin(9600);
if (myGPS.begin(Serial1)) {
Serial.println("Success.");
state++;
} else {
Serial.println("*** GPS did not come back at 9600 baud, starting over.");
state = 0;
}
break;
case 3: // print version info
Serial.print("GPS protocol version: ");
Serial.print(myGPS.getProtocolVersionHigh());
Serial.print('.');
Serial.print(myGPS.getProtocolVersionLow());
state = 0;
}
delay(1000);
}

98
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/*
Reading lat and long via UBX binary commands using UART @38400 baud - free from I2C
By: Nathan Seidle, Adapted from Example3_GetPosition by Thorsten von Eicken
SparkFun Electronics
Date: January 28rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to configure the library and U-Blox for serial port use as well as
switching the module from the default 9600 baud to 38400.
Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
to something google maps understands simply divide the numbers by 10,000,000. We
do this so that we don't have to use floating point numbers.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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:
Connect the U-Blox serial TX pin to Uno pin 10
Connect the U-Blox serial RX pin to Uno pin 11
Open the serial monitor at 115200 baud to see the output
*/
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
#include <SoftwareSerial.h>
SoftwareSerial mySerial(10, 11); // RX, TX. Pin 10 on Uno goes to TX pin on GPS module.
long lastTime = 0; //Simple local timer. Limits amount of I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
//Assume that the U-Blox GPS is running at 9600 baud (the default) or at 38400 baud.
//Loop until we're in sync and then ensure it's at 38400 baud.
do {
Serial.println("GPS: trying 38400 baud");
mySerial.begin(38400);
if (myGPS.begin(mySerial) == true) break;
delay(100);
Serial.println("GPS: trying 9600 baud");
mySerial.begin(9600);
if (myGPS.begin(mySerial) == true) {
Serial.println("GPS: connected at 9600 baud, switching to 38400");
myGPS.setSerialRate(38400);
delay(100);
} else {
//myGPS.factoryReset();
delay(2000); //Wait a bit before trying again to limit the Serial output
}
} while(1);
Serial.println("GPS serial connected");
myGPS.setUART1Output(COM_TYPE_UBX); //Set the UART port to output UBX only
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
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGPS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
Serial.println();
}
}

88
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/*
Configuring the GPS to automatically send position reports over I2C
By: Nathan Seidle and Thorsten von Eicken
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to configure the U-Blox GPS the send navigation reports automatically
and retrieving the latest one via getPVT. This eliminates the blocking in getPVT while the GPS
produces a fresh navigation solution at the expense of returning a slighly old solution.
This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
simply outputs the UBX_NAV_PVT packet. With I2C it queues it into its internal I2C buffer (4KB in
size?) where it can be retrieved in the next I2C poll.
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGPS.setNavigationFrequency(2); //Produce two solutions per second
myGPS.setAutoPVT(true); //Tell the GPS to "send" each solution
myGPS.saveConfiguration(); //Save the current settings to flash and BBR
}
void loop()
{
// Calling getPVT returns true if there actually is a fresh navigation solution available.
if (myGPS.getPVT())
{
Serial.println();
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGPS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
int PDOP = myGPS.getPDOP();
Serial.print(F(" PDOP: "));
Serial.print(PDOP);
Serial.print(F(" (10^-2)"));
Serial.println();
} else {
Serial.print(".");
delay(50);
}
}

103
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/*
Configuring the GPS to automatically send position reports over I2C, with explicit data parsing calls
By: Nathan Seidle Thorsten von Eicken and Felix Jirka
SparkFun Electronics
Date: July 1st, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to configure the U-Blox GPS the send navigation reports automatically
and retrieving the latest one via checkUblox when available.
This eliminates the implicit update in getPVT when accessing data fields twice.
Also this reduces the memory overhead of a separate buffer while introducing a slight error by inconsistencies because of the unsynchronized updates (on a multi core system).
This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
simply outputs the UBX_NAV_PVT packet. With I2C it queues it into its internal I2C buffer (4KB in
size?) where it can be retrieved in the next I2C poll.
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial)
; //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGPS.setNavigationFrequency(2); //Produce two solutions per second
myGPS.setAutoPVT(true, false); //Tell the GPS to "send" each solution and the lib not to update stale data implicitly
myGPS.saveConfiguration(); //Save the current settings to flash and BBR
}
/*
Calling getPVT would return false now (compare to previous example where it would return true), so we just use the data provided
If you are using a threaded OS eg. FreeRTOS on an ESP32, the explicit mode of autoPVT allows you to use the data provided on both cores and inside multiple threads
The data update in background creates an inconsistent state, but that should not cause issues for most applications as they usually won't change the GPS location significantly within a 2Hz - 5Hz update rate.
Also you could oversample (10Hz - 20Hz) the data to smooth out such issues...
*/
void loop()
{
static uint16_t counter = 0;
if (counter % 10 == 0)
{
// update your AHRS filter here for a ~100Hz update rate
// GPS data will be quasi static but data from your IMU will be changing
}
// debug output each half second
if (counter % 500 == 0)
{
Serial.println();
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGPS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
Serial.println();
}
// call checkUblox all 50ms to capture the gps data
if (counter % 50 == 0)
{
myGPS.checkUblox();
}
delay(1);
counter++;
}

79
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/*
Reading lat and long via UBX binary commands using an RX-only UART
By: Nathan Seidle, Adapted from Example11 by Felix Jirka
SparkFun Electronics
Date: July 2nd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to configure the library for serial port use with a single wire connection using the assumeAutoPVT method.
Saving your pins for other stuff :-)
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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
Preconditions:
U-Blox module is configured to send cyclical PVT message
Hardware Connections:
Connect the U-Blox serial TX pin to Rx of Serial2 (default: GPIO16) on your ESP32
Open the serial monitor at 115200 baud to see the output
*/
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example 17");
//Use any Serial port with at least a Rx Pin connected or a receive only version of SoftwareSerial here
//Assume that the U-Blox GPS is running at 9600 baud (the default)
Serial2.begin(9600);
// no need to check return value as internal call to isConnected() will not succeed
myGPS.begin(Serial2);
// tell lib, we are expecting the module to send PVT messages by itself to our Rx pin
// you can set second parameter to "false" if you want to control the parsing and eviction of the data (need to call checkUblox cyclically)
myGPS.assumeAutoPVT(true, true);
}
void loop()
{
// if implicit updates are allowed, this will trigger parsing the incoming messages
// and be true once a PVT message has been parsed
// In case you want to use explicit updates, wrap this in a timer and call checkUblox as often as needed, not to overflow your UART buffers
if (myGPS.getPVT())
{
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGPS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
Serial.println();
}
else {
Serial.println(F("Wait for GPS data"));
delay(500);
}
}

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/*
Reading lat and long via UBX binary commands using UART @38400 baud - free from I2C
By: Nathan Seidle, Adapted from Example3_GetPosition by Thorsten von Eicken
SparkFun Electronics
Date: January 28rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to configure the debug output from the library.
Debug shows various packet and status outputs. These prints can be directed
towards Serial (as in Serial.print) or any other port (Serial1, SerialUSB, etc).
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:
Connect the U-Blox serial TX pin to Uno pin 10
Connect the U-Blox serial RX pin to Uno pin 11
Open the serial monitor at 115200 baud to see the output
*/
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
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
myGPS.enableDebugging(); //Enable debug messages over Serial (default)
//myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGPS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
Serial.println();
Serial.print(myGPS.getYear());
Serial.print("-");
Serial.print(myGPS.getMonth());
Serial.print("-");
Serial.print(myGPS.getDay());
Serial.print(" ");
Serial.print(myGPS.getHour());
Serial.print(":");
Serial.print(myGPS.getMinute());
Serial.print(":");
Serial.println(myGPS.getSecond());
Serial.println();
}
}

107
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/*
Getting time and date using Ublox commands
By: davidallenmann
SparkFun Electronics
Date: April 16th, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to query a Ublox module for the current time and date. We also
turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
dramatically.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial)
; //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
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
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGPS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
Serial.println();
Serial.print(myGPS.getYear());
Serial.print("-");
Serial.print(myGPS.getMonth());
Serial.print("-");
Serial.print(myGPS.getDay());
Serial.print(" ");
Serial.print(myGPS.getHour());
Serial.print(":");
Serial.print(myGPS.getMinute());
Serial.print(":");
Serial.print(myGPS.getSecond());
Serial.print(" Time is ");
if (myGPS.getTimeValid() == false)
{
Serial.print("not ");
}
Serial.print("valid Date is ");
if (myGPS.getDateValid() == false)
{
Serial.print("not ");
}
Serial.print("valid");
Serial.println();
}
}

106
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/*
Getting time and date using Ublox commands
By: davidallenmann
SparkFun Electronics
Date: April 16th, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to query a Ublox module for the current time and date. We also
turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
dramatically.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(500000); //Increase serial speed to maximize
while (!Serial)
; //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
Wire.setClock(400000);
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
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
//myGPS.enableDebugging(); //Enable debug messages over Serial (default)
myGPS.setNavigationFrequency(10); //Set output to 10 times a second
byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
Serial.print("Current update rate:");
Serial.println(rate);
}
void loop()
{
// Calling getPVT returns true if there actually is a fresh navigation solution available.
if (myGPS.getPVT())
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGPS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
Serial.print(" ");
Serial.print(myGPS.getYear());
Serial.print("-");
Serial.print(myGPS.getMonth());
Serial.print("-");
Serial.print(myGPS.getDay());
Serial.print(" ");
Serial.print(myGPS.getHour());
Serial.print(":");
Serial.print(myGPS.getMinute());
Serial.print(":");
Serial.print(myGPS.getSecond());
Serial.print(".");
Serial.print(myGPS.getNanosecond());
myGPS.flushPVT();
Serial.println();
}
}

116
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/*
Getting time and date using Ublox commands
By: Nathan Seidle
SparkFun Electronics
Date: April 16th, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to use the Millisecond and Nanosecond output as well as increase the
I2C speed (100 to 400kHz), and serial output (115200 to 500kbps).
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(500000); //Increase serial speed to maximize
while (!Serial)
; //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
Wire.setClock(400000);
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
//myGPS.enableDebugging(); //Enable debug messages over Serial (default)
myGPS.setNavigationFrequency(10); //Set output to 10 times a second
byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
Serial.print("Current update rate:");
Serial.println(rate);
myGPS.saveConfiguration(); //Save the current settings to flash and BBR
pinMode(2, OUTPUT); //For debug capture
digitalWrite(2, HIGH);
}
void loop()
{
// Calling getPVT returns true if there actually is a fresh navigation solution available.
if (myGPS.getPVT())
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGPS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
Serial.print(" ");
Serial.print(myGPS.getYear());
Serial.print("-");
Serial.print(myGPS.getMonth());
Serial.print("-");
Serial.print(myGPS.getDay());
Serial.print(" ");
Serial.print(myGPS.getHour());
Serial.print(":");
Serial.print(myGPS.getMinute());
Serial.print(":");
Serial.print(myGPS.getSecond());
Serial.print(".");
//Pretty print leading zeros
int mseconds = myGPS.getMillisecond();
if (mseconds < 100)
Serial.print("0");
if (mseconds < 10)
Serial.print("0");
Serial.print(mseconds);
Serial.print(" nanoSeconds: ");
Serial.print(myGPS.getNanosecond());
Serial.println();
}
}

169
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/*
u-blox M8 geofence example
Written by Paul Clark (PaulZC)
10th December 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example demonstrates how to use the addGeofence and getGeofenceState functions
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/15210
ZOE-M8Q: https://www.sparkfun.com/products/15193
This example powers up the GPS and reads the fix.
Once a valid 3D fix has been found, the code reads the latitude and longitude.
The code then sets four geofences around that position with a radii of 5m, 10m, 15m and 20m with 95% confidence.
The code then monitors the geofence status.
The LED will be illuminated if you are inside the _combined_ geofence (i.e. within the 20m radius).
This code has been tested on the ZOE-M8Q.
*/
#define LED LED_BUILTIN // Change this if your LED is on a different pin
#include <Wire.h> // Needed for I2C
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
pinMode(LED, OUTPUT);
// Set up the I2C pins
Wire.begin();
// Start the console serial port
Serial.begin(115200);
while (!Serial); // Wait for the user to open the serial monitor
delay(100);
Serial.println();
Serial.println();
Serial.println(F("u-blox M8 geofence example"));
Serial.println();
Serial.println();
delay(1000); // Let the GPS power up
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
//myGPS.enableDebugging(); // Enable debug messages
myGPS.setI2COutput(COM_TYPE_UBX); // Limit I2C output to UBX (disable the NMEA noise)
Serial.println(F("Waiting for a 3D fix..."));
byte fixType = 0;
while (fixType < 3)
{
fixType = myGPS.getFixType(); // Get the fix type
Serial.print(F("Fix: ")); // Print it
Serial.print(fixType);
if(fixType == 0) Serial.print(F(" = No fix"));
else if(fixType == 1) Serial.print(F(" = Dead reckoning"));
else if(fixType == 2) Serial.print(F(" = 2D"));
else if(fixType == 3) Serial.print(F(" = 3D"));
else if(fixType == 4) Serial.print(F(" = GNSS + Dead reckoning"));
else if(fixType == 5) Serial.print(F(" = Time only"));
Serial.println();
delay(1000);
}
Serial.println(F("3D fix found!"));
long latitude = myGPS.getLatitude(); // Get the latitude in degrees * 10^-7
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude(); // Get the longitude in degrees * 10^-7
Serial.print(F(" Long: "));
Serial.println(longitude);
uint32_t radius = 500; // Set the radius to 5m (radius is in m * 10^-2 i.e. cm)
byte confidence = 2; // Set the confidence level: 0=none, 1=68%, 2=95%, 3=99.7%, 4=99.99%
// Call clearGeofences() to clear all existing geofences.
Serial.print(F("Clearing any existing geofences. clearGeofences returned: "));
Serial.println(myGPS.clearGeofences());
// It is possible to define up to four geofences.
// Call addGeofence up to four times to define them.
Serial.println(F("Setting the geofences:"));
Serial.print(F("addGeofence for geofence 1 returned: "));
Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
radius = 1000; // 10m
Serial.print(F("addGeofence for geofence 2 returned: "));
Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
radius = 1500; // 15m
Serial.print(F("addGeofence for geofence 3 returned: "));
Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
radius = 2000; // 20m
Serial.print(F("addGeofence for geofence 4 returned: "));
Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
}
void loop()
{
geofenceState currentGeofenceState; // Create storage for the geofence state
boolean result = myGPS.getGeofenceState(currentGeofenceState);
Serial.print(F("getGeofenceState returned: ")); // Print the combined state
Serial.print(result); // Get the geofence state
if (!result) // If getGeofenceState did not return true
{
Serial.println(F(".")); // Tidy up
return; // and go round the loop again
}
Serial.print(F(". status is: ")); // Print the status
Serial.print(currentGeofenceState.status);
Serial.print(F(". numFences is: ")); // Print the numFences
Serial.print(currentGeofenceState.numFences);
Serial.print(F(". combState is: ")); // Print the combined state
Serial.print(currentGeofenceState.combState);
if (currentGeofenceState.combState == 0)
{
Serial.print(F(" = Unknown"));
digitalWrite(LED, LOW);
}
if (currentGeofenceState.combState == 1)
{
Serial.print(F(" = Inside"));
digitalWrite(LED, HIGH);
}
else if (currentGeofenceState.combState == 2)
{
Serial.print(F(" = Outside"));
digitalWrite(LED, LOW);
}
Serial.print(F(". The individual states are: ")); // Print the state of each geofence
for(int i = 0; i < currentGeofenceState.numFences; i++)
{
if (i > 0) Serial.print(F(","));
Serial.print(currentGeofenceState.states[i]);
}
Serial.println();
delay(1000);
}

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/*
Power Save Mode
By: Paul Clark (PaulZC)
Date: April 22nd, 2020
Based extensively on Example3_GetPosition
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to put the Ublox module into power save mode and then
query its lat/long/altitude. We also turn off the NMEA output on the I2C port.
This decreases the amount of I2C traffic dramatically.
** When it is able to ** the module will reduce its current draw.
For the ZOE-M8Q with a passive antenna, you should see the current drop
from (approx.) 25-28mA to (approx.) 9mA when power save mode kicks in.
Note: this will fail on the ZED (protocol version >= 27) as UBX-CFG-RXM is not supported
Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
to something google maps understands simply divide the numbers by 10,000,000. We
do this so that we don't have to use floating point numbers.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial)
; //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
//myGPS.enableDebugging(); // Uncomment this line to enable debug messages
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
//myGPS.saveConfiguration(); //Uncomment this line to save the current settings to flash and BBR
Serial.println("Power save example.");
Serial.println("1) Enable power saving");
Serial.println("2) Disable power saving");
}
void loop()
{
if (Serial.available())
{
byte incoming = Serial.read();
if (incoming == '1')
{
// Put the GNSS into power save mode
// (If you want to disable power save mode, call myGPS.powerSaveMode(false) instead)
// This will fail on the ZED (protocol version >= 27) as UBX-CFG-RXM is not supported
if (myGPS.powerSaveMode()) // Defaults to true
Serial.println(F("Power Save Mode enabled."));
else
Serial.println(F("***!!! Power Save Mode FAILED !!!***"));
}
else if (incoming == '2')
{
//Go to normal power mode (not power saving mode)
if (myGPS.powerSaveMode(false))
Serial.println(F("Power Save Mode disabled."));
else
Serial.println(F("***!!! Power Save Disable FAILED !!!***"));
}
// Read and print the new low power mode
uint8_t lowPowerMode = myGPS.getPowerSaveMode();
if (lowPowerMode == 255)
{
Serial.println(F("***!!! getPowerSaveMode FAILED !!!***"));
}
else
{
Serial.print(F("The low power mode is: "));
Serial.print(lowPowerMode);
if (lowPowerMode == 0)
{
Serial.println(F(" (Continuous)"));
}
else if (lowPowerMode == 1)
{
Serial.println(F(" (Power Save)"));
}
else if (lowPowerMode == 4)
{
Serial.println(F(" (Continuous)"));
}
else
{
Serial.println(F(" (Unknown!)"));
}
}
}
//Query module every 10 seconds so it is easier to monitor the current draw
if (millis() - lastTime > 10000)
{
lastTime = millis(); //Update the timer
byte fixType = myGPS.getFixType(); // Get the fix type
Serial.print(F("Fix: "));
Serial.print(fixType);
if (fixType == 0)
Serial.print(F("(No fix)"));
else if (fixType == 1)
Serial.print(F("(Dead reckoning)"));
else if (fixType == 2)
Serial.print(F("(2D)"));
else if (fixType == 3)
Serial.print(F("(3D)"));
else if (fixType == 4)
Serial.print(F("(GNSS + Dead reckoning)"));
long latitude = myGPS.getLatitude();
Serial.print(F(" Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
Serial.println();
}
}

117
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/*
Set Dynamic Model
By: Paul Clark (PaulZC)
Date: April 22nd, 2020
Based extensively on Example3_GetPosition
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to change the Ublox module's dynamic platform model and then
query its lat/long/altitude. We also turn off the NMEA output on the I2C port.
This decreases the amount of I2C traffic dramatically.
Possible values for the dynamic model are: PORTABLE, STATIONARY, PEDESTRIAN, AUTOMOTIVE,
SEA, AIRBORNE1g, AIRBORNE2g, AIRBORNE4g, WRIST, BIKE
Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
to something google maps understands simply divide the numbers by 10,000,000. We
do this so that we don't have to use floating point numbers.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial)
; //Wait for user to open terminal
Serial.println(F("SparkFun Ublox Example"));
Wire.begin();
//myGPS.enableDebugging(); // Uncomment this line to enable debug messages
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
// If we are going to change the dynamic platform model, let's do it here.
// Possible values are:
// PORTABLE, STATIONARY, PEDESTRIAN, AUTOMOTIVE, SEA, AIRBORNE1g, AIRBORNE2g, AIRBORNE4g, WRIST, BIKE
if (myGPS.setDynamicModel(DYN_MODEL_PORTABLE) == false) // Set the dynamic model to PORTABLE
{
Serial.println(F("***!!! Warning: setDynamicModel failed !!!***"));
}
else
{
Serial.println(F("Dynamic platform model changed successfully!"));
}
// Let's read the new dynamic model to see if it worked
uint8_t newDynamicModel = myGPS.getDynamicModel();
if (newDynamicModel == 255)
{
Serial.println(F("***!!! Warning: getDynamicModel failed !!!***"));
}
else
{
Serial.print(F("The new dynamic model is: "));
Serial.println(newDynamicModel);
}
//myGPS.saveConfigSelective(VAL_CFG_SUBSEC_NAVCONF); //Uncomment this line to save only the NAV settings to flash and BBR
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
Serial.println();
}
}

51
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/*
Read NMEA sentences over I2C using Ublox module SAM-M8Q, NEO-M8P, ZED-F9P, etc
By: Nathan Seidle
SparkFun Electronics
Date: August 22nd, 2018
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example reads the NMEA setences from the Ublox module over I2c and outputs
them to the serial port
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false)
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
//This will pipe all NMEA sentences to the serial port so we can see them
myGPS.setNMEAOutputPort(Serial);
}
void loop()
{
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
}

161
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/*
Send Custom Command
By: Paul Clark (PaulZC)
Date: April 20th, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how you can create and send a custom UBX packet
using the SparkFun u-blox library.
Previously it was possible to create and send a custom packet
through the library but it would always appear to timeout as
some of the internal functions referred to the internal private
struct packetCfg.
The most recent version of the library allows sendCommand to
use a custom packet as if it were packetCfg and so:
- sendCommand will return a sfe_ublox_status_e enum as if
it had been called from within the library
- the custom packet will be updated with data returned by the module
(previously this was not possible from outside the library)
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 GPS 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
*/
#define NAV_RATE 20 // The new navigation rate in Hz (measurements per second)
#include <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200); // You may need to increase this for high navigation rates!
while (!Serial)
; //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
//myGPS.enableDebugging(); // Uncomment this line to enable debug messages
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
// Let's configure the module's navigation rate as if we were using setNavigationFrequency
// Let's create our custom packet
uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes
// The next line creates and initialises the packet information which wraps around the payload
ubxPacket customCfg = {0, 0, 0, 0, 0, customPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
// The structure of ubxPacket is:
// uint8_t cls : The message Class
// uint8_t id : The message ID
// uint16_t len : Length of the payload. Does not include cls, id, or checksum bytes
// uint16_t counter : Keeps track of number of overall bytes received. Some responses are larger than 255 bytes.
// uint16_t startingSpot : The counter value needed to go past before we begin recording into payload array
// uint8_t *payload : The payload
// uint8_t checksumA : Given to us by the module. Checked against the rolling calculated A/B checksums.
// uint8_t checksumB
// sfe_ublox_packet_validity_e valid : Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked
// sfe_ublox_packet_validity_e classAndIDmatch : Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID
// sendCommand will return:
// SFE_UBLOX_STATUS_DATA_RECEIVED if the data we requested was read / polled successfully
// SFE_UBLOX_STATUS_DATA_SENT if the data we sent was writted successfully (ACK'd)
// Other values indicate errors. Please see the sfe_ublox_status_e enum for further details.
// Referring to the u-blox M8 Receiver Description and Protocol Specification we see that
// the navigation rate is configured using the UBX-CFG-RATE message. So let's load our
// custom packet with the correct information so we can read (poll / get) the current settings.
customCfg.cls = UBX_CLASS_CFG; // This is the message Class
customCfg.id = UBX_CFG_RATE; // This is the message ID
customCfg.len = 0; // Setting the len (length) to zero let's us poll the current settings
customCfg.startingSpot = 0; // Always set the startingSpot to zero (unless you really know what you are doing)
// We also need to tell sendCommand how long it should wait for a reply
uint16_t maxWait = 250; // Wait for up to 250ms (Serial may need a lot longer e.g. 1100)
// Now let's read the current navigation rate. The results will be loaded into customCfg.
if (myGPS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
{
Serial.println(F("sendCommand (poll / get) failed! Freezing..."));
while (1)
;
}
// Referring to the message definition for UBX-CFG-RATE we see that the measurement rate
// is stored in payload bytes 0 and 1 as a uint16_t in LSB-first (little endian) format
uint16_t rate = (customPayload[1] << 8) | customPayload[0]; // Extract the current rate (ms)
float f_rate = 1000.0 / ((float)rate); // Convert the navigation rate to Hz (measurements per second)
// Print the current measurement rate
Serial.print(F("The current measurement rate is: "));
Serial.println(f_rate, 1);
// Let's change it
rate = 1000 / NAV_RATE; // Load the new value into rate
customPayload[0] = rate & 0xFF; // Store it in the payload
customPayload[1] = rate >> 8;
// Print the new measurement rate
Serial.print(F("The new measurement rate will be: "));
Serial.println(NAV_RATE);
// We don't need to update customCfg.len as it will have been set to 6
// when sendCommand read the data
// Now we write the custom packet back again to change the setting
if (myGPS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT) // This time we are only expecting an ACK
{
Serial.println(F("sendCommand (set) failed! Freezing."));
while (1)
;
}
else
{
Serial.println(F("Navigation rate updated. Here we go..."));
}
myGPS.setAutoPVT(true); // Enable AutoPVT. The module will generate measurements automatically without being polled.
//myGPS.saveConfigSelective(VAL_CFG_SUBSEC_NAVCONF); //Uncomment this line to save only the NAV settings to flash and BBR
}
void loop()
{
//Query the module as fast as possible
int32_t latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
int32_t longitude = myGPS.getLongitude();
Serial.print(F(" Lon: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
int32_t altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.println(F(" (mm)"));
}

183
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/*
Module Info - extracts and prints the full module information from UBX_MON_VER
using a custom command.
By: @mayopan
Date: May 9th, 2020
Based on:
Send Custom Command
By: Paul Clark (PaulZC)
Date: April 20th, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
Previously it was possible to create and send a custom packet
through the library but it would always appear to timeout as
some of the internal functions referred to the internal private
struct packetCfg.
The most recent version of the library allows sendCommand to
use a custom packet as if it were packetCfg and so:
- sendCommand will return a sfe_ublox_status_e enum as if
it had been called from within the library
- the custom packet will be updated with data returned by the module
(previously this was not possible from outside the library)
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#define MAX_PAYLOAD_SIZE 384 // Override MAX_PAYLOAD_SIZE for getModuleInfo which can return up to 348 bytes
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
// Extend the class for getModuleInfo
class SFE_UBLOX_GPS_ADD : public SFE_UBLOX_GPS
{
public:
boolean getModuleInfo(uint16_t maxWait = 1100); //Queries module, texts
struct minfoStructure // Structure to hold the module info (uses 341 bytes of RAM)
{
char swVersion[30];
char hwVersion[10];
uint8_t extensionNo = 0;
char extension[10][30];
} minfo;
};
SFE_UBLOX_GPS_ADD myGPS;
void setup()
{
Serial.begin(115200); // You may need to increase this for high navigation rates!
while (!Serial)
; //Wait for user to open terminal
Serial.println(F("SparkFun Ublox Example"));
Wire.begin();
//myGPS.enableDebugging(); // Uncomment this line to enable debug messages
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
Serial.print(F("Polling module info"));
if (myGPS.getModuleInfo(1100) == false) // Try to get the module info
{
Serial.print(F("getModuleInfo failed! Freezing..."));
while (1)
;
}
Serial.println();
Serial.println();
Serial.println(F("Module Info : "));
Serial.print(F("Soft version: "));
Serial.println(myGPS.minfo.swVersion);
Serial.print(F("Hard version: "));
Serial.println(myGPS.minfo.hwVersion);
Serial.print(F("Extensions:"));
Serial.println(myGPS.minfo.extensionNo);
for (int i = 0; i < myGPS.minfo.extensionNo; i++)
{
Serial.print(" ");
Serial.println(myGPS.minfo.extension[i]);
}
Serial.println();
Serial.println(F("Done!"));
}
void loop()
{
}
boolean SFE_UBLOX_GPS_ADD::getModuleInfo(uint16_t maxWait)
{
myGPS.minfo.hwVersion[0] = 0;
myGPS.minfo.swVersion[0] = 0;
for (int i = 0; i < 10; i++)
myGPS.minfo.extension[i][0] = 0;
myGPS.minfo.extensionNo = 0;
// Let's create our custom packet
uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes
// The next line creates and initialises the packet information which wraps around the payload
ubxPacket customCfg = {0, 0, 0, 0, 0, customPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
// The structure of ubxPacket is:
// uint8_t cls : The message Class
// uint8_t id : The message ID
// uint16_t len : Length of the payload. Does not include cls, id, or checksum bytes
// uint16_t counter : Keeps track of number of overall bytes received. Some responses are larger than 255 bytes.
// uint16_t startingSpot : The counter value needed to go past before we begin recording into payload array
// uint8_t *payload : The payload
// uint8_t checksumA : Given to us by the module. Checked against the rolling calculated A/B checksums.
// uint8_t checksumB
// sfe_ublox_packet_validity_e valid : Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked
// sfe_ublox_packet_validity_e classAndIDmatch : Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID
// sendCommand will return:
// SFE_UBLOX_STATUS_DATA_RECEIVED if the data we requested was read / polled successfully
// SFE_UBLOX_STATUS_DATA_SENT if the data we sent was writted successfully (ACK'd)
// Other values indicate errors. Please see the sfe_ublox_status_e enum for further details.
// Referring to the u-blox M8 Receiver Description and Protocol Specification we see that
// the module information can be read using the UBX-MON-VER message. So let's load our
// custom packet with the correct information so we can read (poll / get) the module information.
customCfg.cls = UBX_CLASS_MON; // This is the message Class
customCfg.id = UBX_MON_VER; // This is the message ID
customCfg.len = 0; // Setting the len (length) to zero let's us poll the current settings
customCfg.startingSpot = 0; // Always set the startingSpot to zero (unless you really know what you are doing)
// Now let's send the command. The module info is returned in customPayload
if (sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
return (false); //If command send fails then bail
// Now let's extract the module info from customPayload
uint16_t position = 0;
for (int i = 0; i < 30; i++)
{
minfo.swVersion[i] = customPayload[position];
position++;
}
for (int i = 0; i < 10; i++)
{
minfo.hwVersion[i] = customPayload[position];
position++;
}
while (customCfg.len >= position + 30)
{
for (int i = 0; i < 30; i++)
{
minfo.extension[minfo.extensionNo][i] = customPayload[position];
position++;
}
minfo.extensionNo++;
if (minfo.extensionNo > 9)
break;
}
return (true); //Success!
}

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/*
Powering off a ublox GPS module
By: bjorn
unsurv.org
Date: July 20th, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows you how to turn off the ublox module to lower the power consumption.
There are two functions: one just specifies a duration in milliseconds the other also specifies a pin on the GPS device to wake it up with.
By driving a voltage from LOW to HIGH or HIGH to LOW on the chosen module pin you wake the device back up.
Note: Doing so on the INT0 pin when using the regular powerOff(durationInMs) function will wake the device anyway. (tested on SAM-M8Q)
Note: While powered off, you should not query the device for data or it might wake up. This can be used to wake the device but is not recommended.
Works best when also putting your microcontroller to sleep.
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 GPS and a BlackBoard.
To force the device to wake up you need to connect to a pin (for example INT0) seperately on the module.
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 "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
// define a digital pin capable of driving HIGH and LOW
#define WAKEUP_PIN 5
// Possible GNSS interrupt pins for powerOffWithInterrupt are:
// VAL_RXM_PMREQ_WAKEUPSOURCE_UARTRX = uartrx
// VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0 = extint0 (default)
// VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT1 = extint1
// VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS = spics
// These values can be or'd (|) together to enable interrupts on multiple pins
void wakeUp() {
Serial.print("-- waking up module via pin " + String(WAKEUP_PIN));
Serial.println(" on your microcontroller --");
digitalWrite(WAKEUP_PIN, LOW);
delay(1000);
digitalWrite(WAKEUP_PIN, HIGH);
delay(1000);
digitalWrite(WAKEUP_PIN, LOW);
}
void setup() {
pinMode(WAKEUP_PIN, OUTPUT);
digitalWrite(WAKEUP_PIN, LOW);
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
//myGPS.enableDebugging(); // Enable debug messages
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
// Powering off for 20s, you should see the power consumption drop.
Serial.println("-- Powering off module for 20s --");
myGPS.powerOff(20000);
//myGPS.powerOffWithInterrupt(20000, VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0);
delay(10000);
// After 10 seconds wake the device via the specified pin on your microcontroller and module.
wakeUp();
}
void loop() {
//Do nothing
}

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/*
Read NMEA sentences over I2C using Ublox module SAM-M8Q, NEO-M8P, etc
By: Nathan Seidle
SparkFun Electronics
Date: August 22nd, 2018
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example reads the NMEA characters over I2C and pipes them to MicroNMEA
This example will output your current long/lat and satellites in view
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
For more MicroNMEA info see https://github.com/stevemarple/MicroNMEA
Hardware Connections:
Plug a Qwiic cable into the GPS 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
Go outside! Wait ~25 seconds and you should see your lat/long
*/
#include <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
#include <MicroNMEA.h> //http://librarymanager/All#MicroNMEA
char nmeaBuffer[100];
MicroNMEA nmea(nmeaBuffer, sizeof(nmeaBuffer));
void setup()
{
Serial.begin(115200);
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false)
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
}
void loop()
{
myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
if(nmea.isValid() == true)
{
long latitude_mdeg = nmea.getLatitude();
long longitude_mdeg = nmea.getLongitude();
Serial.print("Latitude (deg): ");
Serial.println(latitude_mdeg / 1000000., 6);
Serial.print("Longitude (deg): ");
Serial.println(longitude_mdeg / 1000000., 6);
}
else
{
Serial.print("No Fix - ");
Serial.print("Num. satellites: ");
Serial.println(nmea.getNumSatellites());
}
delay(250); //Don't pound too hard on the I2C bus
}
//This function gets called from the SparkFun Ublox Arduino Library
//As each NMEA character comes in you can specify what to do with it
//Useful for passing to other libraries like tinyGPS, MicroNMEA, or even
//a buffer, radio, etc.
void SFE_UBLOX_GPS::processNMEA(char incoming)
{
//Take the incoming char from the Ublox I2C port and pass it on to the MicroNMEA lib
//for sentence cracking
nmea.process(incoming);
}

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/*
Reading lat and long via UBX binary commands - no more NMEA parsing!
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to query a Ublox module for its lat/long/altitude. We also
turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
dramatically.
Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
to something google maps understands simply divide the numbers by 10,000,000. We
do this so that we don't have to use floating point numbers.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
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
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGPS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
Serial.println();
}
}

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/*
Get fix type and RTK fix type if available
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to query a Ublox module for fix type and RTK fix type.
The fix type is as follows:
0 = no fix
1 = dead reckoning (requires external sensors)
2 = 2D (not quite enough satellites in view)
3 = 3D (the standard fix)
4 = GNSS + dead reckoning (requires external sensors)
5 = Time fix only
Additionally, if we are doing RTK, we can figure out if we have a floating
RTK solution or if we have been able to resolve a fixec solution (better precision).
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
Wire.setClock(400000); //Optional. Increase I2C clock speed to 400kHz.
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
byte fixType = myGPS.getFixType();
Serial.print(F(" Fix: "));
if(fixType == 0) Serial.print(F("No fix"));
else if(fixType == 1) Serial.print(F("Dead reckoning"));
else if(fixType == 2) Serial.print(F("2D"));
else if(fixType == 3) Serial.print(F("3D"));
else if(fixType == 4) Serial.print(F("GNSS+Dead reckoning"));
byte RTK = myGPS.getCarrierSolutionType();
Serial.print(" RTK: ");
Serial.print(RTK);
if (RTK == 1) Serial.print(F("High precision float fix!"));
if (RTK == 2) Serial.print(F("High precision fix!"));
Serial.println();
}
}

83
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/*
Get Speed/Heading and dilution of precision via UBX binary commands - no more NMEA parsing!
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to query a Ublox module for its lat/long/altitude.
Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
to something google maps understands simply divide the numbers by 1,000,000. We
do this so that we don't have to use floating point numbers.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
long speed = myGPS.getGroundSpeed();
Serial.print(F(" Speed: "));
Serial.print(speed);
Serial.print(F(" (mm/s)"));
long heading = myGPS.getHeading();
Serial.print(F(" Heading: "));
Serial.print(heading);
Serial.print(F(" (degrees * 10^-5)"));
int pDOP = myGPS.getPDOP();
Serial.print(F(" pDOP: "));
Serial.print(pDOP / 100.0, 2);
Serial.println();
}
}

79
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/*
Turn on/off various NMEA sentences.
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to turn on/off the NMEA sentences being output
over UART1. We use the I2C interface on the Ublox module for configuration
but you won't see any output from this sketch. You'll need to hook up
a Serial Basic or other USB to Serial device to UART1 on your Ublox module
to see the output.
This example turns off all sentences except for the GPGGA and GPVTG sentences.
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 GPS and a RedBoard
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
Hookup a Serial Basic (https://www.sparkfun.com/products/15096) to UART1 on the Ublox module. Open a terminal at 57600bps
and see GPGGA and GPVTG sentences.
*/
#include <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
unsigned long lastGPSSend = 0;
void setup()
{
Serial.begin(115200); // Serial debug output over USB visible from Arduino IDE
Serial.println("Example showing how to enable/disable certain NMEA sentences");
Wire.begin();
if (myGPS.begin() == false)
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
//Disable or enable various NMEA sentences over the UART1 interface
myGPS.disableNMEAMessage(UBX_NMEA_GLL, COM_PORT_UART1); //Several of these are on by default on virgin ublox board so let's disable them
myGPS.disableNMEAMessage(UBX_NMEA_GSA, COM_PORT_UART1);
myGPS.disableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1);
myGPS.disableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1);
myGPS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_UART1); //Only leaving GGA/VTG enabled at current navigation rate
myGPS.enableNMEAMessage(UBX_NMEA_VTG, COM_PORT_UART1);
//Here's the advanced configure method
//Some of the other examples in this library enable the PVT message so let's disable it
myGPS.configureMessage(UBX_CLASS_NAV, UBX_NAV_PVT, COM_PORT_UART1, 0); //Message Class, ID, and port we want to configure, sendRate of 0 (disable).
myGPS.setUART1Output(COM_TYPE_NMEA); //Turn off UBX and RTCM sentences on the UART1 interface
myGPS.setSerialRate(57600); //Set UART1 to 57600bps.
myGPS.saveConfiguration(); //Save these settings to NVM
Serial.println(F("Messages configured. NMEA now being output over the UART1 port on the Ublox module at 57600bps."));
}
void loop()
{
if (millis() - lastGPSSend > 200)
{
myGPS.checkUblox(); //See if new data is available, but we don't want to get NMEA here. Go check UART1.
lastGPSSend = millis();
}
}

91
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/*
Set update rate to 10Hz
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to increase the output of the module from 1Hz to 4Hz.
The max output rate various from model to model. RTFM! But you cannot do harm
to the module.
We also disable NMEA output on the I2C bus and use only UBX. This dramatically
decreases the amount of data that needs to be transmitted.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
long startTime = 0; //Used to calc the actual update rate.
long updateCount = 0; //Used to calc the actual update rate.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
Wire.setClock(400000);
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGPS.setNavigationFrequency(10); //Set output to 10 times a second
byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
Serial.print("Current update rate:");
Serial.println(rate);
startTime = millis();
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available. This is defined
//by the update freq.
if (millis() - lastTime > 25)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
updateCount++;
//Calculate the actual update rate based on the sketch start time and the
//number of updates we've received.
Serial.print(F(" Rate: "));
Serial.print( updateCount / ((millis() - startTime) / 1000.0), 2);
Serial.print(F("Hz"));
Serial.println();
}
}

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/*
Reading the protocol version of a Ublox module
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to query a Ublox module for its protocol version.
Various modules have various protocol version. We've seen v18 up to v27. Depending
on the protocol version there are different commands available. This is a handy
way to predict which commands will or won't work.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
Serial.print(F("Version: "));
byte versionHigh = myGPS.getProtocolVersionHigh();
Serial.print(versionHigh);
Serial.print(".");
byte versionLow = myGPS.getProtocolVersionLow();
Serial.print(versionLow);
}
void loop()
{
//Do nothing
}

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/*
Change the I2C address of a Ublox module using I2C
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to change the I2C address of a Ublox module
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Tracks the passing of 2000ms (2 seconds)
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
byte oldAddress = 0x42; //The default address for Ublox modules is 0x42
byte newAddress = 0x3F; //Address you want to change to. Valid is 0x08 to 0x77.
while (Serial.available()) Serial.read(); //Trash any incoming chars
Serial.print("Press a key to change address to 0x");
Serial.println(newAddress, HEX);
while (Serial.available() == false) ; //Wait for user to send character
if (myGPS.begin(Wire, oldAddress) == true) //Connect to the Ublox module using Wire port and the old address
{
Serial.print("GPS found at address 0x");
Serial.println(oldAddress, HEX);
myGPS.setI2CAddress(newAddress); //Change I2C address of this device
//Device's I2C address is stored to memory and loaded on each power-on
if (myGPS.begin(Wire, newAddress) == true)
{
myGPS.saveConfiguration(); //Save the current settings to flash and BBR
Serial.print("Address successfully changed to 0x");
Serial.println(newAddress, HEX);
Serial.print("Now load another example sketch using .begin(Wire, 0x");
Serial.print(newAddress, HEX);
Serial.println(") to use this GPS module");
Serial.println("Freezing...");
while (1);
}
}
//Something went wrong, begin looking for the I2C device
Serial.println("Address change failed. Beginning an I2C scan.");
Wire.begin();
}
void loop() {
byte address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for (address = 1; address < 127; address++ )
{
Wire.beginTransmission(address);
byte error = Wire.endTransmission();
if (error == 0)
{
Serial.print("I2C device found at address 0x");
if (address < 16)
Serial.print("0");
Serial.print(address, HEX);
Serial.println(" !");
nDevices++;
}
else if (error == 4)
{
Serial.print("Unknown error at address 0x");
if (address < 16)
Serial.print("0");
Serial.println(address, HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");
delay(5000); // wait 5 seconds for next scan
}

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/*
Send UBX binary commands to enable RTCM sentences on Ublox NEO-M8P 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 sends the command to enable the four RTCM messages needed for RTK. This
is the first part of a larger tutorial and example to setup an RTK base station.
These commands are only accepted by the NEO-M8P module.
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while(!Serial); //Wait for user to open terminal
Serial.println("Ublox RTCM Enable Example");
Wire.begin();
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
while(Serial.available()) Serial.read(); //Clear any latent chars in serial buffer
Serial.println("Press any key to send commands to enable RTCM 3.x");
while(Serial.available() == 0) ; //Wait for user to press a key
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 = 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)
{
Serial.println("RTCM messages enabled");
}
else
{
Serial.println("RTCM failed to enable. Are you sure you have an NEO-M8P?");
while(1); //Freeze
}
//RTCM is now enabled but we haven't done a 'survey-in'
//See example 4 for the full Base RTK setup
}
void loop()
{
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
}

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/*
Send UBX binary commands to enable RTCM sentences on Ublox 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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("Ublox NEO-M8P-2 base station example");
Wire.begin();
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
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
while (Serial.available()) Serial.read(); //Clear any latent chars in serial buffer
Serial.println("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
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
if (response == false)
{
Serial.println("Failed to get Survey In status");
while (1); //Freeze
}
if (myGPS.svin.active == true)
{
Serial.print("Survey already in progress.");
}
else
{
//Start survey
response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in, 300 seconds, 2.0m
if (response == false)
{
Serial.println("Survey start failed");
while (1);
}
Serial.println("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 (myGPS.svin.valid == false)
{
if(Serial.available())
{
byte incoming = Serial.read();
if(incoming == 'x')
{
//Stop survey mode
response = myGPS.disableSurveyMode(); //Disable survey
Serial.println("Survey stopped");
break;
}
}
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
if (response == true)
{
Serial.print("Press x to end survey - ");
Serial.print("Time elapsed: ");
Serial.print((String)myGPS.svin.observationTime);
Serial.print(" Accuracy: ");
Serial.print((String)myGPS.svin.meanAccuracy);
Serial.println();
}
else
{
Serial.println("SVIN request failed");
}
delay(1000);
}
Serial.println("Survey valid!");
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)
{
Serial.println("RTCM messages enabled");
}
else
{
Serial.println("RTCM failed to enable. Are you sure you have an NEO-M8P?");
while (1); //Freeze
}
Serial.println("Base survey complete! RTCM now broadcasting.");
}
void loop()
{
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
}
//This function gets called from the SparkFun Ublox 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_GPS::processRTCM(uint8_t incoming)
{
//Let's just pretty-print the HEX values for now
if (myGPS.rtcmFrameCounter % 16 == 0) Serial.println();
Serial.print(" ");
if (incoming < 0x10) Serial.print("0");
Serial.print(incoming, HEX);
}

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/*
Send UBX binary commands to enable RTCM sentences on Ublox 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 GPS and a BlackBoard
Plug a SerLCD onto the Qwiic bus
If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
Watch the output on the LCD or open the serial monitor at 115200 baud to see the output
*/
#define STAT_LED 13
#include <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
#include <SerLCD.h> //Click here to get the library: http://librarymanager/All#SparkFun_SerLCD
SerLCD lcd; // Initialize the library with default I2C address 0x72
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("Ublox GPS I2C Test");
Wire.begin();
pinMode(STAT_LED, OUTPUT);
digitalWrite(STAT_LED, LOW);
lcd.begin(Wire); //Set up the LCD for Serial communication at 9600bps
lcd.setBacklight(0x4B0082); //indigo, a kind of dark purplish blue
lcd.clear();
lcd.print(F("LCD Ready"));
myGPS.begin(Wire);
if (myGPS.isConnected() == false)
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
lcd.setCursor(0, 1);
lcd.print(F("No GPS detected"));
while (1);
}
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
lcd.setCursor(0, 1);
lcd.print("GPS Detected");
//Check if Survey is in Progress before initiating one
boolean response;
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
if (response == false)
{
Serial.println(F("Failed to get Survey In status"));
while (1); //Freeze
}
if (myGPS.svin.active == true)
{
Serial.print(F("Survey already in progress."));
lcd.setCursor(0, 2);
lcd.print(F("Survey already going"));
}
else
{
//Start survey
response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in, 300 seconds, 2.0m
if (response == false)
{
Serial.println(F("Survey start failed"));
lcd.setCursor(0, 3);
lcd.print(F("Survey start failed"));
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
lcd.clear();
lcd.print(F("Survey in progress"));
//Begin waiting for survey to complete
while (myGPS.svin.valid == false)
{
if (Serial.available())
{
byte incoming = Serial.read();
if (incoming == 'x')
{
//Stop survey mode
response = myGPS.disableSurveyMode(); //Disable survey
Serial.println(F("Survey stopped"));
break;
}
}
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
if (response == true)
{
Serial.print(F("Press x to end survey - "));
Serial.print(F("Time elapsed: "));
Serial.print((String)myGPS.svin.observationTime);
lcd.setCursor(0, 1);
lcd.print(F("Elapsed: "));
lcd.print((String)myGPS.svin.observationTime);
Serial.print(F(" Accuracy: "));
Serial.print((String)myGPS.svin.meanAccuracy);
Serial.println();
lcd.setCursor(0, 2);
lcd.print(F("Accuracy: "));
lcd.print((String)myGPS.svin.meanAccuracy);
}
else
{
Serial.println(F("SVIN request failed"));
}
delay(1000);
}
Serial.println(F("Survey valid!"));
response = true;
response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, UBX_RTCM_I2C_PORT, 1); //Enable message 1005 to output through I2C port, message every second
response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, UBX_RTCM_I2C_PORT, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, UBX_RTCM_I2C_PORT, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, UBX_RTCM_I2C_PORT, 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."));
lcd.clear();
lcd.print(F("Transmitting RTCM"));
}
void loop()
{
myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
//Do anything you want. Call checkUblox() every second. NEO-M8P-2 has TX buffer of 4k bytes.
delay(250); //Don't pound too hard on the I2C bus
}
//This function gets called from the SparkFun Ublox 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_GPS::processRTCM(uint8_t incoming)
{
//Let's just pretty-print the HEX values for now
if (myGPS.rtcmFrameCounter % 16 == 0) Serial.println();
Serial.print(" ");
if (incoming < 0x10) Serial.print("0");
Serial.print(incoming, HEX);
}

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/*
Reading lat, long and UTC time via UBX binary commands - no more NMEA parsing!
By: Paul Clark and Nathan Seidle
Using the library modifications provided by @blazczak and @geeksville
SparkFun Electronics
Date: June 16th, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to query a Ublox module for its lat/long/altitude. We also
turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
dramatically.
Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
to something google maps understands simply divide the numbers by 10,000,000. We
do this so that we don't have to use floating point numbers.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library_Series_6_7.h"
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
//myGPS.enableDebugging(); // Uncomment this line to enable debug messages
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
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
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
Serial.print(F(" Time: "));
byte Hour = myGPS.getHour();
if (Hour < 10)
{
Serial.print(F("0"));
}
Serial.print(Hour);
Serial.print(F(":"));
byte Minute = myGPS.getMinute();
if (Minute < 10)
{
Serial.print(F("0"));
}
Serial.print(Minute);
Serial.print(F(":"));
byte Second = myGPS.getSecond();
if (Second < 10)
{
Serial.print(F("0"));
}
Serial.print(Second);
Serial.println();
}
}

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/*
This is a library written for the Ublox ZED-F9P and NEO-M8P-2
Updated: June 16th, 2020
This copy includes changes by @blazczak and @geeksville to
provide support for the older series 6 and 7 modules.
Disclaimer: SparkFun has not verified this copy of the library on either series 6 or 7.
It should work, it looks like it will work, but we have no way of confirming this.
We cannot guarantee that it will work reliably in your application.
Do you like this library? Help support SparkFun. Buy a board!
https://www.sparkfun.com/products/15136
https://www.sparkfun.com/products/15005
https://www.sparkfun.com/products/15733
https://www.sparkfun.com/products/15193
https://www.sparkfun.com/products/15210
Original library written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
This library handles configuring and handling the responses
from a Ublox GPS module. Works with most modules from Ublox including
the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others.
https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
Development environment specifics:
Arduino IDE 1.8.5
SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
The MIT License (MIT)
Copyright (c) 2016 SparkFun Electronics
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
and/or sell copies of the Software, and to permit persons to whom the Software is furnished to
do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial
portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef SPARKFUN_UBLOX_ARDUINO_LIBRARY_H
#define SPARKFUN_UBLOX_ARDUINO_LIBRARY_H
#if (ARDUINO >= 100)
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <Wire.h>
//Platform specific configurations
//Define the size of the I2C buffer based on the platform the user has
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
//I2C_BUFFER_LENGTH is defined in Wire.H
#define I2C_BUFFER_LENGTH BUFFER_LENGTH
#elif defined(__SAMD21G18A__)
//SAMD21 uses RingBuffer.h
#define I2C_BUFFER_LENGTH SERIAL_BUFFER_SIZE
//#elif __MK20DX256__
//Teensy
#endif
#ifndef I2C_BUFFER_LENGTH
//The catch-all default is 32
#define I2C_BUFFER_LENGTH 32
//#define I2C_BUFFER_LENGTH 16 //For testing on Artemis
#endif
// Define Serial for SparkFun SAMD based boards.
// Boards like the RedBoard Turbo use SerialUSB (not Serial).
// But other boards like the SAMD51 Thing Plus use Serial (not SerialUSB).
// The next nine lines let the code compile cleanly on as many SAMD boards as possible.
#if defined(ARDUINO_ARCH_SAMD) // Is this a SAMD board?
#if defined(USB_VID) // Is the USB Vendor ID defined?
#if (USB_VID == 0x1B4F) // Is this a SparkFun board?
#if !defined(ARDUINO_SAMD51_THING_PLUS) // If it is not a SAMD51 Thing Plus
#define Serial SerialUSB // Define Serial as SerialUSB
#endif
#endif
#endif
#endif
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
//Define a digital pin to aid checksum failure capture and analysis
//Leave set to -1 if not needed
const int checksumFailurePin = -1;
// Global Status Returns
typedef enum
{
SFE_UBLOX_STATUS_SUCCESS,
SFE_UBLOX_STATUS_FAIL,
SFE_UBLOX_STATUS_CRC_FAIL,
SFE_UBLOX_STATUS_TIMEOUT,
SFE_UBLOX_STATUS_COMMAND_NACK, // Indicates that the command was unrecognised, invalid or that the module is too busy to respond
SFE_UBLOX_STATUS_OUT_OF_RANGE,
SFE_UBLOX_STATUS_INVALID_ARG,
SFE_UBLOX_STATUS_INVALID_OPERATION,
SFE_UBLOX_STATUS_MEM_ERR,
SFE_UBLOX_STATUS_HW_ERR,
SFE_UBLOX_STATUS_DATA_SENT, // This indicates that a 'set' was successful
SFE_UBLOX_STATUS_DATA_RECEIVED, // This indicates that a 'get' (poll) was successful
SFE_UBLOX_STATUS_I2C_COMM_FAILURE,
SFE_UBLOX_STATUS_DATA_OVERWRITTEN // This is an error - the data was valid but has been or _is being_ overwritten by another packet
} sfe_ublox_status_e;
// ubxPacket validity
typedef enum
{
SFE_UBLOX_PACKET_VALIDITY_NOT_VALID,
SFE_UBLOX_PACKET_VALIDITY_VALID,
SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED,
SFE_UBLOX_PACKET_NOTACKNOWLEDGED // This indicates that we received a NACK
} sfe_ublox_packet_validity_e;
// Identify which packet buffer is in use:
// packetCfg (or a custom packet), packetAck or packetBuf
typedef enum
{
SFE_UBLOX_PACKET_PACKETCFG,
SFE_UBLOX_PACKET_PACKETACK,
SFE_UBLOX_PACKET_PACKETBUF
} sfe_ublox_packet_buffer_e;
//Registers
const uint8_t UBX_SYNCH_1 = 0xB5;
const uint8_t UBX_SYNCH_2 = 0x62;
//The following are UBX Class IDs. Descriptions taken from ZED-F9P Interface Description Document page 32, NEO-M8P Interface Description page 145
const uint8_t UBX_CLASS_NAV = 0x01; //Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used
const uint8_t UBX_CLASS_RXM = 0x02; //Receiver Manager Messages: Satellite Status, RTC Status
const uint8_t UBX_CLASS_INF = 0x04; //Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice
const uint8_t UBX_CLASS_ACK = 0x05; //Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages
const uint8_t UBX_CLASS_CFG = 0x06; //Configuration Input Messages: Configure the receiver.
const uint8_t UBX_CLASS_UPD = 0x09; //Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc.
const uint8_t UBX_CLASS_MON = 0x0A; //Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status
const uint8_t UBX_CLASS_AID = 0x0B; //(NEO-M8P ONLY!!!) AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input
const uint8_t UBX_CLASS_TIM = 0x0D; //Timing Messages: Time Pulse Output, Time Mark Results
const uint8_t UBX_CLASS_ESF = 0x10; //(NEO-M8P ONLY!!!) External Sensor Fusion Messages: External Sensor Measurements and Status Information
const uint8_t UBX_CLASS_MGA = 0x13; //Multiple GNSS Assistance Messages: Assistance data for various GNSS
const uint8_t UBX_CLASS_LOG = 0x21; //Logging Messages: Log creation, deletion, info and retrieval
const uint8_t UBX_CLASS_SEC = 0x27; //Security Feature Messages
const uint8_t UBX_CLASS_HNR = 0x28; //(NEO-M8P ONLY!!!) High Rate Navigation Results Messages: High rate time, position speed, heading
const uint8_t UBX_CLASS_NMEA = 0xF0; //NMEA Strings: standard NMEA strings
//The following are used for configuration. Descriptions are from the ZED-F9P Interface Description pg 33-34 and NEO-M9N Interface Description pg 47-48
const uint8_t UBX_CFG_ANT = 0x13; //Antenna Control Settings. Used to configure the antenna control settings
const uint8_t UBX_CFG_BATCH = 0x93; //Get/set data batching configuration.
const uint8_t UBX_CFG_CFG = 0x09; //Clear, Save, and Load Configurations. Used to save current configuration
const uint8_t UBX_CFG_DAT = 0x06; //Set User-defined Datum or The currently defined Datum
const uint8_t UBX_CFG_DGNSS = 0x70; //DGNSS configuration
const uint8_t UBX_CFG_GEOFENCE = 0x69; //Geofencing configuration. Used to configure a geofence
const uint8_t UBX_CFG_GNSS = 0x3E; //GNSS system configuration
const uint8_t UBX_CFG_INF = 0x02; //Depending on packet length, either: poll configuration for one protocol, or information message configuration
const uint8_t UBX_CFG_ITFM = 0x39; //Jamming/Interference Monitor configuration
const uint8_t UBX_CFG_LOGFILTER = 0x47; //Data Logger Configuration
const uint8_t UBX_CFG_MSG = 0x01; //Poll a message configuration, or Set Message Rate(s), or Set Message Rate
const uint8_t UBX_CFG_NAV5 = 0x24; //Navigation Engine Settings. Used to configure the navigation engine including the dynamic model.
const uint8_t UBX_CFG_NAVX5 = 0x23; //Navigation Engine Expert Settings
const uint8_t UBX_CFG_NMEA = 0x17; //Extended NMEA protocol configuration V1
const uint8_t UBX_CFG_ODO = 0x1E; //Odometer, Low-speed COG Engine Settings
const uint8_t UBX_CFG_PM2 = 0x3B; //Extended power management configuration
const uint8_t UBX_CFG_PMS = 0x86; //Power mode setup
const uint8_t UBX_CFG_PRT = 0x00; //Used to configure port specifics. Polls the configuration for one I/O Port, or Port configuration for UART ports, or Port configuration for USB port, or Port configuration for SPI port, or Port configuration for DDC port
const uint8_t UBX_CFG_PWR = 0x57; //Put receiver in a defined power state
const uint8_t UBX_CFG_RATE = 0x08; //Navigation/Measurement Rate Settings. Used to set port baud rates.
const uint8_t UBX_CFG_RINV = 0x34; //Contents of Remote Inventory
const uint8_t UBX_CFG_RST = 0x04; //Reset Receiver / Clear Backup Data Structures. Used to reset device.
const uint8_t UBX_CFG_RXM = 0x11; //RXM configuration
const uint8_t UBX_CFG_SBAS = 0x16; //SBAS configuration
const uint8_t UBX_CFG_TMODE3 = 0x71; //Time Mode Settings 3. Used to enable Survey In Mode
const uint8_t UBX_CFG_TP5 = 0x31; //Time Pulse Parameters
const uint8_t UBX_CFG_USB = 0x1B; //USB Configuration
const uint8_t UBX_CFG_VALDEL = 0x8C; //Used for config of higher version Ublox modules (ie protocol v27 and above). Deletes values corresponding to provided keys/ provided keys with a transaction
const uint8_t UBX_CFG_VALGET = 0x8B; //Used for config of higher version Ublox modules (ie protocol v27 and above). Configuration Items
const uint8_t UBX_CFG_VALSET = 0x8A; //Used for config of higher version Ublox modules (ie protocol v27 and above). Sets values corresponding to provided key-value pairs/ provided key-value pairs within a transaction.
//The following are used to enable NMEA messages. Descriptions come from the NMEA messages overview in the ZED-F9P Interface Description
const uint8_t UBX_NMEA_MSB = 0xF0; //All NMEA enable commands have 0xF0 as MSB
const uint8_t UBX_NMEA_DTM = 0x0A; //GxDTM (datum reference)
const uint8_t UBX_NMEA_GAQ = 0x45; //GxGAQ (poll a standard message (if the current talker ID is GA))
const uint8_t UBX_NMEA_GBQ = 0x44; //GxGBQ (poll a standard message (if the current Talker ID is GB))
const uint8_t UBX_NMEA_GBS = 0x09; //GxGBS (GNSS satellite fault detection)
const uint8_t UBX_NMEA_GGA = 0x00; //GxGGA (Global positioning system fix data)
const uint8_t UBX_NMEA_GLL = 0x01; //GxGLL (latitude and long, whith time of position fix and status)
const uint8_t UBX_NMEA_GLQ = 0x43; //GxGLQ (poll a standard message (if the current Talker ID is GL))
const uint8_t UBX_NMEA_GNQ = 0x42; //GxGNQ (poll a standard message (if the current Talker ID is GN))
const uint8_t UBX_NMEA_GNS = 0x0D; //GxGNS (GNSS fix data)
const uint8_t UBX_NMEA_GPQ = 0x040; //GxGPQ (poll a standard message (if the current Talker ID is GP))
const uint8_t UBX_NMEA_GRS = 0x06; //GxGRS (GNSS range residuals)
const uint8_t UBX_NMEA_GSA = 0x02; //GxGSA (GNSS DOP and Active satellites)
const uint8_t UBX_NMEA_GST = 0x07; //GxGST (GNSS Pseudo Range Error Statistics)
const uint8_t UBX_NMEA_GSV = 0x03; //GxGSV (GNSS satellites in view)
const uint8_t UBX_NMEA_RMC = 0x04; //GxRMC (Recommended minimum data)
const uint8_t UBX_NMEA_TXT = 0x41; //GxTXT (text transmission)
const uint8_t UBX_NMEA_VLW = 0x0F; //GxVLW (dual ground/water distance)
const uint8_t UBX_NMEA_VTG = 0x05; //GxVTG (course over ground and Ground speed)
const uint8_t UBX_NMEA_ZDA = 0x08; //GxZDA (Time and Date)
//The following are used to configure the NMEA protocol main talker ID and GSV talker ID
const uint8_t UBX_NMEA_MAINTALKERID_NOTOVERRIDDEN = 0x00; //main talker ID is system dependent
const uint8_t UBX_NMEA_MAINTALKERID_GP = 0x01; //main talker ID is GPS
const uint8_t UBX_NMEA_MAINTALKERID_GL = 0x02; //main talker ID is GLONASS
const uint8_t UBX_NMEA_MAINTALKERID_GN = 0x03; //main talker ID is combined receiver
const uint8_t UBX_NMEA_MAINTALKERID_GA = 0x04; //main talker ID is Galileo
const uint8_t UBX_NMEA_MAINTALKERID_GB = 0x05; //main talker ID is BeiDou
const uint8_t UBX_NMEA_GSVTALKERID_GNSS = 0x00; //GNSS specific Talker ID (as defined by NMEA)
const uint8_t UBX_NMEA_GSVTALKERID_MAIN = 0x01; //use the main Talker ID
//The following are used to configure INF UBX messages (information messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
const uint8_t UBX_INF_CLASS = 0x04; //All INF messages have 0x04 as the class
const uint8_t UBX_INF_DEBUG = 0x04; //ASCII output with debug contents
const uint8_t UBX_INF_ERROR = 0x00; //ASCII output with error contents
const uint8_t UBX_INF_NOTICE = 0x02; //ASCII output with informational contents
const uint8_t UBX_INF_TEST = 0x03; //ASCII output with test contents
const uint8_t UBX_INF_WARNING = 0x01; //ASCII output with warning contents
//The following are used to configure LOG UBX messages (loggings messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
const uint8_t UBX_LOG_CREATE = 0x07; //Create Log File
const uint8_t UBX_LOG_ERASE = 0x03; //Erase Logged Data
const uint8_t UBX_LOG_FINDTIME = 0x0E; //Find index of a log entry based on a given time, or response to FINDTIME requested
const uint8_t UBX_LOG_INFO = 0x08; //Poll for log information, or Log information
const uint8_t UBX_LOG_RETRIEVEPOSEXTRA = 0x0F; //Odometer log entry
const uint8_t UBX_LOG_RETRIEVEPOS = 0x0B; //Position fix log entry
const uint8_t UBX_LOG_RETRIEVESTRING = 0x0D; //Byte string log entry
const uint8_t UBX_LOG_RETRIEVE = 0x09; //Request log data
const uint8_t UBX_LOG_STRING = 0x04; //Store arbitrary string on on-board flash
//The following are used to configure MGA UBX messages (Multiple GNSS Assistance Messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
const uint8_t UBX_MGA_ACK_DATA0 = 0x60; //Multiple GNSS Acknowledge message
const uint8_t UBX_MGA_BDS_EPH = 0x03; //BDS Ephemeris Assistance
const uint8_t UBX_MGA_BDS_ALM = 0x03; //BDS Almanac Assistance
const uint8_t UBX_MGA_BDS_HEALTH = 0x03; //BDS Health Assistance
const uint8_t UBX_MGA_BDS_UTC = 0x03; //BDS UTC Assistance
const uint8_t UBX_MGA_BDS_IONO = 0x03; //BDS Ionospheric Assistance
const uint8_t UBX_MGA_DBD = 0x80; //Either: Poll the Navigation Database, or Navigation Database Dump Entry
const uint8_t UBX_MGA_GAL_EPH = 0x02; //Galileo Ephemeris Assistance
const uint8_t UBX_MGA_GAL_ALM = 0x02; //Galileo Almanac Assitance
const uint8_t UBX_MGA_GAL_TIMOFFSET = 0x02; //Galileo GPS time offset assistance
const uint8_t UBX_MGA_GAL_UTC = 0x02; //Galileo UTC Assistance
const uint8_t UBX_MGA_GLO_EPH = 0x06; //GLONASS Ephemeris Assistance
const uint8_t UBX_MGA_GLO_ALM = 0x06; //GLONASS Almanac Assistance
const uint8_t UBX_MGA_GLO_TIMEOFFSET = 0x06; //GLONASS Auxiliary Time Offset Assistance
const uint8_t UBX_MGA_GPS_EPH = 0x00; //GPS Ephemeris Assistance
const uint8_t UBX_MGA_GPS_ALM = 0x00; //GPS Almanac Assistance
const uint8_t UBX_MGA_GPS_HEALTH = 0x00; //GPS Health Assistance
const uint8_t UBX_MGA_GPS_UTC = 0x00; //GPS UTC Assistance
const uint8_t UBX_MGA_GPS_IONO = 0x00; //GPS Ionosphere Assistance
const uint8_t UBX_MGA_INI_POS_XYZ = 0x40; //Initial Position Assistance
const uint8_t UBX_MGA_INI_POS_LLH = 0x40; //Initial Position Assitance
const uint8_t UBX_MGA_INI_TIME_UTC = 0x40; //Initial Time Assistance
const uint8_t UBX_MGA_INI_TIME_GNSS = 0x40; //Initial Time Assistance
const uint8_t UBX_MGA_INI_CLKD = 0x40; //Initial Clock Drift Assitance
const uint8_t UBX_MGA_INI_FREQ = 0x40; //Initial Frequency Assistance
const uint8_t UBX_MGA_INI_EOP = 0x40; //Earth Orientation Parameters Assistance
const uint8_t UBX_MGA_QZSS_EPH = 0x05; //QZSS Ephemeris Assistance
const uint8_t UBX_MGA_QZSS_ALM = 0x05; //QZSS Almanac Assistance
const uint8_t UBX_MGA_QZAA_HEALTH = 0x05; //QZSS Health Assistance
//The following are used to configure the MON UBX messages (monitoring messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35)
const uint8_t UBX_MON_COMMS = 0x36; //Comm port information
const uint8_t UBX_MON_GNSS = 0x28; //Information message major GNSS selection
const uint8_t UBX_MON_HW2 = 0x0B; //Extended Hardware Status
const uint8_t UBX_MON_HW3 = 0x37; //HW I/O pin information
const uint8_t UBX_MON_HW = 0x09; //Hardware Status
const uint8_t UBX_MON_IO = 0x02; //I/O Subsystem Status
const uint8_t UBX_MON_MSGPP = 0x06; //Message Parse and Process Status
const uint8_t UBX_MON_PATCH = 0x27; //Output information about installed patches
const uint8_t UBX_MON_RF = 0x38; //RF information
const uint8_t UBX_MON_RXBUF = 0x07; //Receiver Buffer Status
const uint8_t UBX_MON_RXR = 0x21; //Receiver Status Information
const uint8_t UBX_MON_TXBUF = 0x08; //Transmitter Buffer Status. Used for query tx buffer size/state.
const uint8_t UBX_MON_VER = 0x04; //Receiver/Software Version. Used for obtaining Protocol Version.
//The following are used to configure the NAV UBX messages (navigation results messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35-36)
const uint8_t UBX_NAV_ATT = 0x05; //Vehicle "Attitude" Solution
const uint8_t UBX_NAV_CLOCK = 0x22; //Clock Solution
const uint8_t UBX_NAV_DOP = 0x04; //Dilution of precision
const uint8_t UBX_NAV_EOE = 0x61; //End of Epoch
const uint8_t UBX_NAV_GEOFENCE = 0x39; //Geofencing status. Used to poll the geofence status
const uint8_t UBX_NAV_HPPOSECEF = 0x13; //High Precision Position Solution in ECEF. Used to find our positional accuracy (high precision).
const uint8_t UBX_NAV_HPPOSLLH = 0x14; //High Precision Geodetic Position Solution. Used for obtaining lat/long/alt in high precision
const uint8_t UBX_NAV_ODO = 0x09; //Odometer Solution
const uint8_t UBX_NAV_ORB = 0x34; //GNSS Orbit Database Info
const uint8_t UBX_NAV_POSECEF = 0x01; //Position Solution in ECEF
const uint8_t UBX_NAV_POSLLH = 0x02; //Geodetic Position Solution
const uint8_t UBX_NAV_PVT = 0x07; //All the things! Position, velocity, time, PDOP, height, h/v accuracies, number of satellites. Navigation Position Velocity Time Solution.
const uint8_t UBX_NAV_RELPOSNED = 0x3C; //Relative Positioning Information in NED frame
const uint8_t UBX_NAV_RESETODO = 0x10; //Reset odometer
const uint8_t UBX_NAV_SAT = 0x35; //Satellite Information
const uint8_t UBX_NAV_SIG = 0x43; //Signal Information
const uint8_t UBX_NAV_STATUS = 0x03; //Receiver Navigation Status
const uint8_t UBX_NAV_SVIN = 0x3B; //Survey-in data. Used for checking Survey In status
const uint8_t UBX_NAV_TIMEBDS = 0x24; //BDS Time Solution
const uint8_t UBX_NAV_TIMEGAL = 0x25; //Galileo Time Solution
const uint8_t UBX_NAV_TIMEGLO = 0x23; //GLO Time Solution
const uint8_t UBX_NAV_TIMEGPS = 0x20; //GPS Time Solution
const uint8_t UBX_NAV_TIMELS = 0x26; //Leap second event information
const uint8_t UBX_NAV_TIMEUTC = 0x21; //UTC Time Solution
const uint8_t UBX_NAV_VELECEF = 0x11; //Velocity Solution in ECEF
const uint8_t UBX_NAV_VELNED = 0x12; //Velocity Solution in NED
//The following are used to configure the RXM UBX messages (receiver manager messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
const uint8_t UBX_RXM_MEASX = 0x14; //Satellite Measurements for RRLP
const uint8_t UBX_RXM_PMREQ = 0x41; //Requests a Power Management task (two differenent packet sizes)
const uint8_t UBX_RXM_RAWX = 0x15; //Multi-GNSS Raw Measurement Data
const uint8_t UBX_RXM_RLM = 0x59; //Galileo SAR Short-RLM report (two different packet sizes)
const uint8_t UBX_RXM_RTCM = 0x32; //RTCM input status
const uint8_t UBX_RXM_SFRBX = 0x13; //Boradcast Navigation Data Subframe
//The following are used to configure the SEC UBX messages (security feature messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
const uint8_t UBX_SEC_UNIQID = 0x03; //Unique chip ID
//The following are used to configure the TIM UBX messages (timing messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
const uint8_t UBX_TIM_TM2 = 0x03; //Time mark data
const uint8_t UBX_TIM_TP = 0x01; //Time Pulse Timedata
const uint8_t UBX_TIM_VRFY = 0x06; //Sourced Time Verification
//The following are used to configure the UPD UBX messages (firmware update messages). Descriptions from UBX messages overview (ZED-F9P Interface Description Document page 36)
const uint8_t UBX_UPD_SOS = 0x14; //Poll Backup Fil Restore Status, Create Backup File in Flash, Clear Backup File in Flash, Backup File Creation Acknowledge, System Restored from Backup
//The following are used to enable RTCM messages
const uint8_t UBX_RTCM_MSB = 0xF5; //All RTCM enable commands have 0xF5 as MSB
const uint8_t UBX_RTCM_1005 = 0x05; //Stationary RTK reference ARP
const uint8_t UBX_RTCM_1074 = 0x4A; //GPS MSM4
const uint8_t UBX_RTCM_1077 = 0x4D; //GPS MSM7
const uint8_t UBX_RTCM_1084 = 0x54; //GLONASS MSM4
const uint8_t UBX_RTCM_1087 = 0x57; //GLONASS MSM7
const uint8_t UBX_RTCM_1094 = 0x5E; //Galileo MSM4
const uint8_t UBX_RTCM_1097 = 0x61; //Galileo MSM7
const uint8_t UBX_RTCM_1124 = 0x7C; //BeiDou MSM4
const uint8_t UBX_RTCM_1127 = 0x7F; //BeiDou MSM7
const uint8_t UBX_RTCM_1230 = 0xE6; //GLONASS code-phase biases, set to once every 10 seconds
const uint8_t UBX_RTCM_4072_0 = 0xFE; //Reference station PVT (ublox proprietary RTCM message)
const uint8_t UBX_RTCM_4072_1 = 0xFD; //Additional reference station information (ublox proprietary RTCM message)
const uint8_t UBX_ACK_NACK = 0x00;
const uint8_t UBX_ACK_ACK = 0x01;
const uint8_t UBX_ACK_NONE = 0x02; //Not a real value
// The following constants are used to get External Sensor Measurements and Status
// Information.
const uint8_t UBX_ESF_MEAS = 0x02;
const uint8_t UBX_ESF_RAW = 0x03;
const uint8_t UBX_ESF_STATUS = 0x10;
const uint8_t UBX_ESF_INS = 0x15; //36 bytes
const uint8_t SVIN_MODE_DISABLE = 0x00;
const uint8_t SVIN_MODE_ENABLE = 0x01;
//The following consts are used to configure the various ports and streams for those ports. See -CFG-PRT.
const uint8_t COM_PORT_I2C = 0;
const uint8_t COM_PORT_UART1 = 1;
const uint8_t COM_PORT_UART2 = 2;
const uint8_t COM_PORT_USB = 3;
const uint8_t COM_PORT_SPI = 4;
const uint8_t COM_TYPE_UBX = (1 << 0);
const uint8_t COM_TYPE_NMEA = (1 << 1);
const uint8_t COM_TYPE_RTCM3 = (1 << 5);
//The following consts are used to generate KEY values for the advanced protocol functions of VELGET/SET/DEL
const uint8_t VAL_SIZE_1 = 0x01; //One bit
const uint8_t VAL_SIZE_8 = 0x02; //One byte
const uint8_t VAL_SIZE_16 = 0x03; //Two bytes
const uint8_t VAL_SIZE_32 = 0x04; //Four bytes
const uint8_t VAL_SIZE_64 = 0x05; //Eight bytes
//These are the Bitfield layers definitions for the UBX-CFG-VALSET message (not to be confused with Bitfield deviceMask in UBX-CFG-CFG)
const uint8_t VAL_LAYER_RAM = (1 << 0);
const uint8_t VAL_LAYER_BBR = (1 << 1);
const uint8_t VAL_LAYER_FLASH = (1 << 2);
//Below are various Groups, IDs, and sizes for various settings
//These can be used to call getVal/setVal/delVal
const uint8_t VAL_GROUP_I2COUTPROT = 0x72;
const uint8_t VAL_GROUP_I2COUTPROT_SIZE = VAL_SIZE_1; //All fields in I2C group are currently 1 bit
const uint8_t VAL_ID_I2COUTPROT_UBX = 0x01;
const uint8_t VAL_ID_I2COUTPROT_NMEA = 0x02;
const uint8_t VAL_ID_I2COUTPROT_RTCM3 = 0x03;
const uint8_t VAL_GROUP_I2C = 0x51;
const uint8_t VAL_GROUP_I2C_SIZE = VAL_SIZE_8; //All fields in I2C group are currently 1 byte
const uint8_t VAL_ID_I2C_ADDRESS = 0x01;
// Configuration Sub-Section mask definitions for saveConfigSelective (UBX-CFG-CFG)
const uint32_t VAL_CFG_SUBSEC_IOPORT = 0x00000001; // ioPort - communications port settings (causes IO system reset!)
const uint32_t VAL_CFG_SUBSEC_MSGCONF = 0x00000002; // msgConf - message configuration
const uint32_t VAL_CFG_SUBSEC_INFMSG = 0x00000004; // infMsg - INF message configuration
const uint32_t VAL_CFG_SUBSEC_NAVCONF = 0x00000008; // navConf - navigation configuration
const uint32_t VAL_CFG_SUBSEC_RXMCONF = 0x00000010; // rxmConf - receiver manager configuration
const uint32_t VAL_CFG_SUBSEC_SENCONF = 0x00000100; // senConf - sensor interface configuration (requires protocol 19+)
const uint32_t VAL_CFG_SUBSEC_RINVCONF = 0x00000200; // rinvConf - remove inventory configuration
const uint32_t VAL_CFG_SUBSEC_ANTCONF = 0x00000400; // antConf - antenna configuration
const uint32_t VAL_CFG_SUBSEC_LOGCONF = 0x00000800; // logConf - logging configuration
const uint32_t VAL_CFG_SUBSEC_FTSCONF = 0x00001000; // ftsConf - FTS configuration (FTS products only)
enum dynModel // Possible values for the dynamic platform model, which provide more accuract position output for the situation. Description extracted from ZED-F9P Integration Manual
{
DYN_MODEL_PORTABLE = 0, //Applications with low acceleration, e.g. portable devices. Suitable for most situations.
// 1 is not defined
DYN_MODEL_STATIONARY = 2, //Used in timing applications (antenna must be stationary) or other stationary applications. Velocity restricted to 0 m/s. Zero dynamics assumed.
DYN_MODEL_PEDESTRIAN, //Applications with low acceleration and speed, e.g. how a pedestrian would move. Low acceleration assumed.
DYN_MODEL_AUTOMOTIVE, //Used for applications with equivalent dynamics to those of a passenger car. Low vertical acceleration assumed
DYN_MODEL_SEA, //Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity assumed. Sea level assumed.
DYN_MODEL_AIRBORNE1g, //Airborne <1g acceleration. Used for applications with a higher dynamic range and greater vertical acceleration than a passenger car. No 2D position fixes supported.
DYN_MODEL_AIRBORNE2g, //Airborne <2g acceleration. Recommended for typical airborne environments. No 2D position fixes supported.
DYN_MODEL_AIRBORNE4g, //Airborne <4g acceleration. Only recommended for extremely dynamic environments. No 2D position fixes supported.
DYN_MODEL_WRIST, // Not supported in protocol versions less than 18. Only recommended for wrist worn applications. Receiver will filter out arm motion.
DYN_MODEL_BIKE, // Supported in protocol versions 19.2
};
#ifndef MAX_PAYLOAD_SIZE
#define MAX_PAYLOAD_SIZE 256 //We need ~220 bytes for getProtocolVersion on most ublox modules
//#define MAX_PAYLOAD_SIZE 768 //Worst case: UBX_CFG_VALSET packet with 64 keyIDs each with 64 bit values
#endif
//-=-=-=-=- UBX binary specific variables
typedef struct
{
uint8_t cls;
uint8_t id;
uint16_t len; //Length of the payload. Does not include cls, id, or checksum bytes
uint16_t counter; //Keeps track of number of overall bytes received. Some responses are larger than 255 bytes.
uint16_t startingSpot; //The counter value needed to go past before we begin recording into payload array
uint8_t *payload;
uint8_t checksumA; //Given to us from module. Checked against the rolling calculated A/B checksums.
uint8_t checksumB;
sfe_ublox_packet_validity_e valid; //Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked
sfe_ublox_packet_validity_e classAndIDmatch; // Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID
} ubxPacket;
// Struct to hold the results returned by getGeofenceState (returned by UBX-NAV-GEOFENCE)
typedef struct
{
uint8_t status; // Geofencing status: 0 - Geofencing not available or not reliable; 1 - Geofencing active
uint8_t numFences; // Number of geofences
uint8_t combState; // Combined (logical OR) state of all geofences: 0 - Unknown; 1 - Inside; 2 - Outside
uint8_t states[4]; // Geofence states: 0 - Unknown; 1 - Inside; 2 - Outside
} geofenceState;
// Struct to hold the current geofence parameters
typedef struct
{
uint8_t numFences; // Number of active geofences
int32_t lats[4]; // Latitudes of geofences (in degrees * 10^-7)
int32_t longs[4]; // Longitudes of geofences (in degrees * 10^-7)
uint32_t rads[4]; // Radii of geofences (in m * 10^-2)
} geofenceParams;
class SFE_UBLOX_GPS
{
public:
SFE_UBLOX_GPS(void);
// A default of 250ms for maxWait seems fine for I2C but is not enough for SerialUSB.
// If you know you are only going to be using I2C / Qwiic communication, you can
// safely reduce defaultMaxWait to 250.
#ifndef defaultMaxWait // Let's allow the user to define their own value if they want to
#define defaultMaxWait 1100
#endif
//By default use the default I2C address, and use Wire port
boolean begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected
//serialPort needs to be perviously initialized to correct baud rate
boolean begin(Stream &serialPort); //Returns true if module is detected
//Returns true if device answers on _gpsI2Caddress address or via Serial
//maxWait is only used for Serial
boolean isConnected(uint16_t maxWait = 1100);
//Changed in V1.8.1: provides backward compatibility for the examples that call checkUblox directly
//Will default to using packetCfg to look for explicit autoPVT packets so they get processed correctly by processUBX
boolean checkUblox(uint8_t requestedClass = UBX_CLASS_NAV, uint8_t requestedID = UBX_NAV_PVT); //Checks module with user selected commType
boolean checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Method for I2C polling of data, passing any new bytes to process()
boolean checkUbloxSerial(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Method for serial polling of data, passing any new bytes to process()
void process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Processes NMEA and UBX binary sentences one byte at a time
void processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Given a character, file it away into the uxb packet structure
void processRTCMframe(uint8_t incoming); //Monitor the incoming bytes for start and length bytes
void processRTCM(uint8_t incoming) __attribute__((weak)); //Given rtcm byte, do something with it. User can overwrite if desired to pipe bytes to radio, internet, etc.
void processUBXpacket(ubxPacket *msg); //Once a packet has been received and validated, identify this packet's class/id and update internal flags
void processNMEA(char incoming) __attribute__((weak)); //Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries
void calcChecksum(ubxPacket *msg); //Sets the checksumA and checksumB of a given messages
sfe_ublox_status_e sendCommand(ubxPacket *outgoingUBX, uint16_t maxWait = defaultMaxWait); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
sfe_ublox_status_e sendI2cCommand(ubxPacket *outgoingUBX, uint16_t maxWait = 250);
void sendSerialCommand(ubxPacket *outgoingUBX);
void printPacket(ubxPacket *packet); //Useful for debugging
void factoryReset(); //Send factory reset sequence (i.e. load "default" configuration and perform hardReset)
void hardReset(); //Perform a reset leading to a cold start (zero info start-up)
boolean setI2CAddress(uint8_t deviceAddress, uint16_t maxTime = 250); //Changes the I2C address of the Ublox module
void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = defaultMaxWait); //Changes the serial baud rate of the Ublox module, uartPort should be COM_PORT_UART1/2
void setNMEAOutputPort(Stream &nmeaOutputPort); //Sets the internal variable for the port to direct NMEA characters to
boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait); //Set the number of nav solutions sent per second
uint8_t getNavigationFrequency(uint16_t maxWait = defaultMaxWait); //Get the number of nav solutions sent per second currently being output by module
boolean saveConfiguration(uint16_t maxWait = defaultMaxWait); //Save current configuration to flash and BBR (battery backed RAM)
boolean factoryDefault(uint16_t maxWait = defaultMaxWait); //Reset module to factory defaults
boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = defaultMaxWait); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
sfe_ublox_status_e waitForACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet and an ACK is received
sfe_ublox_status_e waitForNoACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet is received
// getPVT will only return data once in each navigation cycle. By default, that is once per second.
// Therefore we should set getPVTmaxWait to slightly longer than that.
// If you change the navigation frequency to (e.g.) 4Hz using setNavigationFrequency(4)
// then you should use a shorter maxWait for getPVT. 300msec would be about right: getPVT(300)
// The same is true for getHPPOSLLH.
#define getPVTmaxWait 1100 // Default maxWait for getPVT and all functions which call it
#define getHPPOSLLHmaxWait 1100 // Default maxWait for getHPPOSLLH and all functions which call it
boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and PVT is send cyclically already
boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency
boolean getPVT(uint16_t maxWait = getPVTmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
boolean getTimeData(uint16_t maxWait = getPVTmaxWait); //Query module for latest time data. Calls getPVT or getTIMEUTC depending on which module is attached.
boolean getPositionData(uint16_t maxWait = getPVTmaxWait); //Query module for latest position data. Calls getPVT or getPOSLLH depending on which module is attached.
boolean getTIMEUTC(uint16_t maxWait = getPVTmaxWait); //Query module for current time (for use with older chip series). Returns true if new data is available.
boolean getPOSLLH(uint16_t maxWait = getPVTmaxWait); //Query module for current position (for use with older chip series). Returns true if new data is available.
boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
boolean getHPPOSLLH(uint16_t maxWait = getHPPOSLLHmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
void flushPVT(); //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
int32_t getLatitude(uint16_t maxWait = getPVTmaxWait); //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
int32_t getLongitude(uint16_t maxWait = getPVTmaxWait); //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module.
int32_t getAltitude(uint16_t maxWait = getPVTmaxWait); //Returns the current altitude in mm above ellipsoid
int32_t getAltitudeMSL(uint16_t maxWait = getPVTmaxWait); //Returns the current altitude in mm above mean sea level
uint8_t getSIV(uint16_t maxWait = getPVTmaxWait); //Returns number of sats used in fix
uint8_t getFixType(uint16_t maxWait = getPVTmaxWait); //Returns the type of fix: 0=no, 3=3D, 4=GNSS+Deadreckoning
uint8_t getCarrierSolutionType(uint16_t maxWait = getPVTmaxWait); //Returns RTK solution: 0=no, 1=float solution, 2=fixed solution
int32_t getGroundSpeed(uint16_t maxWait = getPVTmaxWait); //Returns speed in mm/s
int32_t getHeading(uint16_t maxWait = getPVTmaxWait); //Returns heading in degrees * 10^-7
uint16_t getPDOP(uint16_t maxWait = getPVTmaxWait); //Returns positional dillution of precision * 10^-2 (dimensionless)
uint16_t getYear(uint16_t maxWait = getPVTmaxWait);
uint8_t getMonth(uint16_t maxWait = getPVTmaxWait);
uint8_t getDay(uint16_t maxWait = getPVTmaxWait);
uint8_t getHour(uint16_t maxWait = getPVTmaxWait);
uint8_t getMinute(uint16_t maxWait = getPVTmaxWait);
uint8_t getSecond(uint16_t maxWait = getPVTmaxWait);
uint16_t getMillisecond(uint16_t maxWait = getPVTmaxWait);
int32_t getNanosecond(uint16_t maxWait = getPVTmaxWait);
uint32_t getTimeOfWeek(uint16_t maxWait = getPVTmaxWait);
int32_t getHighResLatitude(uint16_t maxWait = getHPPOSLLHmaxWait);
int8_t getHighResLatitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait);
int32_t getHighResLongitude(uint16_t maxWait = getHPPOSLLHmaxWait);
int8_t getHighResLongitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait);
int32_t getElipsoid(uint16_t maxWait = getHPPOSLLHmaxWait);
int8_t getElipsoidHp(uint16_t maxWait = getHPPOSLLHmaxWait);
int32_t getMeanSeaLevel(uint16_t maxWait = getHPPOSLLHmaxWait);
int8_t getMeanSeaLevelHp(uint16_t maxWait = getHPPOSLLHmaxWait);
int32_t getGeoidSeparation(uint16_t maxWait = getHPPOSLLHmaxWait);
uint32_t getHorizontalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);
uint32_t getVerticalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);
//Port configurations
boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
boolean getPortSettings(uint8_t portID, uint16_t maxWait = defaultMaxWait); //Returns the current protocol bits in the UBX-CFG-PRT command for a given port
boolean setI2COutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure I2C port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUSBOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure USB port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof
//Functions to turn on/off message types for a given port ID (see COM_PORT_I2C, etc above)
boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait);
boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait); //Given a message number turns on a message ID for output over given PortID
boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = defaultMaxWait); //Turn off given RTCM message from a given port
//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
//It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic.
//If they are using Serial then the higher baud rate will also help. So let's leave maxWait set to 250ms.
uint8_t getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
uint8_t getVal8(uint32_t keyID, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
uint8_t setVal(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Sets the 16-bit value at a given group/id/size location
uint8_t setVal8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Sets the 8-bit value at a given group/id/size location
uint8_t setVal16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Sets the 16-bit value at a given group/id/size location
uint8_t setVal32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Sets the 32-bit value at a given group/id/size location
uint8_t newCfgValset8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_BBR); //Define a new UBX-CFG-VALSET with the given KeyID and 8-bit value
uint8_t newCfgValset16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR); //Define a new UBX-CFG-VALSET with the given KeyID and 16-bit value
uint8_t newCfgValset32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_BBR); //Define a new UBX-CFG-VALSET with the given KeyID and 32-bit value
uint8_t addCfgValset8(uint32_t keyID, uint8_t value); //Add a new KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket
uint8_t addCfgValset16(uint32_t keyID, uint16_t value); //Add a new KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket
uint8_t addCfgValset32(uint32_t keyID, uint32_t value); //Add a new KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket
uint8_t sendCfgValset8(uint32_t keyID, uint8_t value, uint16_t maxWait = 250); //Add the final KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
uint8_t sendCfgValset16(uint32_t keyID, uint16_t value, uint16_t maxWait = 250); //Add the final KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
uint8_t sendCfgValset32(uint32_t keyID, uint32_t value, uint16_t maxWait = 250); //Add the final KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
//Functions used for RTK and base station setup
//It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms.
boolean getSurveyMode(uint16_t maxWait = 250); //Get the current TimeMode3 settings
boolean setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Control survey in mode
boolean enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Begin Survey-In for NEO-M8P
boolean disableSurveyMode(uint16_t maxWait = 250); //Stop Survey-In mode
boolean getSurveyStatus(uint16_t maxWait); //Reads survey in status and sets the global variables
uint32_t getPositionAccuracy(uint16_t maxWait = 1100); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,
uint8_t getProtocolVersionHigh(uint16_t maxWait = 500); //Returns the PROTVER XX.00 from UBX-MON-VER register
uint8_t getProtocolVersionLow(uint16_t maxWait = 500); //Returns the PROTVER 00.XX from UBX-MON-VER register
boolean getProtocolVersion(uint16_t maxWait = 500); //Queries module, loads low/high bytes
boolean getRELPOSNED(uint16_t maxWait = 1100); //Get Relative Positioning Information of the NED frame
void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited.
void disableDebugging(void); //Turn off debug statements
void debugPrint(char *message); //Safely print debug statements
void debugPrintln(char *message); //Safely print debug statements
const char *statusString(sfe_ublox_status_e stat); //Pretty print the return value
//Support for geofences
boolean addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence = 0, byte pinPolarity = 0, byte pin = 0, uint16_t maxWait = 1100); // Add a new geofence
boolean clearGeofences(uint16_t maxWait = 1100); //Clears all geofences
boolean getGeofenceState(geofenceState &currentGeofenceState, uint16_t maxWait = 1100); //Returns the combined geofence state
boolean clearAntPIO(uint16_t maxWait = 1100); //Clears the antenna control pin settings to release the PIOs
geofenceParams currentGeofenceParams; // Global to store the geofence parameters
boolean powerSaveMode(bool power_save = true, uint16_t maxWait = 1100);
uint8_t getPowerSaveMode(uint16_t maxWait = 1100); // Returns 255 if the sendCommand fails
//Change the dynamic platform model using UBX-CFG-NAV5
boolean setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = 1100);
uint8_t getDynamicModel(uint16_t maxWait = 1100); // Get the dynamic model - returns 255 if the sendCommand fails
boolean getEsfInfo(uint16_t maxWait = 1100);
boolean getEsfIns(uint16_t maxWait = 1100);
boolean getEsfDataInfo(uint16_t maxWait = 1100);
boolean getEsfRawDataInfo(uint16_t maxWait = 1100);
sfe_ublox_status_e getSensState(uint8_t sensor, uint16_t maxWait = 1100);
boolean getVehAtt(uint16_t maxWait = 1100);
//Survey-in specific controls
struct svinStructure
{
boolean active;
boolean valid;
uint16_t observationTime;
float meanAccuracy;
} svin;
//Relative Positioning Info in NED frame specific controls
struct frelPosInfoStructure
{
uint16_t refStationID;
float relPosN;
float relPosE;
float relPosD;
long relPosLength;
long relPosHeading;
int8_t relPosHPN;
int8_t relPosHPE;
int8_t relPosHPD;
int8_t relPosHPLength;
float accN;
float accE;
float accD;
bool gnssFixOk;
bool diffSoln;
bool relPosValid;
uint8_t carrSoln;
bool isMoving;
bool refPosMiss;
bool refObsMiss;
} relPosInfo;
//The major datums we want to globally store
uint16_t gpsYear;
uint8_t gpsMonth;
uint8_t gpsDay;
uint8_t gpsHour;
uint8_t gpsMinute;
uint8_t gpsSecond;
uint16_t gpsMillisecond;
int32_t gpsNanosecond;
int32_t latitude; //Degrees * 10^-7 (more accurate than floats)
int32_t longitude; //Degrees * 10^-7 (more accurate than floats)
int32_t altitude; //Number of mm above ellipsoid
int32_t altitudeMSL; //Number of mm above Mean Sea Level
uint8_t SIV; //Number of satellites used in position solution
uint8_t fixType; //Tells us when we have a solution aka lock
uint8_t carrierSolution; //Tells us when we have an RTK float/fixed solution
int32_t groundSpeed; //mm/s
int32_t headingOfMotion; //degrees * 10^-5
uint16_t pDOP; //Positional dilution of precision * 10^-2 (dimensionless)
uint8_t versionLow; //Loaded from getProtocolVersion().
uint8_t versionHigh;
uint32_t timeOfWeek; // ms
int32_t highResLatitude; // Degrees * 10^-7
int32_t highResLongitude; // Degrees * 10^-7
int32_t elipsoid; // Height above ellipsoid in mm (Typo! Should be eLLipsoid! **Uncorrected for backward-compatibility.**)
int32_t meanSeaLevel; // Height above mean sea level in mm
int32_t geoidSeparation; // This seems to only be provided in NMEA GGA and GNS messages
uint32_t horizontalAccuracy; // mm * 10^-1 (i.e. 0.1mm)
uint32_t verticalAccuracy; // mm * 10^-1 (i.e. 0.1mm)
int8_t elipsoidHp; // High precision component of the height above ellipsoid in mm * 10^-1 (Deliberate typo! Should be eLLipsoidHp!)
int8_t meanSeaLevelHp; // High precision component of Height above mean sea level in mm * 10^-1
int8_t highResLatitudeHp; // High precision component of latitude: Degrees * 10^-9
int8_t highResLongitudeHp; // High precision component of longitude: Degrees * 10^-9
uint16_t rtcmFrameCounter = 0; //Tracks the type of incoming byte inside RTCM frame
#define DEF_NUM_SENS 7
struct deadReckData
{
uint8_t version;
uint8_t fusionMode;
uint8_t xAngRateVald;
uint8_t yAngRateVald;
uint8_t zAngRateVald;
uint8_t xAccelVald;
uint8_t yAccelVald;
uint8_t zAccelVald;
int32_t xAngRate;
int32_t yAngRate;
int32_t zAngRate;
int32_t xAccel;
int32_t yAccel;
int32_t zAccel;
// The array size is based on testing directly on M8U and F9R
uint32_t rawData;
uint32_t rawDataType;
uint32_t rawTStamp;
uint32_t data[DEF_NUM_SENS];
uint32_t dataType[DEF_NUM_SENS];
uint32_t dataTStamp[DEF_NUM_SENS];
} imuMeas;
struct indivImuData
{
uint8_t numSens;
uint8_t senType;
boolean isUsed;
boolean isReady;
uint8_t calibStatus;
uint8_t timeStatus;
uint8_t freq; // Hz
boolean badMeas;
boolean badTag;
boolean missMeas;
boolean noisyMeas;
} ubloxSen;
struct vehicleAttitude
{
// All values in degrees
int32_t roll;
int32_t pitch;
int32_t heading;
uint32_t accRoll;
uint32_t accPitch;
uint32_t accHeading;
} vehAtt;
private:
//Depending on the sentence type the processor will load characters into different arrays
enum SentenceTypes
{
NONE = 0,
NMEA,
UBX,
RTCM
} currentSentence = NONE;
//Depending on the ubx binary response class, store binary responses into different places
enum classTypes
{
CLASS_NONE = 0,
CLASS_ACK,
CLASS_NOT_AN_ACK
} ubxFrameClass = CLASS_NONE;
enum commTypes
{
COMM_TYPE_I2C = 0,
COMM_TYPE_SERIAL,
COMM_TYPE_SPI
} commType = COMM_TYPE_I2C; //Controls which port we look to for incoming bytes
//Functions
boolean checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass = 255, uint8_t requestedID = 255); //Checks module with user selected commType
uint32_t extractLong(uint8_t spotToStart); //Combine four bytes from payload into long
uint16_t extractInt(uint8_t spotToStart); //Combine two bytes from payload into int
uint8_t extractByte(uint8_t spotToStart); //Get byte from payload
int8_t extractSignedChar(uint8_t spotToStart); //Get signed 8-bit value from payload
void addToChecksum(uint8_t incoming); //Given an incoming byte, adjust rollingChecksumA/B
//Variables
TwoWire *_i2cPort; //The generic connection to user's chosen I2C hardware
Stream *_serialPort; //The generic connection to user's chosen Serial hardware
Stream *_nmeaOutputPort = NULL; //The user can assign an output port to print NMEA sentences if they wish
Stream *_debugSerial; //The stream to send debug messages to if enabled
uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8/F9 series
//This can be changed using the ublox configuration software
boolean _printDebug = false; //Flag to print the serial commands we are sending to the Serial port for debug
boolean _printLimitedDebug = false; //Flag to print limited debug messages. Useful for I2C debugging or high navigation rates
//The packet buffers
//These are pointed at from within the ubxPacket
uint8_t payloadAck[2]; // Holds the requested ACK/NACK
uint8_t payloadCfg[MAX_PAYLOAD_SIZE]; // Holds the requested data packet
uint8_t payloadBuf[2]; // Temporary buffer used to screen incoming packets or dump unrequested packets
//Init the packet structures and init them with pointers to the payloadAck, payloadCfg and payloadBuf arrays
ubxPacket packetAck = {0, 0, 0, 0, 0, payloadAck, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
ubxPacket packetCfg = {0, 0, 0, 0, 0, payloadCfg, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
ubxPacket packetBuf = {0, 0, 0, 0, 0, payloadBuf, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
//Flag if this packet is unrequested (and so should be ignored and not copied into packetCfg or packetAck)
boolean ignoreThisPayload = false;
//Identify which buffer is in use
//Data is stored in packetBuf until the requested class and ID can be validated
//If a match is seen, data is diverted into packetAck or packetCfg
sfe_ublox_packet_buffer_e activePacketBuffer = SFE_UBLOX_PACKET_PACKETBUF;
//Limit checking of new data to every X ms
//If we are expecting an update every X Hz then we should check every half that amount of time
//Otherwise we may block ourselves from seeing new data
uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency()
unsigned long lastCheck = 0;
boolean autoPVT = false; //Whether autoPVT is enabled or not
boolean autoPVTImplicitUpdate = true; // Whether autoPVT is triggered by accessing stale data (=true) or by a call to checkUblox (=false)
uint16_t ubxFrameCounter; //It counts all UBX frame. [Fixed header(2bytes), CLS(1byte), ID(1byte), length(2bytes), payload(x bytes), checksums(2bytes)]
uint8_t rollingChecksumA; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
uint8_t rollingChecksumB; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
//Create bit field for staleness of each datum in PVT we want to monitor
//moduleQueried.latitude goes true each time we call getPVT()
//This reduces the number of times we have to call getPVT as this can take up to ~1s per read
//depending on update rate
struct
{
uint32_t gpsiTOW : 1;
uint32_t gpsYear : 1;
uint32_t gpsMonth : 1;
uint32_t gpsDay : 1;
uint32_t gpsHour : 1;
uint32_t gpsMinute : 1;
uint32_t gpsSecond : 1;
uint32_t gpsNanosecond : 1;
uint32_t all : 1;
uint32_t longitude : 1;
uint32_t latitude : 1;
uint32_t altitude : 1;
uint32_t altitudeMSL : 1;
uint32_t SIV : 1;
uint32_t fixType : 1;
uint32_t carrierSolution : 1;
uint32_t groundSpeed : 1;
uint32_t headingOfMotion : 1;
uint32_t pDOP : 1;
uint32_t versionNumber : 1;
} moduleQueried;
struct
{
uint16_t all : 1;
uint16_t timeOfWeek : 1;
uint16_t highResLatitude : 1;
uint16_t highResLongitude : 1;
uint16_t elipsoid : 1;
uint16_t meanSeaLevel : 1;
uint16_t geoidSeparation : 1; // Redundant but kept for backward-compatibility
uint16_t horizontalAccuracy : 1;
uint16_t verticalAccuracy : 1;
uint16_t elipsoidHp : 1;
uint16_t meanSeaLevelHp : 1;
uint16_t highResLatitudeHp : 1;
uint16_t highResLongitudeHp : 1;
} highResModuleQueried;
uint16_t rtcmLen = 0;
};
#endif

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/*
Get the high precision geodetic solution for latitude and longitude
By: Nathan Seidle
Modified by: Steven Rowland and Paul Clark
SparkFun Electronics
Date: April 17th, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to inspect the accuracy of the high-precision
positional solution. Please see below for information about the units.
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
Hardware Connections:
Plug a Qwiic cable into the GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Wire.begin();
//myGPS.enableDebugging(Serial);
if (myGPS.begin(Wire) == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGPS.setNavigationFrequency(20); //Set output to 20 times a second
byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
Serial.print("Current update rate: ");
Serial.println(rate);
//myGPS.saveConfiguration(); //Save the current settings to flash and BBR
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
// getHighResLatitude: returns the latitude from HPPOSLLH as an int32_t in degrees * 10^-7
// getHighResLatitudeHp: returns the high resolution component of latitude from HPPOSLLH as an int8_t in degrees * 10^-9
// getHighResLongitude: returns the longitude from HPPOSLLH as an int32_t in degrees * 10^-7
// getHighResLongitudeHp: returns the high resolution component of longitude from HPPOSLLH as an int8_t in degrees * 10^-9
// getElipsoid: returns the height above ellipsoid as an int32_t in mm
// getElipsoidHp: returns the high resolution component of the height above ellipsoid as an int8_t in mm * 10^-1
// getMeanSeaLevel: returns the height above mean sea level as an int32_t in mm
// getMeanSeaLevelHp: returns the high resolution component of the height above mean sea level as an int8_t in mm * 10^-1
// getHorizontalAccuracy: returns the horizontal accuracy estimate from HPPOSLLH as an uint32_t in mm * 10^-1
// If you want to use the high precision latitude and longitude with the full 9 decimal places
// you will need to use a 64-bit double - which is not supported on all platforms
// To allow this example to run on standard platforms, we cheat by converting lat and lon to integer and fractional degrees
// The high resolution altitudes can be converted into standard 32-bit float
// First, let's collect the position data
int32_t latitude = myGPS.getHighResLatitude();
int8_t latitudeHp = myGPS.getHighResLatitudeHp();
int32_t longitude = myGPS.getHighResLongitude();
int8_t longitudeHp = myGPS.getHighResLongitudeHp();
int32_t ellipsoid = myGPS.getElipsoid();
int8_t ellipsoidHp = myGPS.getElipsoidHp();
int32_t msl = myGPS.getMeanSeaLevel();
int8_t mslHp = myGPS.getMeanSeaLevelHp();
uint32_t accuracy = myGPS.getHorizontalAccuracy();
// Defines storage for the lat and lon units integer and fractional parts
int32_t lat_int; // Integer part of the latitude in degrees
int32_t lat_frac; // Fractional part of the latitude
int32_t lon_int; // Integer part of the longitude in degrees
int32_t lon_frac; // Fractional part of the longitude
// Calculate the latitude and longitude integer and fractional parts
lat_int = latitude / 10000000; // Convert latitude from degrees * 10^-7 to Degrees
lat_frac = latitude - (lat_int * 10000000); // Calculate the fractional part of the latitude
lat_frac = (lat_frac * 100) + latitudeHp; // Now add the high resolution component
if (lat_frac < 0) // If the fractional part is negative, remove the minus sign
{
lat_frac = 0 - lat_frac;
}
lon_int = longitude / 10000000; // Convert latitude from degrees * 10^-7 to Degrees
lon_frac = longitude - (lon_int * 10000000); // Calculate the fractional part of the longitude
lon_frac = (lon_frac * 100) + longitudeHp; // Now add the high resolution component
if (lon_frac < 0) // If the fractional part is negative, remove the minus sign
{
lon_frac = 0 - lon_frac;
}
// Print the lat and lon
Serial.print("Lat (deg): ");
Serial.print(lat_int); // Print the integer part of the latitude
Serial.print(".");
Serial.print(lat_frac); // Print the fractional part of the latitude
Serial.print(", Lon (deg): ");
Serial.print(lon_int); // Print the integer part of the latitude
Serial.print(".");
Serial.println(lon_frac); // Print the fractional part of the latitude
// Now define float storage for the heights and accuracy
float f_ellipsoid;
float f_msl;
float f_accuracy;
// Calculate the height above ellipsoid in mm * 10^-1
f_ellipsoid = (ellipsoid * 10) + ellipsoidHp;
// Now convert to m
f_ellipsoid = f_ellipsoid / 10000.0; // Convert from mm * 10^-1 to m
// Calculate the height above mean sea level in mm * 10^-1
f_msl = (msl * 10) + mslHp;
// Now convert to m
f_msl = f_msl / 10000.0; // Convert from mm * 10^-1 to m
// Convert the horizontal accuracy (mm * 10^-1) to a float
f_accuracy = accuracy;
// Now convert to m
f_accuracy = f_accuracy / 10000.0; // Convert from mm * 10^-1 to m
// Finally, do the printing
Serial.print("Ellipsoid (m): ");
Serial.print(f_ellipsoid, 4); // Print the ellipsoid with 4 decimal places
Serial.print(", Mean Sea Level(m): ");
Serial.print(f_msl, 4); // Print the mean sea level with 4 decimal places
Serial.print(", Accuracy (m): ");
Serial.println(f_accuracy, 4); // Print the accuracy with 4 decimal places
}
}

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/*
Get the high precision geodetic solution for latitude and longitude using double
By: Nathan Seidle
Modified by: Paul Clark (PaulZC)
SparkFun Electronics
Date: April 17th, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to inspect the accuracy of the high-precision
positional solution. Please see below for information about the units.
** This example will only work correctly on platforms which support 64-bit double **
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
Hardware Connections:
Plug a Qwiic cable into the GPS and (e.g.) a Redboard Artemis https://www.sparkfun.com/products/15444
or an Artemis Thing Plus https://www.sparkfun.com/products/15574
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 <Wire.h> // Needed for I2C to GPS
#define myWire Wire // This will work on the Redboard Artemis and the Artemis Thing Plus using Qwiic
//#define myWire Wire1 // Uncomment this line if you are using the extra SCL1/SDA1 pins (D17 and D16) on the Thing Plus
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
myWire.begin();
//myGPS.enableDebugging(Serial); // Uncomment this line to enable debug messages
if (myGPS.begin(myWire) == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
// Check that this platform supports 64-bit (8 byte) double
if (sizeof(double) < 8)
{
Serial.println(F("Warning! Your platform does not support 64-bit double."));
Serial.println(F("The latitude and longitude will be inaccurate."));
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
//myGPS.setNavigationFrequency(20); //Set output to 20 times a second
byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
Serial.print("Current update rate: ");
Serial.println(rate);
//myGPS.saveConfiguration(); //Save the current settings to flash and BBR
}
void loop()
{
//Query module only every second.
//The module only responds when a new position is available.
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
// getHighResLatitude: returns the latitude from HPPOSLLH as an int32_t in degrees * 10^-7
// getHighResLatitudeHp: returns the high resolution component of latitude from HPPOSLLH as an int8_t in degrees * 10^-9
// getHighResLongitude: returns the longitude from HPPOSLLH as an int32_t in degrees * 10^-7
// getHighResLongitudeHp: returns the high resolution component of longitude from HPPOSLLH as an int8_t in degrees * 10^-9
// getElipsoid: returns the height above ellipsoid as an int32_t in mm
// getElipsoidHp: returns the high resolution component of the height above ellipsoid as an int8_t in mm * 10^-1
// getMeanSeaLevel: returns the height above mean sea level as an int32_t in mm
// getMeanSeaLevelHp: returns the high resolution component of the height above mean sea level as an int8_t in mm * 10^-1
// getHorizontalAccuracy: returns the horizontal accuracy estimate from HPPOSLLH as an uint32_t in mm * 10^-1
// First, let's collect the position data
int32_t latitude = myGPS.getHighResLatitude();
int8_t latitudeHp = myGPS.getHighResLatitudeHp();
int32_t longitude = myGPS.getHighResLongitude();
int8_t longitudeHp = myGPS.getHighResLongitudeHp();
int32_t ellipsoid = myGPS.getElipsoid();
int8_t ellipsoidHp = myGPS.getElipsoidHp();
int32_t msl = myGPS.getMeanSeaLevel();
int8_t mslHp = myGPS.getMeanSeaLevelHp();
uint32_t accuracy = myGPS.getHorizontalAccuracy();
// Defines storage for the lat and lon as double
double d_lat; // latitude
double d_lon; // longitude
// Assemble the high precision latitude and longitude
d_lat = ((double)latitude) / 10000000.0; // Convert latitude from degrees * 10^-7 to degrees
d_lat += ((double)latitudeHp) / 1000000000.0; // Now add the high resolution component (degrees * 10^-9 )
d_lon = ((double)longitude) / 10000000.0; // Convert longitude from degrees * 10^-7 to degrees
d_lon += ((double)longitudeHp) / 1000000000.0; // Now add the high resolution component (degrees * 10^-9 )
// Print the lat and lon
Serial.print("Lat (deg): ");
Serial.print(d_lat, 9);
Serial.print(", Lon (deg): ");
Serial.print(d_lon, 9);
// Now define float storage for the heights and accuracy
float f_ellipsoid;
float f_msl;
float f_accuracy;
// Calculate the height above ellipsoid in mm * 10^-1
f_ellipsoid = (ellipsoid * 10) + ellipsoidHp;
// Now convert to m
f_ellipsoid = f_ellipsoid / 10000.0; // Convert from mm * 10^-1 to m
// Calculate the height above mean sea level in mm * 10^-1
f_msl = (msl * 10) + mslHp;
// Now convert to m
f_msl = f_msl / 10000.0; // Convert from mm * 10^-1 to m
// Convert the horizontal accuracy (mm * 10^-1) to a float
f_accuracy = accuracy;
// Now convert to m
f_accuracy = f_accuracy / 10000.0; // Convert from mm * 10^-1 to m
// Finally, do the printing
Serial.print(", Ellipsoid (m): ");
Serial.print(f_ellipsoid, 4); // Print the ellipsoid with 4 decimal places
Serial.print(", Mean Sea Level (m): ");
Serial.print(f_msl, 4); // Print the mean sea level with 4 decimal places
Serial.print(", Accuracy (m): ");
Serial.println(f_accuracy, 4); // Print the accuracy with 4 decimal places
}
}

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/*
Configuring the GPS to automatically send HPPOSLLH position reports over I2C
By: Paul Clark
Date: October 27th 2020
Based on an earlier example:
By: Nathan Seidle and Thorsten von Eicken
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to configure the U-Blox GPS the send navigation reports automatically
and retrieving the latest one via getHPPOSLLH. This eliminates the blocking in getHPPOSLLH while the GPS
produces a fresh navigation solution at the expense of returning a slighly old solution.
This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
simply outputs the UBX_NAV_HPPOSLLH packet. With I2C it queues it into its internal I2C buffer (4KB in
size?) where it can be retrieved in the next I2C poll.
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
Hardware Connections:
Plug a Qwiic cable into the GPS 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 <Wire.h> //Needed for I2C to GPS
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
//myGPS.enableDebugging(); // Uncomment this line to enable lots of helpful debug messages
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
// Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
//myGPS.factoryDefault(); delay(5000);
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
myGPS.setNavigationFrequency(1); //Produce one solution per second
// The acid test: all four of these combinations should work seamlessly :-)
//myGPS.setAutoPVT(false); // Library will poll each reading
//myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
//myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
//myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
//myGPS.setAutoPVT(false); // Library will poll each reading
//myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
}
void loop()
{
// Calling getHPPOSLLH returns true if there actually is a fresh navigation solution available.
// Calling getPVT returns true if there actually is a fresh navigation solution available.
if ((myGPS.getHPPOSLLH()) || (myGPS.getPVT()))
{
Serial.println();
long highResLatitude = myGPS.getHighResLatitude();
Serial.print(F("Hi Res Lat: "));
Serial.print(highResLatitude);
int highResLatitudeHp = myGPS.getHighResLatitudeHp();
Serial.print(F(" "));
Serial.print(highResLatitudeHp);
long highResLongitude = myGPS.getHighResLongitude();
Serial.print(F(" Hi Res Long: "));
Serial.print(highResLongitude);
int highResLongitudeHp = myGPS.getHighResLongitudeHp();
Serial.print(F(" "));
Serial.print(highResLongitudeHp);
unsigned long horizAccuracy = myGPS.getHorizontalAccuracy();
Serial.print(F(" Horiz accuracy: "));
Serial.print(horizAccuracy);
long latitude = myGPS.getLatitude();
Serial.print(F(" Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.println(longitude);
}
else
{
Serial.print(".");
delay(50);
}
}

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/*
Set the static position of the receiver.
By: SparkFun Electronics / Nathan Seidle
Date: September 26th, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to set the static position of a receiver
using an Earth-Centered, Earth-Fixed (ECEF) location. This is the
output from a long (24 hour+) survey-in. Setting the static position
immediately causes the receiver to begin outputting RTCM data (if
enabled), perfect for setting up your own RTCM NTRIP caster or CORS.
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
Hardware Connections:
Plug a Qwiic cable into the GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200); // You may need to increase this for high navigation rates!
while (!Serial)
; //Wait for user to open terminal
Serial.println(F("SparkFun u-blox Example"));
Wire.begin();
//myGPS.enableDebugging(); // Uncomment this line to enable debug messages
if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
{
Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
//-1280208.308,-4716803.847,4086665.811 is SparkFun HQ so...
//Units are cm so 1234 = 12.34m
//myGPS.setStaticPosition(-128020831, -471680385, 408666581);
//Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
myGPS.setStaticPosition(-128020830, -80, -471680384, -70, 408666581, 10); //With high precision 0.1mm parts
//We can also set via lat/long
//40.09029751,-105.18507900,1560.238
//myGPS.setStaticPosition(400902975, -1051850790, 156024, true); //True at end enables lat/long input
//myGPS.setStaticPosition(400902975, 10, -1051850790, 0, 156023, 80, true);
//Now let's use getVals to read back the data
//long ecefX = myGPS.getVal32(0x40030003);
//Serial.print("ecefX: ");
//Serial.println(ecefX);
Serial.println(F("Done!"));
}
void loop()
{
}

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/*
Get the high position accuracy of the RTK enhanced position
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to inspect the accuracy of the high-precision
positional solution.
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
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
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
long accuracy = myGPS.getPositionAccuracy();
Serial.print(F(" 3D Positional Accuracy: "));
Serial.print(accuracy);
Serial.println(F("mm"));
}
}

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/*
Configuring Ublox Module using new VALGET / VALSET / VALDEL methods
By: Nathan Seidle
SparkFun Electronics
Date: January 3rd, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
Ublox depricated many -CFG messages and replaced them with new
VALGET, VALSET, VALDEL methods. This shows the basics of how to use
these methods.
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun Ublox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
byte response;
response = myGPS.getVal8(VAL_GROUP_I2C, VAL_ID_I2C_ADDRESS, VAL_GROUP_I2C_SIZE, VAL_LAYER_RAM);
Serial.print(F("I2C Address: 0x"));
Serial.println(response >> 1, HEX); //We have to shift by 1 to get the common '7-bit' I2C address format
response = myGPS.getVal8(VAL_GROUP_I2COUTPROT, VAL_ID_I2COUTPROT_NMEA, VAL_GROUP_I2COUTPROT_SIZE, VAL_LAYER_RAM);
Serial.print(F("Output NMEA over I2C port: 0x"));
Serial.print(response, HEX);
}
void loop()
{
}

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/*
Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
By: Nathan Seidle
SparkFun Electronics
Date: January 9th, 2019
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 ZED-F9P as a base station:
Begin Survey-In
Once we've achieved 2m accuracy and 300s have passed, survey is complete
Enable six 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 GPS 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("Ublox Base station example");
Wire.begin();
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
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
while (Serial.available()) Serial.read(); //Clear any latent chars in serial buffer
Serial.println("Press any key to send commands to begin Survey-In");
while (Serial.available() == 0) ; //Wait for user to press a key
boolean 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_1074, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
//Use COM_PORT_UART1 for the above six messages to direct RTCM messages out UART1
//COM_PORT_UART2, COM_PORT_USB, COM_PORT_SPI are also available
//For example: response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_UART1, 10);
if (response == true)
{
Serial.println("RTCM messages enabled");
}
else
{
Serial.println("RTCM failed to enable. Are you sure you have an ZED-F9P?");
while (1); //Freeze
}
//Check if Survey is in Progress before initiating one
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
if (response == false)
{
Serial.println("Failed to get Survey In status");
while (1); //Freeze
}
if (myGPS.svin.active == true)
{
Serial.print("Survey already in progress.");
}
else
{
//Start survey
//The ZED-F9P is slightly different than the NEO-M8P. See the Integration manual 3.5.8 for more info.
//response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in on NEO-M8P, 300 seconds, 2.0m
response = myGPS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
if (response == false)
{
Serial.println("Survey start failed");
while (1);
}
Serial.println("Survey started. This will run until 60s has passed and less than 5m accuracy is achieved.");
}
while(Serial.available()) Serial.read(); //Clear buffer
//Begin waiting for survey to complete
while (myGPS.svin.valid == false)
{
if(Serial.available())
{
byte incoming = Serial.read();
if(incoming == 'x')
{
//Stop survey mode
response = myGPS.disableSurveyMode(); //Disable survey
Serial.println("Survey stopped");
break;
}
}
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
if (response == true)
{
Serial.print("Press x to end survey - ");
Serial.print("Time elapsed: ");
Serial.print((String)myGPS.svin.observationTime);
Serial.print(" Accuracy: ");
Serial.print((String)myGPS.svin.meanAccuracy);
Serial.println();
}
else
{
Serial.println("SVIN request failed");
}
delay(1000);
}
Serial.println("Survey valid!");
Serial.println("Base survey complete! RTCM now broadcasting.");
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)
}
void loop()
{
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
}
//This function gets called from the SparkFun Ublox 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_GPS::processRTCM(uint8_t incoming)
{
//Let's just pretty-print the HEX values for now
if (myGPS.rtcmFrameCounter % 16 == 0) Serial.println();
Serial.print(" ");
if (incoming < 0x10) Serial.print("0");
Serial.print(incoming, HEX);
}

200
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/*
Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
By: Nathan Seidle
SparkFun Electronics
Date: January 9th, 2019
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 ZED-F9P as a base station:
Begin Survey-In
Once we've achieved 2m accuracy and 300s have passed, survey is complete
Enable six 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 GPS and a BlackBoard
Plug a SerLCD onto the Qwiic bus
If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
Watch the output on the LCD or open the serial monitor at 115200 baud to see the output
*/
#define STAT_LED 13
#include <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
#include <SerLCD.h> //Click here to get the library: http://librarymanager/All#SparkFun_SerLCD
SerLCD lcd; // Initialize the library with default I2C address 0x72
void setup()
{
Serial.begin(115200);
while (!Serial)
; //Wait for user to open terminal
Serial.println("Ublox GPS I2C Test");
Wire.begin();
pinMode(STAT_LED, OUTPUT);
digitalWrite(STAT_LED, LOW);
lcd.begin(Wire); //Set up the LCD for Serial communication at 9600bps
lcd.setBacklight(0x4B0082); //indigo, a kind of dark purplish blue
lcd.clear();
lcd.print(F("LCD Ready"));
myGPS.begin(Wire);
if (myGPS.isConnected() == false)
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
lcd.setCursor(0, 1);
lcd.print(F("No GPS detected"));
while (1)
;
}
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
lcd.setCursor(0, 1);
lcd.print("GPS Detected");
//myGPS.setI2COutput(COM_TYPE_RTCM3); //Set the I2C port to output RTCM3 sentences (turn off NMEA noise)
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX sentences (turn off NMEA noise)
myGPS.saveConfiguration(); //Save the current settings to flash and BBR
boolean 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_1074, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_I2C, 1);
response &= myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_I2C, 1);
response &= myGPS.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 ZED-F9P? Freezing."));
while (1)
; //Freeze
}
//Check if Survey is in Progress before initiating one
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
if (response == false)
{
Serial.println(F("Failed to get Survey In status. Freezing."));
while (1)
; //Freeze
}
if (myGPS.svin.active == true)
{
Serial.print(F("Survey already in progress."));
lcd.setCursor(0, 2);
lcd.print(F("Survey already going"));
}
else
{
//Start survey
response = myGPS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
if (response == false)
{
Serial.println(F("Survey start failed"));
lcd.setCursor(0, 3);
lcd.print(F("Survey start failed. Freezing."));
while (1)
;
}
Serial.println(F("Survey started. This will run until 60s has passed and less than 5m accuracy is achieved."));
}
while (Serial.available())
Serial.read(); //Clear buffer
lcd.clear();
lcd.print(F("Survey in progress"));
//Begin waiting for survey to complete
while (myGPS.svin.valid == false)
{
if (Serial.available())
{
byte incoming = Serial.read();
if (incoming == 'x')
{
//Stop survey mode
response = myGPS.disableSurveyMode(); //Disable survey
Serial.println(F("Survey stopped"));
break;
}
}
response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
if (response == true)
{
Serial.print(F("Press x to end survey - "));
Serial.print(F("Time elapsed: "));
Serial.print((String)myGPS.svin.observationTime);
lcd.setCursor(0, 1);
lcd.print(F("Elapsed: "));
lcd.print((String)myGPS.svin.observationTime);
Serial.print(F(" Accuracy: "));
Serial.print((String)myGPS.svin.meanAccuracy);
Serial.println();
lcd.setCursor(0, 2);
lcd.print(F("Accuracy: "));
lcd.print((String)myGPS.svin.meanAccuracy);
}
else
{
Serial.println(F("SVIN request failed"));
}
delay(1000);
}
Serial.println(F("Survey valid!"));
Serial.println(F("Base survey complete! RTCM now broadcasting."));
lcd.clear();
lcd.print(F("Transmitting RTCM"));
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)
}
void loop()
{
myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
//Do anything you want. Call checkUblox() every second. ZED-F9P has TX buffer of 4k bytes.
delay(250); //Don't pound too hard on the I2C bus
}
//This function gets called from the SparkFun Ublox 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_GPS::processRTCM(uint8_t incoming)
{
//Let's just pretty-print the HEX values for now
if (myGPS.rtcmFrameCounter % 16 == 0)
Serial.println();
Serial.print(" ");
if (incoming < 0x10)
Serial.print("0");
Serial.print(incoming, HEX);
}

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/*
Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
By: Nathan Seidle
SparkFun Electronics
Date: January 9th, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to query the module for RELPOS information in the NED frame.
It assumes you already have RTCM correction data being fed to the receiver.
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 GPS and a RedBoard Qwiic or 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("Ublox Base station example");
Wire.begin();
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
}
void loop()
{
if (myGPS.getRELPOSNED() == true)
{
Serial.print("relPosN: ");
Serial.println(myGPS.relPosInfo.relPosN, 4);
Serial.print("relPosE: ");
Serial.println(myGPS.relPosInfo.relPosE, 4);
Serial.print("relPosD: ");
Serial.println(myGPS.relPosInfo.relPosD, 4);
Serial.print("relPosLength: ");
Serial.println(myGPS.relPosInfo.relPosLength);
Serial.print("relPosHeading: ");
Serial.println(myGPS.relPosInfo.relPosHeading);
Serial.print("relPosHPN: ");
Serial.println(myGPS.relPosInfo.relPosHPN);
Serial.print("relPosHPE: ");
Serial.println(myGPS.relPosInfo.relPosHPE);
Serial.print("relPosHPD: ");
Serial.println(myGPS.relPosInfo.relPosHPD);
Serial.print("relPosHPLength: ");
Serial.println(myGPS.relPosInfo.relPosHPLength);
Serial.print("accN: ");
Serial.println(myGPS.relPosInfo.accN, 4);
Serial.print("accE: ");
Serial.println(myGPS.relPosInfo.accE, 4);
Serial.print("accD: ");
Serial.println(myGPS.relPosInfo.accD, 4);
Serial.print("gnssFixOk: ");
if (myGPS.relPosInfo.gnssFixOk == true)
Serial.println("x");
else
Serial.println("");
Serial.print("diffSolution: ");
if (myGPS.relPosInfo.diffSoln == true)
Serial.println("x");
else
Serial.println("");
Serial.print("relPosValid: ");
if (myGPS.relPosInfo.relPosValid == true)
Serial.println("x");
else
Serial.println("");
Serial.print("carrier Solution Type: ");
if (myGPS.relPosInfo.carrSoln == 0)
Serial.println("None");
else if (myGPS.relPosInfo.carrSoln == 1)
Serial.println("Float");
else if (myGPS.relPosInfo.carrSoln == 2)
Serial.println("Fixed");
Serial.print("isMoving: ");
if (myGPS.relPosInfo.isMoving == true)
Serial.println("x");
else
Serial.println("");
Serial.print("refPosMiss: ");
if (myGPS.relPosInfo.refPosMiss == true)
Serial.println("x");
else
Serial.println("");
Serial.print("refObsMiss: ");
if (myGPS.relPosInfo.refObsMiss == true)
Serial.println("x");
else
Serial.println("");
}
else
Serial.println("RELPOS request failed");
delay(4000);
}

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/*
Get a device's I2C address using advanced getVal method
By: Nathan Seidle
SparkFun Electronics
Date: January 9th, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
commands instead. This example shows how to use this new command structure.
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 GPS and a RedBoard Qwiic or 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
void setup()
{
Serial.begin(115200);
while (!Serial)
; //Wait for user to open terminal
Serial.println("u-blox getVal example");
Wire.begin();
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
myGPS.enableDebugging(); //Enable debug messages over Serial (default)
//myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
uint8_t currentI2Caddress = myGPS.getVal8(UBLOX_CFG_I2C_ADDRESS);
Serial.print("Current I2C address (should be 0x42): 0x");
Serial.println(currentI2Caddress >> 1, HEX); //Ublox module returns a shifted 8-bit address. Make it 7-bit unshifted.
while (1)
;
}
void loop()
{
//Query module only every second. Doing it more often will just cause I2C traffic.
//The module only responds when a new position is available
if (millis() - lastTime > 1000)
{
lastTime = millis(); //Update the timer
long latitude = myGPS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGPS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGPS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGPS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
Serial.println();
}
}

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/*
Send UBX binary commands to enable RTCM sentences on u-blox ZED-F9P module
By: Nathan Seidle
SparkFun Electronics
Date: January 9th, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
commands instead. This example shows how to use this new command structure.
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 GPS and a RedBoard Qwiic or 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to u-blox module.
void setup()
{
Serial.begin(115200);
while (!Serial)
; //Wait for user to open terminal
Serial.println("u-blox getVal example");
Wire.begin();
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
{
Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
myGPS.enableDebugging(); //Enable debug messages over Serial (default)
//myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
bool setValueSuccess;
//These key values are hard coded and defined in u-blox_config_keys.h.
//You can obtain them from the ZED-F9P interface description doc
//or from u-center's Messages->CFG->VALSET window. Keys must be 32-bit.
//setValueSuccess = myGPS.setVal(UBLOX_CFG_NMEA_HIGHPREC, 0); //Enable high precision NMEA
setValueSuccess = myGPS.setVal(UBLOX_CFG_RATE_MEAS, 100); //Set measurement rate to 100ms (10Hz update rate)
//setValueSuccess = myGPS.setVal(UBLOX_CFG_RATE_MEAS, 1000); //Set measurement rate to 1000ms (1Hz update rate)
//Below is the original way we enabled the RTCM message on the I2C port. After that, we show how to do the same
//but with setVal().
//Original: myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
//setValueSuccess = myGPS.setVal(0x209102bd, 1); //Set output rate of msg 1005 over the I2C port to once per second
if (setValueSuccess == true)
{
Serial.println("Value was successfully set");
}
else
Serial.println("Value set failed");
}
void loop()
{
}

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/*
Configuring port settings using the newer getVal/setVal methods
By: Nathan Seidle
SparkFun Electronics
Date: October 23rd, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to query a u-blox module for its UART1 settings and
then change them if the settings aren't what we want.
Note: getVal/setVal/delVal are only support in u-blox protocol versions 27 and higher.
Feel like supporting open source hardware?
Buy a board from SparkFun!
ZED-F9P RTK2: https://www.sparkfun.com/products/15136
Hardware Connections:
Plug a Qwiic cable into the GPS and a RedBoard
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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial)
; //Wait for user to open terminal
Serial.println("SparkFun u-blox Example");
Wire.begin();
if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
{
Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
bool response = true;
//Read the settings from RAM (what the module is running right now, not BBR, Flash, or default)
uint8_t currentUART1Setting_ubx = myGPS.getVal8(UBLOX_CFG_UART1INPROT_UBX);
uint8_t currentUART1Setting_nmea = myGPS.getVal8(UBLOX_CFG_UART1INPROT_NMEA);
uint8_t currentUART1Setting_rtcm3 = myGPS.getVal8(UBLOX_CFG_UART1INPROT_RTCM3X);
Serial.print("currentUART1Setting_ubx: ");
Serial.println(currentUART1Setting_ubx);
Serial.print("currentUART1Setting_nmea: ");
Serial.println(currentUART1Setting_nmea);
Serial.print("currentUART1Setting_rtcm3: ");
Serial.println(currentUART1Setting_rtcm3);
//Check if NMEA and RTCM are enabled for UART1
if (currentUART1Setting_ubx == 0 || currentUART1Setting_nmea == 0)
{
Serial.println("Updating UART1 configuration");
//setVal sets the values for RAM, BBR, and Flash automatically so no .saveConfiguration() is needed
response &= myGPS.setVal8(UBLOX_CFG_UART1INPROT_UBX, 1); //Enable UBX on UART1 Input
response &= myGPS.setVal8(UBLOX_CFG_UART1INPROT_NMEA, 1); //Enable NMEA on UART1 Input
response &= myGPS.setVal8(UBLOX_CFG_UART1INPROT_RTCM3X, 0); //Disable RTCM on UART1 Input
if (response == false)
Serial.println("SetVal failed");
else
Serial.println("SetVal succeeded");
}
else
Serial.println("No port change needed");
//Change speed of UART2
uint32_t currentUART2Baud = myGPS.getVal32(UBLOX_CFG_UART2_BAUDRATE);
Serial.print("currentUART2Baud: ");
Serial.println(currentUART2Baud);
if (currentUART2Baud != 57600)
{
response &= myGPS.setVal32(UBLOX_CFG_UART2_BAUDRATE, 57600);
if (response == false)
Serial.println("SetVal failed");
else
Serial.println("SetVal succeeded");
}
else
Serial.println("No baud change needed");
Serial.println("Done");
}
void loop()
{
}

90
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/*
Send UBX binary commands to enable RTCM sentences on u-blox ZED-F9P module
Based on Example7 By: Nathan Seidle
SparkFun Electronics
Updated by Paul Clark to demonstrate setVal8/16/32, newCfgValset8/16/32, addCfgValset8/16/32 and sendCfgValset8/16/32
Date: July 1st, 2019
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
commands instead. This example shows how to use this new command structure.
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 GPS and a RedBoard Qwiic or 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 <Wire.h> //Needed for I2C to GPS
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial)
; //Wait for user to open terminal
Serial.println("u-blox multi setVal example");
Wire.begin();
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
{
Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
myGPS.enableDebugging(); //Enable debug messages over Serial (default)
//myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
bool setValueSuccess = true;
//These key values are hard coded. You can obtain them from the ZED-F9P interface description doc
//or from u-center's Messages->CFG->VALSET window. Keys must be 32-bit.
//Choose setVal8, setVal16 or setVal32 depending on the required value data width (1, 2 or 4 bytes)
//L, U1, I1, E1 and X1 values are 8-bit
//U2, I2, E2 and X2 values are 16-bit
//U4, I4, R4, E4, X4 values are 32-bit
setValueSuccess &= myGPS.setVal8(UBLOX_CFG_NMEA_HIGHPREC, 0); //Enable high precision NMEA (value is 8-bit (L / U1))
//setValueSuccess &= myGPS.setVal16(UBLOX_CFG_RATE_MEAS, 200); //Set measurement rate to 100ms (10Hz update rate) (value is 16-bit (U2))
//setValueSuccess &= myGPS.setVal16(UBLOX_CFG_RATE_MEAS, 200, 1); //Set rate setting in RAM instead of BBR
setValueSuccess &= myGPS.setVal16(UBLOX_CFG_RATE_MEAS, 1000); //Set measurement rate to 1000ms (1Hz update rate) (value is 16-bit (U2))
//Below is the original way we enabled a single RTCM message on the I2C port. After that, we show how to do the same
//but with multiple messages all in one go using newCfgValset, addCfgValset and sendCfgValset.
//Original: myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
//Begin with newCfgValset8/16/32
setValueSuccess &= myGPS.newCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1005_I2C, 1); //Set output rate of msg 1005 over the I2C port to once per measurement (value is 8-bit (U1))
//setValueSuccess &= myGPS.newCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1005_I2C, 1, 7); //Set this and the following settings into Flash/RAM/BBR instead of BBR
//Add extra keyIDs and values using addCfgValset8/16/32
setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1077_I2C, 1); //Set output rate of msg 1077 over the I2C port to once per measurement (value is 8-bit (U1))
setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1087_I2C, 1); //Set output rate of msg 1087 over the I2C port to once per measurement (value is 8-bit (U1))
setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1127_I2C, 1); //Set output rate of msg 1127 over the I2C port to once per measurement (value is 8-bit (U1))
setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1097_I2C, 1); //Set output rate of msg 1097 over the I2C port to once per measurement (value is 8-bit (U1))
// Add the final value and send the packet using sendCfgValset8/16/32
setValueSuccess &= myGPS.sendCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1230_I2C, 10); //Set output rate of msg 1230 over the I2C port to once every 10 measurements (value is 8-bit (U1))
if (setValueSuccess == true)
{
Serial.println("Values were successfully set");
}
else
Serial.println("Value set failed");
}
void loop()
{
}

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#######################################
# Syntax Coloring Map
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
SFE_UBLOX_GPS KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
begin KEYWORD2
isConnected KEYWORD2
checkUblox KEYWORD2
checkUbloxI2C KEYWORD2
checkUbloxSerial KEYWORD2
process KEYWORD2
processUBX KEYWORD2
processRTCMframe KEYWORD2
processRTCM KEYWORD2
processUBXpacket KEYWORD2
processNMEA KEYWORD2
calcChecksum KEYWORD2
sendCommand KEYWORD2
printPacket KEYWORD2
setI2CAddress KEYWORD2
setSerialRate KEYWORD2
setNMEAOutputPort KEYWORD2
setNavigationFrequency KEYWORD2
getNavigationFrequency KEYWORD2
saveConfiguration KEYWORD2
factoryDefault KEYWORD2
saveConfigSelective KEYWORD2
waitForResponse KEYWORD2
getPVT KEYWORD2
getLatitude KEYWORD2
getLongitude KEYWORD2
getAltitude KEYWORD2
getAltitudeMSL KEYWORD2
getSIV KEYWORD2
getFixType KEYWORD2
getCarrierSolutionType KEYWORD2
getGroundSpeed KEYWORD2
getHeading KEYWORD2
getPDOP KEYWORD2
getTimeOfWeek KEYWORD2
setPortOutput KEYWORD2
setPortInput KEYWORD2
getPortSettings KEYWORD2
setI2COutput KEYWORD2
setUART1Output KEYWORD2
setUART2Output KEYWORD2
setUSBOutput KEYWORD2
setSPIOutput KEYWORD2
getVal KEYWORD2
getVal8 KEYWORD2
getVal16 KEYWORD2
getVal32 KEYWORD2
setVal KEYWORD2
setVal8 KEYWORD2
setVal16 KEYWORD2
setVal32 KEYWORD2
newCfgValset8 KEYWORD2
newCfgValset16 KEYWORD2
newCfgValset32 KEYWORD2
addCfgValset8 KEYWORD2
addCfgValset16 KEYWORD2
addCfgValset32 KEYWORD2
sendCfgValset8 KEYWORD2
sendCfgValset16 KEYWORD2
sendCfgValset32 KEYWORD2
getSurveyMode KEYWORD2
setSurveyMode KEYWORD2
enableSurveyMode KEYWORD2
disableSurveyMode KEYWORD2
getSurveyStatus KEYWORD2
enableRTCMmessage KEYWORD2
disableRTCMmessage KEYWORD2
getPositionAccuracy KEYWORD2
getProtocolVersionHigh KEYWORD2
getProtocolVersionLow KEYWORD2
getProtocolVersion KEYWORD2
getRELPOSNED KEYWORD2
enableDebugging KEYWORD2
disableDebugging KEYWORD2
debugPrint KEYWORD2
debugPrintln KEYWORD2
factoryReset KEYWORD2
setAutoPVT KEYWORD2
assumeAutoPVT KEYWORD2
flushPVT KEYWORD2
getYear KEYWORD2
getMonth KEYWORD2
getDay KEYWORD2
getHour KEYWORD2
getMinute KEYWORD2
getSecond KEYWORD2
getMillisecond KEYWORD2
getNanosecond KEYWORD2
getDateValid KEYWORD2
getTimeValid KEYWORD2
getHPPOSLLH KEYWORD2
assumeAutoHPPOSLLH KEYWORD2
setAutoHPPOSLLH KEYWORD2
flushHPPOSLLH KEYWORD2
getTimeOfWeek KEYWORD2
getHighResLatitude KEYWORD2
getHighResLatitudeHp KEYWORD2
getHighResLongitude KEYWORD2
getHighResLongitudeHp KEYWORD2
getElipsoid KEYWORD2
getElipsoidHp KEYWORD2
getMeanSeaLevel KEYWORD2
getMeanSeaLevelHp KEYWORD2
getGeoidSeparation KEYWORD2
getHorizontalAccuracy KEYWORD2
getVerticalAccuracy KEYWORD2
addGeofence KEYWORD2
clearGeofences KEYWORD2
getGeofenceState KEYWORD2
setDynamicModel KEYWORD2
getDynamicModel KEYWORD2
powerSaveMode KEYWORD2
getPowerSaveMode KEYWORD2
powerOff KEYWORD2
powerOffWithInterrupt KEYWORD2
configureMessage KEYWORD2
enableMessage KEYWORD2
disableMessage KEYWORD2
enableNMEAMessage KEYWORD2
disableNMEAMessage KEYWORD2
getEsfInfo KEYWORD2
getEsfIns KEYWORD2
getEsfDataInfo KEYWORD2
getEsfRawDataInfo KEYWORD2
getSensState KEYWORD2
getVehAtt KEYWORD2
setI2CTransactionSize KEYWORD2
getI2CTransactionSize KEYWORD2
setStaticPosition KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################
COM_TYPE_UBX LITERAL1
COM_TYPE_NMEA LITERAL1
COM_TYPE_RTCM3 LITERAL1
COM_PORT_I2C LITERAL1
COM_PORT_UART1 LITERAL1
COM_PORT_UART2 LITERAL1
COM_PORT_USB LITERAL1
COM_PORT_SPI LITERAL1
UBX_CLASS_NAV LITERAL1
UBX_CLASS_RXM LITERAL1
UBX_CLASS_INF LITERAL1
UBX_CLASS_ACK LITERAL1
UBX_CLASS_CFG LITERAL1
UBX_CLASS_UPD LITERAL1
UBX_CLASS_MON LITERAL1
UBX_CLASS_AID LITERAL1
UBX_CLASS_TIM LITERAL1
UBX_CLASS_ESF LITERAL1
UBX_CLASS_MGA LITERAL1
UBX_CLASS_LOG LITERAL1
UBX_CLASS_SEC LITERAL1
UBX_CLASS_HNR LITERAL1
UBX_CLASS_NMEA LITERAL1
UBX_NMEA_GGA LITERAL1
UBX_NMEA_GLL LITERAL1
UBX_NMEA_GNS LITERAL1
UBX_NMEA_GRS LITERAL1
UBX_NMEA_GSA LITERAL1
UBX_NMEA_GST LITERAL1
UBX_NMEA_GSV LITERAL1
UBX_NMEA_RMC LITERAL1
UBX_NMEA_VTG LITERAL1
UBX_NMEA_ZDA LITERAL1
UBX_NAV_PVT LITERAL1
UBX_NAV_HPPOSECEF LITERAL1
UBX_NAV_HPPOSLLH LITERAL1
UBX_NAV_SVIN LITERAL1
UBX_NAV_RELPOSNED LITERAL1
UBX_RTCM_MSB LITERAL1
UBX_RTCM_1005 LITERAL1
UBX_RTCM_1074 LITERAL1
UBX_RTCM_1077 LITERAL1
UBX_RTCM_1084 LITERAL1
UBX_RTCM_1087 LITERAL1
UBX_RTCM_1094 LITERAL1
UBX_RTCM_1097 LITERAL1
UBX_RTCM_1124 LITERAL1
UBX_RTCM_1127 LITERAL1
UBX_RTCM_1230 LITERAL1
UBX_RTCM_4072_0 LITERAL1
UBX_RTCM_4072_1 LITERAL1
DYN_MODEL_PORTABLE LITERAL1
DYN_MODEL_STATIONARY LITERAL1
DYN_MODEL_PEDESTRIAN LITERAL1
DYN_MODEL_AUTOMOTIVE LITERAL1
DYN_MODEL_SEA LITERAL1
DYN_MODEL_AIRBORNE1g LITERAL1
DYN_MODEL_AIRBORNE2g LITERAL1
DYN_MODEL_AIRBORNE4g LITERAL1
DYN_MODEL_WRIST LITERAL1
DYN_MODEL_BIKE LITERAL1
UBX_ESF_STATUS LITERAL1
UBX_ESF_RAW LITERAL1
UBX_ESF_MEAS LITERAL1
UBX_ESF_INS LITERAL1

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name=SparkFun u-blox Arduino Library
version=1.8.7
author=SparkFun Electronics <techsupport@sparkfun.com>
maintainer=SparkFun Electronics <sparkfun.com>
sentence=Library for I2C and Serial Communication with u-blox modules
paragraph=An Arduino Library to enable both I2C and Serial communication for both NMEA reception and binary UBX sending to u-blox modules. Useful for interfacing to the <a href="https://www.sparkfun.com/products/15136">SparkFun GPS-RTK2</a> ZED-F9P, <a href="https://www.sparkfun.com/products/14980">SparkFun GPS-RTK</a> NEO-M8P-2, the <a href="https://www.sparkfun.com/products/15210">SparkFun SAM-M8Q</a>, and the <a href="https://www.sparkfun.com/products/15193">SparkFun ZEO-M8Q</a>. Library also works with other u-blox based boards. <br><br>The ZED-F9P and NEO-M8P-2 modules are top-of-the-line modules for high accuracy GNSS and GPS location solutions including RTK. The ZED-F9P is unique in that it is capable of both rover and base station operations allowing the module to become a base station and produce RTCM 3.x correction data.
category=Sensors
url=https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
architectures=*

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/*
This is a library written for the u-blox ZED-F9P and NEO-M8P-2
SparkFun sells these at its website: www.sparkfun.com
Do you like this library? Help support SparkFun. Buy a board!
https://www.sparkfun.com/products/16481
https://www.sparkfun.com/products/15136
https://www.sparkfun.com/products/15005
https://www.sparkfun.com/products/15733
https://www.sparkfun.com/products/15193
https://www.sparkfun.com/products/15210
Written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
This library handles configuring and handling the responses
from a u-blox GPS module. Works with most modules from u-blox including
the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others.
https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
Development environment specifics:
Arduino IDE 1.8.5
SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
The MIT License (MIT)
Copyright (c) 2016 SparkFun Electronics
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
and/or sell copies of the Software, and to permit persons to whom the Software is furnished to
do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial
portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef SPARKFUN_UBLOX_ARDUINO_LIBRARY_H
#define SPARKFUN_UBLOX_ARDUINO_LIBRARY_H
#if (ARDUINO >= 100)
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <Wire.h>
#include "u-blox_config_keys.h"
// Define Serial for SparkFun SAMD based boards.
// Boards like the RedBoard Turbo use SerialUSB (not Serial).
// But other boards like the SAMD51 Thing Plus use Serial (not SerialUSB).
// The next nine lines let the code compile cleanly on as many SAMD boards as possible.
#if defined(ARDUINO_ARCH_SAMD) // Is this a SAMD board?
#if defined(USB_VID) // Is the USB Vendor ID defined?
#if (USB_VID == 0x1B4F) // Is this a SparkFun board?
#if !defined(ARDUINO_SAMD51_THING_PLUS) & !defined(ARDUINO_SAMD51_MICROMOD) // If it is not a SAMD51 Thing Plus or SAMD51 MicroMod
#define Serial SerialUSB // Define Serial as SerialUSB
#endif
#endif
#endif
#endif
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
//Define a digital pin to aid checksum failure capture and analysis
//Leave set to -1 if not needed
const int checksumFailurePin = -1;
// Global Status Returns
typedef enum
{
SFE_UBLOX_STATUS_SUCCESS,
SFE_UBLOX_STATUS_FAIL,
SFE_UBLOX_STATUS_CRC_FAIL,
SFE_UBLOX_STATUS_TIMEOUT,
SFE_UBLOX_STATUS_COMMAND_NACK, // Indicates that the command was unrecognised, invalid or that the module is too busy to respond
SFE_UBLOX_STATUS_OUT_OF_RANGE,
SFE_UBLOX_STATUS_INVALID_ARG,
SFE_UBLOX_STATUS_INVALID_OPERATION,
SFE_UBLOX_STATUS_MEM_ERR,
SFE_UBLOX_STATUS_HW_ERR,
SFE_UBLOX_STATUS_DATA_SENT, // This indicates that a 'set' was successful
SFE_UBLOX_STATUS_DATA_RECEIVED, // This indicates that a 'get' (poll) was successful
SFE_UBLOX_STATUS_I2C_COMM_FAILURE,
SFE_UBLOX_STATUS_DATA_OVERWRITTEN // This is an error - the data was valid but has been or _is being_ overwritten by another packet
} sfe_ublox_status_e;
// ubxPacket validity
typedef enum
{
SFE_UBLOX_PACKET_VALIDITY_NOT_VALID,
SFE_UBLOX_PACKET_VALIDITY_VALID,
SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED,
SFE_UBLOX_PACKET_NOTACKNOWLEDGED // This indicates that we received a NACK
} sfe_ublox_packet_validity_e;
// Identify which packet buffer is in use:
// packetCfg (or a custom packet), packetAck or packetBuf
typedef enum
{
SFE_UBLOX_PACKET_PACKETCFG,
SFE_UBLOX_PACKET_PACKETACK,
SFE_UBLOX_PACKET_PACKETBUF
} sfe_ublox_packet_buffer_e;
//Registers
const uint8_t UBX_SYNCH_1 = 0xB5;
const uint8_t UBX_SYNCH_2 = 0x62;
//The following are UBX Class IDs. Descriptions taken from ZED-F9P Interface Description Document page 32, NEO-M8P Interface Description page 145
const uint8_t UBX_CLASS_NAV = 0x01; //Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used
const uint8_t UBX_CLASS_RXM = 0x02; //Receiver Manager Messages: Satellite Status, RTC Status
const uint8_t UBX_CLASS_INF = 0x04; //Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice
const uint8_t UBX_CLASS_ACK = 0x05; //Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages
const uint8_t UBX_CLASS_CFG = 0x06; //Configuration Input Messages: Configure the receiver.
const uint8_t UBX_CLASS_UPD = 0x09; //Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc.
const uint8_t UBX_CLASS_MON = 0x0A; //Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status
const uint8_t UBX_CLASS_AID = 0x0B; //(NEO-M8P ONLY!!!) AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input
const uint8_t UBX_CLASS_TIM = 0x0D; //Timing Messages: Time Pulse Output, Time Mark Results
const uint8_t UBX_CLASS_ESF = 0x10; //(NEO-M8P ONLY!!!) External Sensor Fusion Messages: External Sensor Measurements and Status Information
const uint8_t UBX_CLASS_MGA = 0x13; //Multiple GNSS Assistance Messages: Assistance data for various GNSS
const uint8_t UBX_CLASS_LOG = 0x21; //Logging Messages: Log creation, deletion, info and retrieval
const uint8_t UBX_CLASS_SEC = 0x27; //Security Feature Messages
const uint8_t UBX_CLASS_HNR = 0x28; //(NEO-M8P ONLY!!!) High Rate Navigation Results Messages: High rate time, position speed, heading
const uint8_t UBX_CLASS_NMEA = 0xF0; //NMEA Strings: standard NMEA strings
//The following are used for configuration. Descriptions are from the ZED-F9P Interface Description pg 33-34 and NEO-M9N Interface Description pg 47-48
const uint8_t UBX_CFG_ANT = 0x13; //Antenna Control Settings. Used to configure the antenna control settings
const uint8_t UBX_CFG_BATCH = 0x93; //Get/set data batching configuration.
const uint8_t UBX_CFG_CFG = 0x09; //Clear, Save, and Load Configurations. Used to save current configuration
const uint8_t UBX_CFG_DAT = 0x06; //Set User-defined Datum or The currently defined Datum
const uint8_t UBX_CFG_DGNSS = 0x70; //DGNSS configuration
const uint8_t UBX_CFG_GEOFENCE = 0x69; //Geofencing configuration. Used to configure a geofence
const uint8_t UBX_CFG_GNSS = 0x3E; //GNSS system configuration
const uint8_t UBX_CFG_INF = 0x02; //Depending on packet length, either: poll configuration for one protocol, or information message configuration
const uint8_t UBX_CFG_ITFM = 0x39; //Jamming/Interference Monitor configuration
const uint8_t UBX_CFG_LOGFILTER = 0x47; //Data Logger Configuration
const uint8_t UBX_CFG_MSG = 0x01; //Poll a message configuration, or Set Message Rate(s), or Set Message Rate
const uint8_t UBX_CFG_NAV5 = 0x24; //Navigation Engine Settings. Used to configure the navigation engine including the dynamic model.
const uint8_t UBX_CFG_NAVX5 = 0x23; //Navigation Engine Expert Settings
const uint8_t UBX_CFG_NMEA = 0x17; //Extended NMEA protocol configuration V1
const uint8_t UBX_CFG_ODO = 0x1E; //Odometer, Low-speed COG Engine Settings
const uint8_t UBX_CFG_PM2 = 0x3B; //Extended power management configuration
const uint8_t UBX_CFG_PMS = 0x86; //Power mode setup
const uint8_t UBX_CFG_PRT = 0x00; //Used to configure port specifics. Polls the configuration for one I/O Port, or Port configuration for UART ports, or Port configuration for USB port, or Port configuration for SPI port, or Port configuration for DDC port
const uint8_t UBX_CFG_PWR = 0x57; //Put receiver in a defined power state
const uint8_t UBX_CFG_RATE = 0x08; //Navigation/Measurement Rate Settings. Used to set port baud rates.
const uint8_t UBX_CFG_RINV = 0x34; //Contents of Remote Inventory
const uint8_t UBX_CFG_RST = 0x04; //Reset Receiver / Clear Backup Data Structures. Used to reset device.
const uint8_t UBX_CFG_RXM = 0x11; //RXM configuration
const uint8_t UBX_CFG_SBAS = 0x16; //SBAS configuration
const uint8_t UBX_CFG_TMODE3 = 0x71; //Time Mode Settings 3. Used to enable Survey In Mode
const uint8_t UBX_CFG_TP5 = 0x31; //Time Pulse Parameters
const uint8_t UBX_CFG_USB = 0x1B; //USB Configuration
const uint8_t UBX_CFG_VALDEL = 0x8C; //Used for config of higher version u-blox modules (ie protocol v27 and above). Deletes values corresponding to provided keys/ provided keys with a transaction
const uint8_t UBX_CFG_VALGET = 0x8B; //Used for config of higher version u-blox modules (ie protocol v27 and above). Configuration Items
const uint8_t UBX_CFG_VALSET = 0x8A; //Used for config of higher version u-blox modules (ie protocol v27 and above). Sets values corresponding to provided key-value pairs/ provided key-value pairs within a transaction.
//The following are used to enable NMEA messages. Descriptions come from the NMEA messages overview in the ZED-F9P Interface Description
const uint8_t UBX_NMEA_MSB = 0xF0; //All NMEA enable commands have 0xF0 as MSB
const uint8_t UBX_NMEA_DTM = 0x0A; //GxDTM (datum reference)
const uint8_t UBX_NMEA_GAQ = 0x45; //GxGAQ (poll a standard message (if the current talker ID is GA))
const uint8_t UBX_NMEA_GBQ = 0x44; //GxGBQ (poll a standard message (if the current Talker ID is GB))
const uint8_t UBX_NMEA_GBS = 0x09; //GxGBS (GNSS satellite fault detection)
const uint8_t UBX_NMEA_GGA = 0x00; //GxGGA (Global positioning system fix data)
const uint8_t UBX_NMEA_GLL = 0x01; //GxGLL (latitude and long, whith time of position fix and status)
const uint8_t UBX_NMEA_GLQ = 0x43; //GxGLQ (poll a standard message (if the current Talker ID is GL))
const uint8_t UBX_NMEA_GNQ = 0x42; //GxGNQ (poll a standard message (if the current Talker ID is GN))
const uint8_t UBX_NMEA_GNS = 0x0D; //GxGNS (GNSS fix data)
const uint8_t UBX_NMEA_GPQ = 0x040; //GxGPQ (poll a standard message (if the current Talker ID is GP))
const uint8_t UBX_NMEA_GRS = 0x06; //GxGRS (GNSS range residuals)
const uint8_t UBX_NMEA_GSA = 0x02; //GxGSA (GNSS DOP and Active satellites)
const uint8_t UBX_NMEA_GST = 0x07; //GxGST (GNSS Pseudo Range Error Statistics)
const uint8_t UBX_NMEA_GSV = 0x03; //GxGSV (GNSS satellites in view)
const uint8_t UBX_NMEA_RMC = 0x04; //GxRMC (Recommended minimum data)
const uint8_t UBX_NMEA_TXT = 0x41; //GxTXT (text transmission)
const uint8_t UBX_NMEA_VLW = 0x0F; //GxVLW (dual ground/water distance)
const uint8_t UBX_NMEA_VTG = 0x05; //GxVTG (course over ground and Ground speed)
const uint8_t UBX_NMEA_ZDA = 0x08; //GxZDA (Time and Date)
//The following are used to configure the NMEA protocol main talker ID and GSV talker ID
const uint8_t UBX_NMEA_MAINTALKERID_NOTOVERRIDDEN = 0x00; //main talker ID is system dependent
const uint8_t UBX_NMEA_MAINTALKERID_GP = 0x01; //main talker ID is GPS
const uint8_t UBX_NMEA_MAINTALKERID_GL = 0x02; //main talker ID is GLONASS
const uint8_t UBX_NMEA_MAINTALKERID_GN = 0x03; //main talker ID is combined receiver
const uint8_t UBX_NMEA_MAINTALKERID_GA = 0x04; //main talker ID is Galileo
const uint8_t UBX_NMEA_MAINTALKERID_GB = 0x05; //main talker ID is BeiDou
const uint8_t UBX_NMEA_GSVTALKERID_GNSS = 0x00; //GNSS specific Talker ID (as defined by NMEA)
const uint8_t UBX_NMEA_GSVTALKERID_MAIN = 0x01; //use the main Talker ID
//The following are used to configure INF UBX messages (information messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
const uint8_t UBX_INF_CLASS = 0x04; //All INF messages have 0x04 as the class
const uint8_t UBX_INF_DEBUG = 0x04; //ASCII output with debug contents
const uint8_t UBX_INF_ERROR = 0x00; //ASCII output with error contents
const uint8_t UBX_INF_NOTICE = 0x02; //ASCII output with informational contents
const uint8_t UBX_INF_TEST = 0x03; //ASCII output with test contents
const uint8_t UBX_INF_WARNING = 0x01; //ASCII output with warning contents
//The following are used to configure LOG UBX messages (loggings messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
const uint8_t UBX_LOG_CREATE = 0x07; //Create Log File
const uint8_t UBX_LOG_ERASE = 0x03; //Erase Logged Data
const uint8_t UBX_LOG_FINDTIME = 0x0E; //Find index of a log entry based on a given time, or response to FINDTIME requested
const uint8_t UBX_LOG_INFO = 0x08; //Poll for log information, or Log information
const uint8_t UBX_LOG_RETRIEVEPOSEXTRA = 0x0F; //Odometer log entry
const uint8_t UBX_LOG_RETRIEVEPOS = 0x0B; //Position fix log entry
const uint8_t UBX_LOG_RETRIEVESTRING = 0x0D; //Byte string log entry
const uint8_t UBX_LOG_RETRIEVE = 0x09; //Request log data
const uint8_t UBX_LOG_STRING = 0x04; //Store arbitrary string on on-board flash
//The following are used to configure MGA UBX messages (Multiple GNSS Assistance Messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
const uint8_t UBX_MGA_ACK_DATA0 = 0x60; //Multiple GNSS Acknowledge message
const uint8_t UBX_MGA_BDS_EPH = 0x03; //BDS Ephemeris Assistance
const uint8_t UBX_MGA_BDS_ALM = 0x03; //BDS Almanac Assistance
const uint8_t UBX_MGA_BDS_HEALTH = 0x03; //BDS Health Assistance
const uint8_t UBX_MGA_BDS_UTC = 0x03; //BDS UTC Assistance
const uint8_t UBX_MGA_BDS_IONO = 0x03; //BDS Ionospheric Assistance
const uint8_t UBX_MGA_DBD = 0x80; //Either: Poll the Navigation Database, or Navigation Database Dump Entry
const uint8_t UBX_MGA_GAL_EPH = 0x02; //Galileo Ephemeris Assistance
const uint8_t UBX_MGA_GAL_ALM = 0x02; //Galileo Almanac Assitance
const uint8_t UBX_MGA_GAL_TIMOFFSET = 0x02; //Galileo GPS time offset assistance
const uint8_t UBX_MGA_GAL_UTC = 0x02; //Galileo UTC Assistance
const uint8_t UBX_MGA_GLO_EPH = 0x06; //GLONASS Ephemeris Assistance
const uint8_t UBX_MGA_GLO_ALM = 0x06; //GLONASS Almanac Assistance
const uint8_t UBX_MGA_GLO_TIMEOFFSET = 0x06; //GLONASS Auxiliary Time Offset Assistance
const uint8_t UBX_MGA_GPS_EPH = 0x00; //GPS Ephemeris Assistance
const uint8_t UBX_MGA_GPS_ALM = 0x00; //GPS Almanac Assistance
const uint8_t UBX_MGA_GPS_HEALTH = 0x00; //GPS Health Assistance
const uint8_t UBX_MGA_GPS_UTC = 0x00; //GPS UTC Assistance
const uint8_t UBX_MGA_GPS_IONO = 0x00; //GPS Ionosphere Assistance
const uint8_t UBX_MGA_INI_POS_XYZ = 0x40; //Initial Position Assistance
const uint8_t UBX_MGA_INI_POS_LLH = 0x40; //Initial Position Assitance
const uint8_t UBX_MGA_INI_TIME_UTC = 0x40; //Initial Time Assistance
const uint8_t UBX_MGA_INI_TIME_GNSS = 0x40; //Initial Time Assistance
const uint8_t UBX_MGA_INI_CLKD = 0x40; //Initial Clock Drift Assitance
const uint8_t UBX_MGA_INI_FREQ = 0x40; //Initial Frequency Assistance
const uint8_t UBX_MGA_INI_EOP = 0x40; //Earth Orientation Parameters Assistance
const uint8_t UBX_MGA_QZSS_EPH = 0x05; //QZSS Ephemeris Assistance
const uint8_t UBX_MGA_QZSS_ALM = 0x05; //QZSS Almanac Assistance
const uint8_t UBX_MGA_QZAA_HEALTH = 0x05; //QZSS Health Assistance
//The following are used to configure the MON UBX messages (monitoring messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35)
const uint8_t UBX_MON_COMMS = 0x36; //Comm port information
const uint8_t UBX_MON_GNSS = 0x28; //Information message major GNSS selection
const uint8_t UBX_MON_HW2 = 0x0B; //Extended Hardware Status
const uint8_t UBX_MON_HW3 = 0x37; //HW I/O pin information
const uint8_t UBX_MON_HW = 0x09; //Hardware Status
const uint8_t UBX_MON_IO = 0x02; //I/O Subsystem Status
const uint8_t UBX_MON_MSGPP = 0x06; //Message Parse and Process Status
const uint8_t UBX_MON_PATCH = 0x27; //Output information about installed patches
const uint8_t UBX_MON_RF = 0x38; //RF information
const uint8_t UBX_MON_RXBUF = 0x07; //Receiver Buffer Status
const uint8_t UBX_MON_RXR = 0x21; //Receiver Status Information
const uint8_t UBX_MON_TXBUF = 0x08; //Transmitter Buffer Status. Used for query tx buffer size/state.
const uint8_t UBX_MON_VER = 0x04; //Receiver/Software Version. Used for obtaining Protocol Version.
//The following are used to configure the NAV UBX messages (navigation results messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35-36)
const uint8_t UBX_NAV_ATT = 0x05; //Vehicle "Attitude" Solution
const uint8_t UBX_NAV_CLOCK = 0x22; //Clock Solution
const uint8_t UBX_NAV_DOP = 0x04; //Dilution of precision
const uint8_t UBX_NAV_EOE = 0x61; //End of Epoch
const uint8_t UBX_NAV_GEOFENCE = 0x39; //Geofencing status. Used to poll the geofence status
const uint8_t UBX_NAV_HPPOSECEF = 0x13; //High Precision Position Solution in ECEF. Used to find our positional accuracy (high precision).
const uint8_t UBX_NAV_HPPOSLLH = 0x14; //High Precision Geodetic Position Solution. Used for obtaining lat/long/alt in high precision
const uint8_t UBX_NAV_ODO = 0x09; //Odometer Solution
const uint8_t UBX_NAV_ORB = 0x34; //GNSS Orbit Database Info
const uint8_t UBX_NAV_POSECEF = 0x01; //Position Solution in ECEF
const uint8_t UBX_NAV_POSLLH = 0x02; //Geodetic Position Solution
const uint8_t UBX_NAV_PVT = 0x07; //All the things! Position, velocity, time, PDOP, height, h/v accuracies, number of satellites. Navigation Position Velocity Time Solution.
const uint8_t UBX_NAV_RELPOSNED = 0x3C; //Relative Positioning Information in NED frame
const uint8_t UBX_NAV_RESETODO = 0x10; //Reset odometer
const uint8_t UBX_NAV_SAT = 0x35; //Satellite Information
const uint8_t UBX_NAV_SIG = 0x43; //Signal Information
const uint8_t UBX_NAV_STATUS = 0x03; //Receiver Navigation Status
const uint8_t UBX_NAV_SVIN = 0x3B; //Survey-in data. Used for checking Survey In status
const uint8_t UBX_NAV_TIMEBDS = 0x24; //BDS Time Solution
const uint8_t UBX_NAV_TIMEGAL = 0x25; //Galileo Time Solution
const uint8_t UBX_NAV_TIMEGLO = 0x23; //GLO Time Solution
const uint8_t UBX_NAV_TIMEGPS = 0x20; //GPS Time Solution
const uint8_t UBX_NAV_TIMELS = 0x26; //Leap second event information
const uint8_t UBX_NAV_TIMEUTC = 0x21; //UTC Time Solution
const uint8_t UBX_NAV_VELECEF = 0x11; //Velocity Solution in ECEF
const uint8_t UBX_NAV_VELNED = 0x12; //Velocity Solution in NED
//The following are used to configure the RXM UBX messages (receiver manager messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
const uint8_t UBX_RXM_MEASX = 0x14; //Satellite Measurements for RRLP
const uint8_t UBX_RXM_PMREQ = 0x41; //Requests a Power Management task (two differenent packet sizes)
const uint8_t UBX_RXM_RAWX = 0x15; //Multi-GNSS Raw Measurement Data
const uint8_t UBX_RXM_RLM = 0x59; //Galileo SAR Short-RLM report (two different packet sizes)
const uint8_t UBX_RXM_RTCM = 0x32; //RTCM input status
const uint8_t UBX_RXM_SFRBX = 0x13; //Boradcast Navigation Data Subframe
//The following are used to configure the SEC UBX messages (security feature messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
const uint8_t UBX_SEC_UNIQID = 0x03; //Unique chip ID
//The following are used to configure the TIM UBX messages (timing messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
const uint8_t UBX_TIM_TM2 = 0x03; //Time mark data
const uint8_t UBX_TIM_TP = 0x01; //Time Pulse Timedata
const uint8_t UBX_TIM_VRFY = 0x06; //Sourced Time Verification
//The following are used to configure the UPD UBX messages (firmware update messages). Descriptions from UBX messages overview (ZED-F9P Interface Description Document page 36)
const uint8_t UBX_UPD_SOS = 0x14; //Poll Backup Fil Restore Status, Create Backup File in Flash, Clear Backup File in Flash, Backup File Creation Acknowledge, System Restored from Backup
//The following are used to enable RTCM messages
const uint8_t UBX_RTCM_MSB = 0xF5; //All RTCM enable commands have 0xF5 as MSB
const uint8_t UBX_RTCM_1005 = 0x05; //Stationary RTK reference ARP
const uint8_t UBX_RTCM_1074 = 0x4A; //GPS MSM4
const uint8_t UBX_RTCM_1077 = 0x4D; //GPS MSM7
const uint8_t UBX_RTCM_1084 = 0x54; //GLONASS MSM4
const uint8_t UBX_RTCM_1087 = 0x57; //GLONASS MSM7
const uint8_t UBX_RTCM_1094 = 0x5E; //Galileo MSM4
const uint8_t UBX_RTCM_1097 = 0x61; //Galileo MSM7
const uint8_t UBX_RTCM_1124 = 0x7C; //BeiDou MSM4
const uint8_t UBX_RTCM_1127 = 0x7F; //BeiDou MSM7
const uint8_t UBX_RTCM_1230 = 0xE6; //GLONASS code-phase biases, set to once every 10 seconds
const uint8_t UBX_RTCM_4072_0 = 0xFE; //Reference station PVT (ublox proprietary RTCM message)
const uint8_t UBX_RTCM_4072_1 = 0xFD; //Additional reference station information (ublox proprietary RTCM message)
const uint8_t UBX_ACK_NACK = 0x00;
const uint8_t UBX_ACK_ACK = 0x01;
const uint8_t UBX_ACK_NONE = 0x02; //Not a real value
// The following constants are used to get External Sensor Measurements and Status
// Information.
const uint8_t UBX_ESF_MEAS = 0x02;
const uint8_t UBX_ESF_RAW = 0x03;
const uint8_t UBX_ESF_STATUS = 0x10;
const uint8_t UBX_ESF_INS = 0x15; //36 bytes
const uint8_t SVIN_MODE_DISABLE = 0x00;
const uint8_t SVIN_MODE_ENABLE = 0x01;
//The following consts are used to configure the various ports and streams for those ports. See -CFG-PRT.
const uint8_t COM_PORT_I2C = 0;
const uint8_t COM_PORT_UART1 = 1;
const uint8_t COM_PORT_UART2 = 2;
const uint8_t COM_PORT_USB = 3;
const uint8_t COM_PORT_SPI = 4;
const uint8_t COM_TYPE_UBX = (1 << 0);
const uint8_t COM_TYPE_NMEA = (1 << 1);
const uint8_t COM_TYPE_RTCM3 = (1 << 5);
// Configuration Sub-Section mask definitions for saveConfigSelective (UBX-CFG-CFG)
const uint32_t VAL_CFG_SUBSEC_IOPORT = 0x00000001; // ioPort - communications port settings (causes IO system reset!)
const uint32_t VAL_CFG_SUBSEC_MSGCONF = 0x00000002; // msgConf - message configuration
const uint32_t VAL_CFG_SUBSEC_INFMSG = 0x00000004; // infMsg - INF message configuration
const uint32_t VAL_CFG_SUBSEC_NAVCONF = 0x00000008; // navConf - navigation configuration
const uint32_t VAL_CFG_SUBSEC_RXMCONF = 0x00000010; // rxmConf - receiver manager configuration
const uint32_t VAL_CFG_SUBSEC_SENCONF = 0x00000100; // senConf - sensor interface configuration (requires protocol 19+)
const uint32_t VAL_CFG_SUBSEC_RINVCONF = 0x00000200; // rinvConf - remove inventory configuration
const uint32_t VAL_CFG_SUBSEC_ANTCONF = 0x00000400; // antConf - antenna configuration
const uint32_t VAL_CFG_SUBSEC_LOGCONF = 0x00000800; // logConf - logging configuration
const uint32_t VAL_CFG_SUBSEC_FTSCONF = 0x00001000; // ftsConf - FTS configuration (FTS products only)
// Bitfield wakeupSources for UBX_RXM_PMREQ
const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_UARTRX = 0x00000008; // uartrx
const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0 = 0x00000020; // extint0
const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT1 = 0x00000040; // extint1
const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS = 0x00000080; // spics
enum dynModel // Possible values for the dynamic platform model, which provide more accuract position output for the situation. Description extracted from ZED-F9P Integration Manual
{
DYN_MODEL_PORTABLE = 0, //Applications with low acceleration, e.g. portable devices. Suitable for most situations.
// 1 is not defined
DYN_MODEL_STATIONARY = 2, //Used in timing applications (antenna must be stationary) or other stationary applications. Velocity restricted to 0 m/s. Zero dynamics assumed.
DYN_MODEL_PEDESTRIAN, //Applications with low acceleration and speed, e.g. how a pedestrian would move. Low acceleration assumed.
DYN_MODEL_AUTOMOTIVE, //Used for applications with equivalent dynamics to those of a passenger car. Low vertical acceleration assumed
DYN_MODEL_SEA, //Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity assumed. Sea level assumed.
DYN_MODEL_AIRBORNE1g, //Airborne <1g acceleration. Used for applications with a higher dynamic range and greater vertical acceleration than a passenger car. No 2D position fixes supported.
DYN_MODEL_AIRBORNE2g, //Airborne <2g acceleration. Recommended for typical airborne environments. No 2D position fixes supported.
DYN_MODEL_AIRBORNE4g, //Airborne <4g acceleration. Only recommended for extremely dynamic environments. No 2D position fixes supported.
DYN_MODEL_WRIST, // Not supported in protocol versions less than 18. Only recommended for wrist worn applications. Receiver will filter out arm motion.
DYN_MODEL_BIKE, // Supported in protocol versions 19.2
};
#ifndef MAX_PAYLOAD_SIZE
#define MAX_PAYLOAD_SIZE 256 //We need ~220 bytes for getProtocolVersion on most ublox modules
//#define MAX_PAYLOAD_SIZE 768 //Worst case: UBX_CFG_VALSET packet with 64 keyIDs each with 64 bit values
#endif
//-=-=-=-=- UBX binary specific variables
typedef struct
{
uint8_t cls;
uint8_t id;
uint16_t len; //Length of the payload. Does not include cls, id, or checksum bytes
uint16_t counter; //Keeps track of number of overall bytes received. Some responses are larger than 255 bytes.
uint16_t startingSpot; //The counter value needed to go past before we begin recording into payload array
uint8_t *payload;
uint8_t checksumA; //Given to us from module. Checked against the rolling calculated A/B checksums.
uint8_t checksumB;
sfe_ublox_packet_validity_e valid; //Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked
sfe_ublox_packet_validity_e classAndIDmatch; // Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID
} ubxPacket;
// Struct to hold the results returned by getGeofenceState (returned by UBX-NAV-GEOFENCE)
typedef struct
{
uint8_t status; // Geofencing status: 0 - Geofencing not available or not reliable; 1 - Geofencing active
uint8_t numFences; // Number of geofences
uint8_t combState; // Combined (logical OR) state of all geofences: 0 - Unknown; 1 - Inside; 2 - Outside
uint8_t states[4]; // Geofence states: 0 - Unknown; 1 - Inside; 2 - Outside
} geofenceState;
// Struct to hold the current geofence parameters
typedef struct
{
uint8_t numFences; // Number of active geofences
int32_t lats[4]; // Latitudes of geofences (in degrees * 10^-7)
int32_t longs[4]; // Longitudes of geofences (in degrees * 10^-7)
uint32_t rads[4]; // Radii of geofences (in m * 10^-2)
} geofenceParams;
class SFE_UBLOX_GPS
{
public:
SFE_UBLOX_GPS(void);
// A default of 250ms for maxWait seems fine for I2C but is not enough for SerialUSB.
// If you know you are only going to be using I2C / Qwiic communication, you can
// safely reduce defaultMaxWait to 250.
#ifndef defaultMaxWait // Let's allow the user to define their own value if they want to
#define defaultMaxWait 1100
#endif
//By default use the default I2C address, and use Wire port
boolean begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected
//serialPort needs to be perviously initialized to correct baud rate
boolean begin(Stream &serialPort); //Returns true if module is detected
//Control the size of the internal I2C transaction amount
void setI2CTransactionSize(uint8_t bufferSize);
uint8_t getI2CTransactionSize(void);
//Set the max number of bytes set in a given I2C transaction
uint8_t i2cTransactionSize = 32; //Default to ATmega328 limit
//Returns true if device answers on _gpsI2Caddress address or via Serial
//maxWait is only used for Serial
boolean isConnected(uint16_t maxWait = 1100);
//Changed in V1.8.1: provides backward compatibility for the examples that call checkUblox directly
//Will default to using packetCfg to look for explicit autoPVT packets so they get processed correctly by processUBX
boolean checkUblox(uint8_t requestedClass = UBX_CLASS_NAV, uint8_t requestedID = UBX_NAV_PVT); //Checks module with user selected commType
boolean checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Method for I2C polling of data, passing any new bytes to process()
boolean checkUbloxSerial(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Method for serial polling of data, passing any new bytes to process()
void process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Processes NMEA and UBX binary sentences one byte at a time
void processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Given a character, file it away into the uxb packet structure
void processRTCMframe(uint8_t incoming); //Monitor the incoming bytes for start and length bytes
void processRTCM(uint8_t incoming) __attribute__((weak)); //Given rtcm byte, do something with it. User can overwrite if desired to pipe bytes to radio, internet, etc.
void processUBXpacket(ubxPacket *msg); //Once a packet has been received and validated, identify this packet's class/id and update internal flags
void processNMEA(char incoming) __attribute__((weak)); //Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries
void calcChecksum(ubxPacket *msg); //Sets the checksumA and checksumB of a given messages
sfe_ublox_status_e sendCommand(ubxPacket *outgoingUBX, uint16_t maxWait = defaultMaxWait); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
sfe_ublox_status_e sendI2cCommand(ubxPacket *outgoingUBX, uint16_t maxWait = 250);
void sendSerialCommand(ubxPacket *outgoingUBX);
void printPacket(ubxPacket *packet); //Useful for debugging
void factoryReset(); //Send factory reset sequence (i.e. load "default" configuration and perform hardReset)
void hardReset(); //Perform a reset leading to a cold start (zero info start-up)
boolean setI2CAddress(uint8_t deviceAddress, uint16_t maxTime = 250); //Changes the I2C address of the u-blox module
void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = defaultMaxWait); //Changes the serial baud rate of the u-blox module, uartPort should be COM_PORT_UART1/2
void setNMEAOutputPort(Stream &nmeaOutputPort); //Sets the internal variable for the port to direct NMEA characters to
boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait); //Set the number of nav solutions sent per second
uint8_t getNavigationFrequency(uint16_t maxWait = defaultMaxWait); //Get the number of nav solutions sent per second currently being output by module
boolean saveConfiguration(uint16_t maxWait = defaultMaxWait); //Save current configuration to flash and BBR (battery backed RAM)
boolean factoryDefault(uint16_t maxWait = defaultMaxWait); //Reset module to factory defaults
boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = defaultMaxWait); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
sfe_ublox_status_e waitForACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet and an ACK is received
sfe_ublox_status_e waitForNoACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet is received
// getPVT will only return data once in each navigation cycle. By default, that is once per second.
// Therefore we should set getPVTmaxWait to slightly longer than that.
// If you change the navigation frequency to (e.g.) 4Hz using setNavigationFrequency(4)
// then you should use a shorter maxWait for getPVT. 300msec would be about right: getPVT(300)
// The same is true for getHPPOSLLH.
#define getPVTmaxWait 1100 // Default maxWait for getPVT and all functions which call it
#define getHPPOSLLHmaxWait 1100 // Default maxWait for getHPPOSLLH and all functions which call it
boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and PVT is send cyclically already
boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency
boolean getPVT(uint16_t maxWait = getPVTmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
boolean assumeAutoHPPOSLLH(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and HPPOSLLH is send cyclically already
boolean setAutoHPPOSLLH(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSLLH reports at the navigation frequency
boolean setAutoHPPOSLLH(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSLLH reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
boolean getHPPOSLLH(uint16_t maxWait = getHPPOSLLHmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new HPPOSLLH is available.
void flushPVT(); //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
void flushHPPOSLLH(); //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
int32_t getLatitude(uint16_t maxWait = getPVTmaxWait); //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
int32_t getLongitude(uint16_t maxWait = getPVTmaxWait); //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module.
int32_t getAltitude(uint16_t maxWait = getPVTmaxWait); //Returns the current altitude in mm above ellipsoid
int32_t getAltitudeMSL(uint16_t maxWait = getPVTmaxWait); //Returns the current altitude in mm above mean sea level
uint8_t getSIV(uint16_t maxWait = getPVTmaxWait); //Returns number of sats used in fix
uint8_t getFixType(uint16_t maxWait = getPVTmaxWait); //Returns the type of fix: 0=no, 3=3D, 4=GNSS+Deadreckoning
uint8_t getCarrierSolutionType(uint16_t maxWait = getPVTmaxWait); //Returns RTK solution: 0=no, 1=float solution, 2=fixed solution
int32_t getGroundSpeed(uint16_t maxWait = getPVTmaxWait); //Returns speed in mm/s
int32_t getHeading(uint16_t maxWait = getPVTmaxWait); //Returns heading in degrees * 10^-5
uint16_t getPDOP(uint16_t maxWait = getPVTmaxWait); //Returns positional dillution of precision * 10^-2 (dimensionless)
uint16_t getYear(uint16_t maxWait = getPVTmaxWait);
uint8_t getMonth(uint16_t maxWait = getPVTmaxWait);
uint8_t getDay(uint16_t maxWait = getPVTmaxWait);
uint8_t getHour(uint16_t maxWait = getPVTmaxWait);
uint8_t getMinute(uint16_t maxWait = getPVTmaxWait);
uint8_t getSecond(uint16_t maxWait = getPVTmaxWait);
uint16_t getMillisecond(uint16_t maxWait = getPVTmaxWait);
int32_t getNanosecond(uint16_t maxWait = getPVTmaxWait);
uint32_t getTimeOfWeek(uint16_t maxWait = getPVTmaxWait);
bool getDateValid(uint16_t maxWait = getPVTmaxWait);
bool getTimeValid(uint16_t maxWait = getPVTmaxWait);
int32_t getHighResLatitude(uint16_t maxWait = getHPPOSLLHmaxWait);
int8_t getHighResLatitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait);
int32_t getHighResLongitude(uint16_t maxWait = getHPPOSLLHmaxWait);
int8_t getHighResLongitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait);
int32_t getElipsoid(uint16_t maxWait = getHPPOSLLHmaxWait);
int8_t getElipsoidHp(uint16_t maxWait = getHPPOSLLHmaxWait);
int32_t getMeanSeaLevel(uint16_t maxWait = getHPPOSLLHmaxWait);
int8_t getMeanSeaLevelHp(uint16_t maxWait = getHPPOSLLHmaxWait);
int32_t getGeoidSeparation(uint16_t maxWait = getHPPOSLLHmaxWait);
uint32_t getHorizontalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);
uint32_t getVerticalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);
//Port configurations
boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
boolean getPortSettings(uint8_t portID, uint16_t maxWait = defaultMaxWait); //Returns the current protocol bits in the UBX-CFG-PRT command for a given port
boolean setI2COutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure I2C port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUSBOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure USB port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof
//Functions to turn on/off message types for a given port ID (see COM_PORT_I2C, etc above)
boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait);
boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait); //Given a message number turns on a message ID for output over given PortID
boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = defaultMaxWait); //Turn off given RTCM message from a given port
//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
//It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic.
//If they are using Serial then the higher baud rate will also help. So let's leave maxWait set to 250ms.
uint32_t createKey(uint16_t group, uint16_t id, uint8_t size); //Form 32-bit key from group/id/size
sfe_ublox_status_e getVal(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Load payload with response
uint8_t getVal8(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given key location
uint16_t getVal16(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given key location
uint32_t getVal32(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given key location
uint8_t getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
uint16_t getVal16(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
uint32_t getVal32(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
uint8_t setVal(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250); //Sets the 16-bit value at a given group/id/size location
uint8_t setVal8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250); //Sets the 8-bit value at a given group/id/size location
uint8_t setVal16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250); //Sets the 16-bit value at a given group/id/size location
uint8_t setVal32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250); //Sets the 32-bit value at a given group/id/size location
uint8_t newCfgValset8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_BBR); //Define a new UBX-CFG-VALSET with the given KeyID and 8-bit value
uint8_t newCfgValset16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR); //Define a new UBX-CFG-VALSET with the given KeyID and 16-bit value
uint8_t newCfgValset32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_BBR); //Define a new UBX-CFG-VALSET with the given KeyID and 32-bit value
uint8_t addCfgValset8(uint32_t keyID, uint8_t value); //Add a new KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket
uint8_t addCfgValset16(uint32_t keyID, uint16_t value); //Add a new KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket
uint8_t addCfgValset32(uint32_t keyID, uint32_t value); //Add a new KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket
uint8_t sendCfgValset8(uint32_t keyID, uint8_t value, uint16_t maxWait = 250); //Add the final KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
uint8_t sendCfgValset16(uint32_t keyID, uint16_t value, uint16_t maxWait = 250); //Add the final KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
uint8_t sendCfgValset32(uint32_t keyID, uint32_t value, uint16_t maxWait = 250); //Add the final KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
//Functions used for RTK and base station setup
//It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms.
boolean getSurveyMode(uint16_t maxWait = 250); //Get the current TimeMode3 settings
boolean setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Control survey in mode
boolean enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Begin Survey-In for NEO-M8P
boolean disableSurveyMode(uint16_t maxWait = 250); //Stop Survey-In mode
boolean getSurveyStatus(uint16_t maxWait); //Reads survey in status and sets the global variables
uint32_t getPositionAccuracy(uint16_t maxWait = 1100); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,
uint8_t getProtocolVersionHigh(uint16_t maxWait = 500); //Returns the PROTVER XX.00 from UBX-MON-VER register
uint8_t getProtocolVersionLow(uint16_t maxWait = 500); //Returns the PROTVER 00.XX from UBX-MON-VER register
boolean getProtocolVersion(uint16_t maxWait = 500); //Queries module, loads low/high bytes
boolean getRELPOSNED(uint16_t maxWait = 1100); //Get Relative Positioning Information of the NED frame
void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited.
void disableDebugging(void); //Turn off debug statements
void debugPrint(char *message); //Safely print debug statements
void debugPrintln(char *message); //Safely print debug statements
const char *statusString(sfe_ublox_status_e stat); //Pretty print the return value
//Support for geofences
boolean addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence = 0, byte pinPolarity = 0, byte pin = 0, uint16_t maxWait = 1100); // Add a new geofence
boolean clearGeofences(uint16_t maxWait = 1100); //Clears all geofences
boolean getGeofenceState(geofenceState &currentGeofenceState, uint16_t maxWait = 1100); //Returns the combined geofence state
boolean clearAntPIO(uint16_t maxWait = 1100); //Clears the antenna control pin settings to release the PIOs
geofenceParams currentGeofenceParams; // Global to store the geofence parameters
boolean powerSaveMode(bool power_save = true, uint16_t maxWait = 1100);
uint8_t getPowerSaveMode(uint16_t maxWait = 1100); // Returns 255 if the sendCommand fails
boolean powerOff(uint32_t durationInMs, uint16_t maxWait = 1100);
boolean powerOffWithInterrupt(uint32_t durationInMs, uint32_t wakeupSources = VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0, boolean forceWhileUsb = true, uint16_t maxWait = 1100);
//Change the dynamic platform model using UBX-CFG-NAV5
boolean setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = 1100);
uint8_t getDynamicModel(uint16_t maxWait = 1100); // Get the dynamic model - returns 255 if the sendCommand fails
boolean getEsfInfo(uint16_t maxWait = 1100);
boolean getEsfIns(uint16_t maxWait = 1100);
boolean getEsfDataInfo(uint16_t maxWait = 1100);
boolean getEsfRawDataInfo(uint16_t maxWait = 1100);
sfe_ublox_status_e getSensState(uint8_t sensor, uint16_t maxWait = 1100);
boolean getVehAtt(uint16_t maxWait = 1100);
// Given coordinates, put receiver into static position. Set latlong to true to pass in lat/long values instead of ecef.
// For ECEF the units are: cm, 0.1mm, cm, 0.1mm, cm, 0.1mm
// For Lat/Lon/Alt the units are: degrees^-7, degrees^-9, degrees^-7, degrees^-9, cm, 0.1mm
bool setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, int32_t ecefYOrLon, int8_t ecefYOrLonHP, int32_t ecefZOrAlt, int8_t ecefZOrAltHP, bool latLong = false, uint16_t maxWait = 250);
bool setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latLong = false, uint16_t maxWait = 250);
//Survey-in specific controls
struct svinStructure
{
boolean active;
boolean valid;
uint16_t observationTime;
float meanAccuracy;
} svin;
//Relative Positioning Info in NED frame specific controls
struct frelPosInfoStructure
{
uint16_t refStationID;
float relPosN;
float relPosE;
float relPosD;
long relPosLength;
long relPosHeading;
int8_t relPosHPN;
int8_t relPosHPE;
int8_t relPosHPD;
int8_t relPosHPLength;
float accN;
float accE;
float accD;
bool gnssFixOk;
bool diffSoln;
bool relPosValid;
uint8_t carrSoln;
bool isMoving;
bool refPosMiss;
bool refObsMiss;
} relPosInfo;
//The major datums we want to globally store
uint16_t gpsYear;
uint8_t gpsMonth;
uint8_t gpsDay;
uint8_t gpsHour;
uint8_t gpsMinute;
uint8_t gpsSecond;
uint16_t gpsMillisecond;
int32_t gpsNanosecond;
bool gpsDateValid;
bool gpsTimeValid;
int32_t latitude; //Degrees * 10^-7 (more accurate than floats)
int32_t longitude; //Degrees * 10^-7 (more accurate than floats)
int32_t altitude; //Number of mm above ellipsoid
int32_t altitudeMSL; //Number of mm above Mean Sea Level
uint8_t SIV; //Number of satellites used in position solution
uint8_t fixType; //Tells us when we have a solution aka lock
uint8_t carrierSolution; //Tells us when we have an RTK float/fixed solution
int32_t groundSpeed; //mm/s
int32_t headingOfMotion; //degrees * 10^-5
uint16_t pDOP; //Positional dilution of precision * 10^-2 (dimensionless)
uint8_t versionLow; //Loaded from getProtocolVersion().
uint8_t versionHigh;
uint32_t timeOfWeek; // ms
int32_t highResLatitude; // Degrees * 10^-7
int32_t highResLongitude; // Degrees * 10^-7
int32_t elipsoid; // Height above ellipsoid in mm (Typo! Should be eLLipsoid! **Uncorrected for backward-compatibility.**)
int32_t meanSeaLevel; // Height above mean sea level in mm
int32_t geoidSeparation; // This seems to only be provided in NMEA GGA and GNS messages
uint32_t horizontalAccuracy; // mm * 10^-1 (i.e. 0.1mm)
uint32_t verticalAccuracy; // mm * 10^-1 (i.e. 0.1mm)
int8_t elipsoidHp; // High precision component of the height above ellipsoid in mm * 10^-1 (Deliberate typo! Should be eLLipsoidHp!)
int8_t meanSeaLevelHp; // High precision component of Height above mean sea level in mm * 10^-1
int8_t highResLatitudeHp; // High precision component of latitude: Degrees * 10^-9
int8_t highResLongitudeHp; // High precision component of longitude: Degrees * 10^-9
uint16_t rtcmFrameCounter = 0; //Tracks the type of incoming byte inside RTCM frame
#define DEF_NUM_SENS 7
struct deadReckData
{
uint8_t version;
uint8_t fusionMode;
uint8_t xAngRateVald;
uint8_t yAngRateVald;
uint8_t zAngRateVald;
uint8_t xAccelVald;
uint8_t yAccelVald;
uint8_t zAccelVald;
int32_t xAngRate;
int32_t yAngRate;
int32_t zAngRate;
int32_t xAccel;
int32_t yAccel;
int32_t zAccel;
// The array size is based on testing directly on M8U and F9R
uint32_t rawData;
uint32_t rawDataType;
uint32_t rawTStamp;
uint32_t data[DEF_NUM_SENS];
uint32_t dataType[DEF_NUM_SENS];
uint32_t dataTStamp[DEF_NUM_SENS];
} imuMeas;
struct indivImuData
{
uint8_t numSens;
uint8_t senType;
boolean isUsed;
boolean isReady;
uint8_t calibStatus;
uint8_t timeStatus;
uint8_t freq; // Hz
boolean badMeas;
boolean badTag;
boolean missMeas;
boolean noisyMeas;
} ubloxSen;
struct vehicleAttitude
{
// All values in degrees
int32_t roll;
int32_t pitch;
int32_t heading;
uint32_t accRoll;
uint32_t accPitch;
uint32_t accHeading;
} vehAtt;
private:
//Depending on the sentence type the processor will load characters into different arrays
enum SentenceTypes
{
NONE = 0,
NMEA,
UBX,
RTCM
} currentSentence = NONE;
//Depending on the ubx binary response class, store binary responses into different places
enum classTypes
{
CLASS_NONE = 0,
CLASS_ACK,
CLASS_NOT_AN_ACK
} ubxFrameClass = CLASS_NONE;
enum commTypes
{
COMM_TYPE_I2C = 0,
COMM_TYPE_SERIAL,
COMM_TYPE_SPI
} commType = COMM_TYPE_I2C; //Controls which port we look to for incoming bytes
//Functions
boolean checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass = 255, uint8_t requestedID = 255); //Checks module with user selected commType
uint32_t extractLong(uint8_t spotToStart); //Combine four bytes from payload into long
uint16_t extractInt(uint8_t spotToStart); //Combine two bytes from payload into int
uint8_t extractByte(uint8_t spotToStart); //Get byte from payload
int8_t extractSignedChar(uint8_t spotToStart); //Get signed 8-bit value from payload
void addToChecksum(uint8_t incoming); //Given an incoming byte, adjust rollingChecksumA/B
//Variables
TwoWire *_i2cPort; //The generic connection to user's chosen I2C hardware
Stream *_serialPort; //The generic connection to user's chosen Serial hardware
Stream *_nmeaOutputPort = NULL; //The user can assign an output port to print NMEA sentences if they wish
Stream *_debugSerial; //The stream to send debug messages to if enabled
uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8/F9 series
//This can be changed using the ublox configuration software
boolean _printDebug = false; //Flag to print the serial commands we are sending to the Serial port for debug
boolean _printLimitedDebug = false; //Flag to print limited debug messages. Useful for I2C debugging or high navigation rates
//The packet buffers
//These are pointed at from within the ubxPacket
uint8_t payloadAck[2]; // Holds the requested ACK/NACK
uint8_t payloadCfg[MAX_PAYLOAD_SIZE]; // Holds the requested data packet
uint8_t payloadBuf[2]; // Temporary buffer used to screen incoming packets or dump unrequested packets
//Init the packet structures and init them with pointers to the payloadAck, payloadCfg and payloadBuf arrays
ubxPacket packetAck = {0, 0, 0, 0, 0, payloadAck, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
ubxPacket packetCfg = {0, 0, 0, 0, 0, payloadCfg, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
ubxPacket packetBuf = {0, 0, 0, 0, 0, payloadBuf, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
//Flag if this packet is unrequested (and so should be ignored and not copied into packetCfg or packetAck)
boolean ignoreThisPayload = false;
//Identify which buffer is in use
//Data is stored in packetBuf until the requested class and ID can be validated
//If a match is seen, data is diverted into packetAck or packetCfg
sfe_ublox_packet_buffer_e activePacketBuffer = SFE_UBLOX_PACKET_PACKETBUF;
//Limit checking of new data to every X ms
//If we are expecting an update every X Hz then we should check every half that amount of time
//Otherwise we may block ourselves from seeing new data
uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency()
unsigned long lastCheck = 0;
boolean autoPVT = false; //Whether autoPVT is enabled or not
boolean autoPVTImplicitUpdate = true; // Whether autoPVT is triggered by accessing stale data (=true) or by a call to checkUblox (=false)
boolean autoHPPOSLLH = false; //Whether autoHPPOSLLH is enabled or not
boolean autoHPPOSLLHImplicitUpdate = true; // Whether autoHPPOSLLH is triggered by accessing stale data (=true) or by a call to checkUblox (=false)
uint16_t ubxFrameCounter; //It counts all UBX frame. [Fixed header(2bytes), CLS(1byte), ID(1byte), length(2bytes), payload(x bytes), checksums(2bytes)]
uint8_t rollingChecksumA; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
uint8_t rollingChecksumB; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
//Create bit field for staleness of each datum in PVT we want to monitor
//moduleQueried.latitude goes true each time we call getPVT()
//This reduces the number of times we have to call getPVT as this can take up to ~1s per read
//depending on update rate
struct
{
uint32_t gpsiTOW : 1;
uint32_t gpsYear : 1;
uint32_t gpsMonth : 1;
uint32_t gpsDay : 1;
uint32_t gpsHour : 1;
uint32_t gpsMinute : 1;
uint32_t gpsSecond : 1;
uint32_t gpsDateValid : 1;
uint32_t gpsTimeValid : 1;
uint32_t gpsNanosecond : 1;
uint32_t all : 1;
uint32_t longitude : 1;
uint32_t latitude : 1;
uint32_t altitude : 1;
uint32_t altitudeMSL : 1;
uint32_t SIV : 1;
uint32_t fixType : 1;
uint32_t carrierSolution : 1;
uint32_t groundSpeed : 1;
uint32_t headingOfMotion : 1;
uint32_t pDOP : 1;
uint32_t versionNumber : 1;
} moduleQueried;
struct
{
uint16_t all : 1;
uint16_t timeOfWeek : 1;
uint16_t highResLatitude : 1;
uint16_t highResLongitude : 1;
uint16_t elipsoid : 1;
uint16_t meanSeaLevel : 1;
uint16_t geoidSeparation : 1; // Redundant but kept for backward-compatibility
uint16_t horizontalAccuracy : 1;
uint16_t verticalAccuracy : 1;
uint16_t elipsoidHp : 1;
uint16_t meanSeaLevelHp : 1;
uint16_t highResLatitudeHp : 1;
uint16_t highResLongitudeHp : 1;
} highResModuleQueried;
uint16_t rtcmLen = 0;
};
#endif

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/*
This is a library written for the u-blox ZED-F9P and NEO-M8P-2
SparkFun sells these at its website: www.sparkfun.com
Do you like this library? Help support SparkFun. Buy a board!
https://www.sparkfun.com/products/16481
https://www.sparkfun.com/products/15136
https://www.sparkfun.com/products/15005
https://www.sparkfun.com/products/15733
https://www.sparkfun.com/products/15193
https://www.sparkfun.com/products/15210
Written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
This library handles configuring and handling the responses
from a u-blox GPS module. Works with most modules from u-blox including
the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others.
https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
Development environment specifics:
Arduino IDE 1.8.5
SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
The MIT License (MIT)
Copyright (c) 2016 SparkFun Electronics
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
and/or sell copies of the Software, and to permit persons to whom the Software is furnished to
do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial
portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef __u_blox_config_keys_h__
#define __u_blox_config_keys_h__
//The following consts are used to generate KEY values for the advanced protocol functions of VELGET/SET/DEL
const uint8_t VAL_SIZE_1 = 0x01; //One bit
const uint8_t VAL_SIZE_8 = 0x02; //One byte
const uint8_t VAL_SIZE_16 = 0x03; //Two bytes
const uint8_t VAL_SIZE_32 = 0x04; //Four bytes
const uint8_t VAL_SIZE_64 = 0x05; //Eight bytes
//These are the Bitfield layers definitions for the UBX-CFG-VALSET message (not to be confused with Bitfield deviceMask in UBX-CFG-CFG)
const uint8_t VAL_LAYER_RAM = (1 << 0);
const uint8_t VAL_LAYER_BBR = (1 << 1);
const uint8_t VAL_LAYER_FLASH = (1 << 2);
const uint8_t VAL_LAYER_ALL = VAL_LAYER_RAM | VAL_LAYER_BBR | VAL_LAYER_FLASH; //Not valid with getVal()
//Below are various Groups, IDs, and sizes for various settings
//These can be used to call getVal/setVal/delVal
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint8_t VAL_ID_PROT_UBX = 0x01;
const uint8_t VAL_ID_PROT_NMEA = 0x02;
const uint8_t VAL_ID_PROT_RTCM3 = 0x04;
const uint8_t VAL_GROUP_I2C = 0x51;
const uint8_t VAL_GROUP_I2COUTPROT = 0x72;
const uint8_t VAL_GROUP_UART1INPROT = 0x73;
const uint8_t VAL_GROUP_UART1OUTPROT = 0x74;
const uint8_t VAL_GROUP_UART2INPROT = 0x75;
const uint8_t VAL_GROUP_UART2OUTPROT = 0x76;
const uint8_t VAL_GROUP_USBINPROT = 0x77;
const uint8_t VAL_GROUP_USBOUTPROT = 0x78;
const uint8_t VAL_GROUP_UART_SIZE = VAL_SIZE_1; //All fields in UART group are currently 1 bit
const uint8_t VAL_GROUP_I2C_SIZE = VAL_SIZE_8; //All fields in I2C group are currently 1 byte
const uint8_t VAL_ID_I2C_ADDRESS = 0x01;
//Below are the key values for a given configuration setting
//CFG-NMEA
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint32_t UBLOX_CFG_NMEA_PROTVER = 0x10930001;
const uint32_t UBLOX_CFG_NMEA_MAXSVS = 0x10930002;
const uint32_t UBLOX_CFG_NMEA_COMPAT = 0x10930003;
const uint32_t UBLOX_CFG_NMEA_CONSIDER = 0x10930004;
const uint32_t UBLOX_CFG_NMEA_LIMIT82 = 0x10930005;
const uint32_t UBLOX_CFG_NMEA_HIGHPREC = 0x10930006;
const uint32_t UBLOX_CFG_NMEA_SVNUMBERING = 0x20930007;
const uint32_t UBLOX_CFG_NMEA_FILT_GPS = 0x10930011;
const uint32_t UBLOX_CFG_NMEA_FILT_SBAS = 0x10930012;
const uint32_t UBLOX_CFG_NMEA_FILT_GAL = 0x10930013;
const uint32_t UBLOX_CFG_NMEA_FILT_QZSS = 0x10930015;
const uint32_t UBLOX_CFG_NMEA_FILT_GLO = 0x10930016;
const uint32_t UBLOX_CFG_NMEA_FILT_BDS = 0x10930017;
const uint32_t UBLOX_CFG_NMEA_OUT_INVFIX = 0x10930021;
const uint32_t UBLOX_CFG_NMEA_OUT_MSKFIX = 0x10930022;
const uint32_t UBLOX_CFG_NMEA_OUT_INVTIME = 0x10930023;
const uint32_t UBLOX_CFG_NMEA_OUT_INVDATE = 0x10930024;
const uint32_t UBLOX_CFG_NMEA_OUT_ONLYGPS = 0x10930025;
const uint32_t UBLOX_CFG_NMEA_OUT_FROZENCOG = 0x10930026;
const uint32_t UBLOX_CFG_NMEA_MAINTALKERID = 0x20930031;
const uint32_t UBLOX_CFG_NMEA_GSVTALKERID = 0x20930032;
const uint32_t UBLOX_CFG_NMEA_BDSTALKERID = 0x30930033;
//CFG-RATE
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint32_t UBLOX_CFG_RATE_MEAS = 0x30210001;
const uint32_t UBLOX_CFG_RATE_NAV = 0x30210002;
const uint32_t UBLOX_CFG_RATE_TIMEREF = 0x20210003;
//CFG-I2C
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint32_t UBLOX_CFG_I2C_ADDRESS = 0x20510001;
const uint32_t UBLOX_CFG_I2C_ENABLED = 0x10510003;
const uint32_t UBLOX_CFG_I2CINPROT_UBX = 0x10710001;
const uint32_t UBLOX_CFG_I2CINPROT_NMEA = 0x10710002;
const uint32_t UBLOX_CFG_I2CINPROT_RTCM3X = 0x10710004;
const uint32_t UBLOX_CFG_I2COUTPROT_UBX = 0x10720001;
const uint32_t UBLOX_CFG_I2COUTPROT_NMEA = 0x10720002;
const uint32_t UBLOX_CFG_I2COUTPROT_RTCM3X = 0x10720004;
//CFG-UART1
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint32_t UBLOX_CFG_UART1_BAUDRATE = 0x40520001;
const uint32_t UBLOX_CFG_UART1_ENABLED = 0x10520005;
const uint32_t UBLOX_CFG_UART1INPROT_UBX = 0x10730001;
const uint32_t UBLOX_CFG_UART1INPROT_NMEA = 0x10730002;
const uint32_t UBLOX_CFG_UART1INPROT_RTCM3X = 0x10730004;
const uint32_t UBLOX_CFG_UART1OUTPROT_UBX = 0x10740001;
const uint32_t UBLOX_CFG_UART1OUTPROT_NMEA = 0x10740002;
const uint32_t UBLOX_CFG_UART1OUTPROT_RTCM3X = 0x10740004;
//CFG-UART2
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint32_t UBLOX_CFG_UART2_BAUDRATE = 0x40530001;
const uint32_t UBLOX_CFG_UART2_ENABLED = 0x10530005;
const uint32_t UBLOX_CFG_UART2INPROT_UBX = 0x10750001;
const uint32_t UBLOX_CFG_UART2INPROT_NMEA = 0x10750002;
const uint32_t UBLOX_CFG_UART2INPROT_RTCM3X = 0x10750004;
const uint32_t UBLOX_CFG_UART2OUTPROT_UBX = 0x10760001;
const uint32_t UBLOX_CFG_UART2OUTPROT_NMEA = 0x10760002;
const uint32_t UBLOX_CFG_UART2OUTPROT_RTCM3X = 0x10760004;
//CFG-USB
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint32_t UBLOX_CFG_USBINPROT_UBX = 0x10770001;
const uint32_t UBLOX_CFG_USBINPROT_NMEA = 0x10770002;
const uint32_t UBLOX_CFG_USBINPROT_RTCM3X = 0x10770004;
const uint32_t UBLOX_CFG_USBOUTPROT_UBX = 0x10780001;
const uint32_t UBLOX_CFG_USBOUTPROT_NMEA = 0x10780002;
const uint32_t UBLOX_CFG_USBOUTPROT_RTCM3X = 0x10780004;
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
// CFG-MSGOUT: Message output configuration
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
// For each message and port a separate output rate (per second, per epoch) can be configured.
const uint32_t CFG_MSGOUT_NMEA_ID_DTM_I2C = 0x209100a6; //Output rate of the NMEA-GX-DTM message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_DTM_SPI = 0x209100aa; //Output rate of the NMEA-GX-DTM message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_DTM_UART1 = 0x209100a7; //Output rate of the NMEA-GX-DTM message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_DTM_UART2 = 0x209100a8; //Output rate of the NMEA-GX-DTM message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_DTM_USB = 0x209100a9; //Output rate of the NMEA-GX-DTM message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_GBS_I2C = 0x209100dd; //Output rate of the NMEA-GX-GBS message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_GBS_SPI = 0x209100e1; //Output rate of the NMEA-GX-GBS message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_GBS_UART1 = 0x209100de; //Output rate of the NMEA-GX-GBS message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_GBS_UART2 = 0x209100df; //Output rate of the NMEA-GX-GBS message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_GBS_USB = 0x209100e0; //Output rate of the NMEA-GX-GBS message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_GGA_I2C = 0x209100ba; //Output rate of the NMEA-GX-GGA message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_GGA_SPI = 0x209100be; //Output rate of the NMEA-GX-GGA message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_GGA_UART1 = 0x209100bb; //Output rate of the NMEA-GX-GGA message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_GGA_UART2 = 0x209100bc; //Output rate of the NMEA-GX-GGA message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_GGA_USB = 0x209100bd; //Output rate of the NMEA-GX-GGA message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_GLL_I2C = 0x209100c9; //Output rate of the NMEA-GX-GLL message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_GLL_SPI = 0x209100cd; //Output rate of the NMEA-GX-GLL message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_GLL_UART1 = 0x209100ca; //Output rate of the NMEA-GX-GLL message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_GLL_UART2 = 0x209100cb; //Output rate of the NMEA-GX-GLL message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_GLL_USB = 0x209100cc; //Output rate of the NMEA-GX-GLL message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_GNS_I2C = 0x209100b5; //Output rate of the NMEA-GX-GNS message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_GNS_SPI = 0x209100b9; //Output rate of the NMEA-GX-GNS message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_GNS_UART1 = 0x209100b6; //Output rate of the NMEA-GX-GNS message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_GNS_UART2 = 0x209100b7; //Output rate of the NMEA-GX-GNS message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_GNS_USB = 0x209100b8; //Output rate of the NMEA-GX-GNS message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_GRS_I2C = 0x209100ce; //Output rate of the NMEA-GX-GRS message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_GRS_SPI = 0x209100d2; //Output rate of the NMEA-GX-GRS message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_GRS_UART1 = 0x209100cf; //Output rate of the NMEA-GX-GRS message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_GRS_UART2 = 0x209100d0; //Output rate of the NMEA-GX-GRS message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_GRS_USB = 0x209100d1; //Output rate of the NMEA-GX-GRS message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_GSA_I2C = 0x209100bf; //Output rate of the NMEA-GX-GSA message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_GSA_SPI = 0x209100c3; //Output rate of the NMEA-GX-GSA message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_GSA_UART1 = 0x209100c0; //Output rate of the NMEA-GX-GSA message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_GSA_UART2 = 0x209100c1; //Output rate of the NMEA-GX-GSA message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_GSA_USB = 0x209100c2; //Output rate of the NMEA-GX-GSA message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_GST_I2C = 0x209100d3; //Output rate of the NMEA-GX-GST message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_GST_SPI = 0x209100d7; //Output rate of the NMEA-GX-GST message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_GST_UART1 = 0x209100d4; //Output rate of the NMEA-GX-GST message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_GST_UART2 = 0x209100d5; //Output rate of the NMEA-GX-GST message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_GST_USB = 0x209100d6; //Output rate of the NMEA-GX-GST message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_GSV_I2C = 0x209100c4; //Output rate of the NMEA-GX-GSV message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_GSV_SPI = 0x209100c8; //Output rate of the NMEA-GX-GSV message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_GSV_UART1 = 0x209100c5; //Output rate of the NMEA-GX-GSV message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_GSV_UART2 = 0x209100c6; //Output rate of the NMEA-GX-GSV message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_GSV_USB = 0x209100c7; //Output rate of the NMEA-GX-GSV message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_RLM_I2C = 0x20910400; //Output rate of the NMEA-GX-RLM message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_RLM_SPI = 0x20910404; //Output rate of the NMEA-GX-RLM message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_RLM_UART1 = 0x20910401; //Output rate of the NMEA-GX-RLM message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_RLM_UART2 = 0x20910402; //Output rate of the NMEA-GX-RLM message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_RLM_USB = 0x20910403; //Output rate of the NMEA-GX-RLM message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_RMC_I2C = 0x209100ab; //Output rate of the NMEA-GX-RMC message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_RMC_SPI = 0x209100af; //Output rate of the NMEA-GX-RMC message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_RMC_UART1 = 0x209100ac; //Output rate of the NMEA-GX-RMC message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_RMC_UART2 = 0x209100ad; //Output rate of the NMEA-GX-RMC message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_RMC_USB = 0x209100ae; //Output rate of the NMEA-GX-RMC message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_VLW_I2C = 0x209100e7; //Output rate of the NMEA-GX-VLW message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_VLW_SPI = 0x209100eb; //Output rate of the NMEA-GX-VLW message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_VLW_UART1 = 0x209100e8; //Output rate of the NMEA-GX-VLW message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_VLW_UART2 = 0x209100e9; //Output rate of the NMEA-GX-VLW message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_VLW_USB = 0x209100ea; //Output rate of the NMEA-GX-VLW message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_VTG_I2C = 0x209100b0; //Output rate of the NMEA-GX-VTG message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_VTG_SPI = 0x209100b4; //Output rate of the NMEA-GX-VTG message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_VTG_UART1 = 0x209100b1; //Output rate of the NMEA-GX-VTG message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_VTG_UART2 = 0x209100b2; //Output rate of the NMEA-GX-VTG message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_VTG_USB = 0x209100b3; //Output rate of the NMEA-GX-VTG message on port USB
const uint32_t CFG_MSGOUT_NMEA_ID_ZDA_I2C = 0x209100d8; //Output rate of the NMEA-GX-ZDA message on port I2C
const uint32_t CFG_MSGOUT_NMEA_ID_ZDA_SPI = 0x209100dc; //Output rate of the NMEA-GX-ZDA message on port SPI
const uint32_t CFG_MSGOUT_NMEA_ID_ZDA_UART1 = 0x209100d9; //Output rate of the NMEA-GX-ZDA message on port UART1
const uint32_t CFG_MSGOUT_NMEA_ID_ZDA_UART2 = 0x209100da; //Output rate of the NMEA-GX-ZDA message on port UART2
const uint32_t CFG_MSGOUT_NMEA_ID_ZDA_USB = 0x209100db; //Output rate of the NMEA-GX-ZDA message on port USB
const uint32_t CFG_MSGOUT_PUBX_ID_POLYP_I2C = 0x209100ec; //Output rate of the NMEA-GX-PUBX00 message on port I2C
const uint32_t CFG_MSGOUT_PUBX_ID_POLYP_SPI = 0x209100f0; //Output rate of the NMEA-GX-PUBX00 message on port SPI
const uint32_t CFG_MSGOUT_PUBX_ID_POLYP_UART1 = 0x209100ed; //Output rate of the NMEA-GX-PUBX00 message on port UART1
const uint32_t CFG_MSGOUT_PUBX_ID_POLYP_UART2 = 0x209100ee; //Output rate of the NMEA-GX-PUBX00 message on port UART2
const uint32_t CFG_MSGOUT_PUBX_ID_POLYP_USB = 0x209100ef; //Output rate of the NMEA-GX-PUBX00 message on port USB
const uint32_t CFG_MSGOUT_PUBX_ID_POLYS_I2C = 0x209100f1; //Output rate of the NMEA-GX-PUBX03 message on port I2C
const uint32_t CFG_MSGOUT_PUBX_ID_POLYS_SPI = 0x209100f5; //Output rate of the NMEA-GX-PUBX03 message on port SPI
const uint32_t CFG_MSGOUT_PUBX_ID_POLYS_UART1 = 0x209100f2; //Output rate of the NMEA-GX-PUBX03 message on port UART1
const uint32_t CFG_MSGOUT_PUBX_ID_POLYS_UART2 = 0x209100f3; //Output rate of the NMEA-GX-PUBX03 message on port UART2
const uint32_t CFG_MSGOUT_PUBX_ID_POLYS_USB = 0x209100f4; //Output rate of the NMEA-GX-PUBX03 message on port USB
const uint32_t CFG_MSGOUT_PUBX_ID_POLYT_I2C = 0x209100f6; //Output rate of the NMEA-GX-PUBX04 message on port I2C
const uint32_t CFG_MSGOUT_PUBX_ID_POLYT_SPI = 0x209100fa; //Output rate of the NMEA-GX-PUBX04 message on port SPI
const uint32_t CFG_MSGOUT_PUBX_ID_POLYT_UART1 = 0x209100f7; //Output rate of the NMEA-GX-PUBX04 message on port UART1
const uint32_t CFG_MSGOUT_PUBX_ID_POLYT_UART2 = 0x209100f8; //Output rate of the NMEA-GX-PUBX04 message on port UART2
const uint32_t CFG_MSGOUT_PUBX_ID_POLYT_USB = 0x209100f9; //Output rate of the NMEA-GX-PUBX04 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1005_I2C = 0x209102bd; //Output rate of the RTCM-3X-TYPE1005 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1005_SPI = 0x209102c1; //Output rate of the RTCM-3X-TYPE1005 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1005_UART1 = 0x209102be;//Output rate of the RTCM-3X-TYPE1005 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1005_UART2 = 0x209102bf;//Output rate of the RTCM-3X-TYPE1005 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1005_USB = 0x209102c0; //Output rate of the RTCM-3X-TYPE1005 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1074_I2C = 0x2091035e; //Output rate of the RTCM-3X-TYPE1074 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1074_SPI = 0x20910362; //Output rate of the RTCM-3X-TYPE1074 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1074_UART1 = 0x2091035f;//Output rate of the RTCM-3X-TYPE1074 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1074_UART2 = 0x20910360;//Output rate of the RTCM-3X-TYPE1074 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1074_USB = 0x20910361; //Output rate of the RTCM-3X-TYPE1074 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1077_I2C = 0x209102cc; //Output rate of the RTCM-3X-TYPE1077 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1077_SPI = 0x209102d0; //Output rate of the RTCM-3X-TYPE1077 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1077_UART1 = 0x209102cd;//Output rate of the RTCM-3X-TYPE1077 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1077_UART2 = 0x209102ce;//Output rate of the RTCM-3X-TYPE1077 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1077_USB = 0x209102cf; //Output rate of the RTCM-3X-TYPE1077 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1084_I2C = 0x20910363; //Output rate of the RTCM-3X-TYPE1084 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1084_SPI = 0x20910367; //Output rate of the RTCM-3X-TYPE1084 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1084_UART1 = 0x20910364;//Output rate of the RTCM-3X-TYPE1084 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1084_UART2 = 0x20910365;//Output rate of the RTCM-3X-TYPE1084 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1084_USB = 0x20910366; //Output rate of the RTCM-3X-TYPE1084 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1087_I2C = 0x209102d1; //Output rate of the RTCM-3X-TYPE1087 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1087_SPI = 0x209102d5; //Output rate of the RTCM-3X-TYPE1087 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1087_UART1 = 0x209102d2;//Output rate of the RTCM-3X-TYPE1087 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1087_UART2 = 0x209102d3;//Output rate of the RTCM-3X-TYPE1087 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1087_USB = 0x209102d4; //Output rate of the RTCM-3X-TYPE1087 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1094_I2C = 0x20910368; //Output rate of the RTCM-3X-TYPE1094 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1094_SPI = 0x2091036c; //Output rate of the RTCM-3X-TYPE1094 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1094_UART1 = 0x20910369;//Output rate of the RTCM-3X-TYPE1094 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1094_UART2 = 0x2091036a;//Output rate of the RTCM-3X-TYPE1094 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1094_USB = 0x2091036b; //Output rate of the RTCM-3X-TYPE1094 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1097_I2C = 0x20910318; //Output rate of the RTCM-3X-TYPE1097 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1097_SPI = 0x2091031c; //Output rate of the RTCM-3X-TYPE1097 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1097_UART1 = 0x20910319;//Output rate of the RTCM-3X-TYPE1097 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1097_UART2 = 0x2091031a;//Output rate of the RTCM-3X-TYPE1097 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1097_USB = 0x2091031b; //Output rate of the RTCM-3X-TYPE1097 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1124_I2C = 0x2091036d; //Output rate of the RTCM-3X-TYPE1124 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1124_SPI = 0x20910371; //Output rate of the RTCM-3X-TYPE1124 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1124_UART1 = 0x2091036e;//Output rate of the RTCM-3X-TYPE1124 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1124_UART2 = 0x2091036f;//Output rate of the RTCM-3X-TYPE1124 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1124_USB = 0x20910370; //Output rate of the RTCM-3X-TYPE1124 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1127_I2C = 0x209102d6; //Output rate of the RTCM-3X-TYPE1127 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1127_SPI = 0x209102da; //Output rate of the RTCM-3X-TYPE1127 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1127_UART1 = 0x209102d7;//Output rate of the RTCM-3X-TYPE1127 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1127_UART2 = 0x209102d8;//Output rate of the RTCM-3X-TYPE1127 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1127_USB = 0x209102d9; //Output rate of the RTCM-3X-TYPE1127 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1230_I2C = 0x20910303; //Output rate of the RTCM-3X-TYPE1230 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1230_SPI = 0x20910307; //Output rate of the RTCM-3X-TYPE1230 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1230_UART1 = 0x20910304;//Output rate of the RTCM-3X-TYPE1230 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1230_UART2 = 0x20910305;//Output rate of the RTCM-3X-TYPE1230 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1230_USB = 0x20910306; //Output rate of the RTCM-3X-TYPE1230 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_0_I2C = 0x209102fe;//Output rate of the RTCM-3X-TYPE4072_0 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_0_SPI = 0x20910302;//Output rate of the RTCM-3X-TYPE4072_0 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_0_UART1 = 0x209102ff; //Output rate of the RTCM-3X-TYPE4072_0 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_0_UART2 = 0x20910300; //Output rate of the RTCM-3X-TYPE4072_0 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_0_USB = 0x20910301;//Output rate of the RTCM-3X-TYPE4072_0 message on port USB
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_1_I2C = 0x20910381;//Output rate of the RTCM-3X-TYPE4072_1 message on port I2C
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_1_SPI = 0x20910385;//Output rate of the RTCM-3X-TYPE4072_1 message on port SPI
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_1_UART1 = 0x20910382; //Output rate of the RTCM-3X-TYPE4072_1 message on port UART1
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_1_UART2 = 0x20910383; //Output rate of the RTCM-3X-TYPE4072_1 message on port UART2
const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_1_USB = 0x20910384;//Output rate of the RTCM-3X-TYPE4072_1 message on port USB
const uint32_t CFG_MSGOUT_UBX_LOG_INFO_I2C = 0x20910259; //Output rate of the UBX-LOG-INFO message on port I2C
const uint32_t CFG_MSGOUT_UBX_LOG_INFO_SPI = 0x2091025d; //Output rate of the UBX-LOG-INFO message on port SPI
const uint32_t CFG_MSGOUT_UBX_LOG_INFO_UART1 = 0x2091025a; //Output rate of the UBX-LOG-INFO message on port UART1
const uint32_t CFG_MSGOUT_UBX_LOG_INFO_UART2 = 0x2091025b; //Output rate of the UBX-LOG-INFO message on port UART2
const uint32_t CFG_MSGOUT_UBX_LOG_INFO_USB = 0x2091025c; //Output rate of the UBX-LOG-INFO message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_COMMS_I2C = 0x2091034f; //Output rate of the UBX-MON-COMMS message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_COMMS_SPI = 0x20910353; //Output rate of the UBX-MON-COMMS message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_COMMS_UART1 = 0x20910350; //Output rate of the UBX-MON-COMMS message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_COMMS_UART2 = 0x20910351; //Output rate of the UBX-MON-COMMS message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_COMMS_USB = 0x20910352; //Output rate of the UBX-MON-COMMS message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_HW2_I2C = 0x209101b9; //Output rate of the UBX-MON-HW2 message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_HW2_SPI = 0x209101bd; //Output rate of the UBX-MON-HW2 message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_HW2_UART1 = 0x209101ba; //Output rate of the UBX-MON-HW2 message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_HW2_UART2 = 0x209101bb; //Output rate of the UBX-MON-HW2 message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_HW2_USB = 0x209101bc; //Output rate of the UBX-MON-HW2 message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_HW3_I2C = 0x20910354; //Output rate of the UBX-MON-HW3 message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_HW3_SPI = 0x20910358; //Output rate of the UBX-MON-HW3 message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_HW3_UART1 = 0x20910355; //Output rate of the UBX-MON-HW3 message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_HW3_UART2 = 0x20910356; //Output rate of the UBX-MON-HW3 message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_HW3_USB = 0x20910357; //Output rate of the UBX-MON-HW3 message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_HW_I2C = 0x209101b4; //Output rate of the UBX-MON-HW message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_HW_SPI = 0x209101b8; //Output rate of the UBX-MON-HW message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_HW_UART1 = 0x209101b5; //Output rate of the UBX-MON-HW message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_HW_UART2 = 0x209101b6; //Output rate of the UBX-MON-HW message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_HW_USB = 0x209101b7; //Output rate of the UBX-MON-HW message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_IO_I2C = 0x209101a5; //Output rate of the UBX-MON-IO message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_IO_SPI = 0x209101a9; //Output rate of the UBX-MON-IO message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_IO_UART1 = 0x209101a6; //Output rate of the UBX-MON-IO message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_IO_UART2 = 0x209101a7; //Output rate of the UBX-MON-IO message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_IO_USB = 0x209101a8; //Output rate of the UBX-MON-IO message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_MSGPP_I2C = 0x20910196; //Output rate of the UBX-MON-MSGPP message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_MSGPP_SPI = 0x2091019a; //Output rate of the UBX-MON-MSGPP message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_MSGPP_UART1 = 0x20910197; //Output rate of the UBX-MON-MSGPP message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_MSGPP_UART2 = 0x20910198; //Output rate of the UBX-MON-MSGPP message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_MSGPP_USB = 0x20910199; //Output rate of the UBX-MON-MSGPP message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_RF_I2C = 0x20910359; //Output rate of the UBX-MON-RF message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_RF_SPI = 0x2091035d; //Output rate of the UBX-MON-RF message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_RF_UART1 = 0x2091035a; //Output rate of the UBX-MON-RF message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_RF_UART2 = 0x2091035b; //Output rate of the UBX-MON-RF message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_RF_USB = 0x2091035c; // Output rate of the UBX-MON-RF message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_RXBUF_I2C = 0x209101a0; // Output rate of the UBX-MON-RXBUF message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_RXBUF_SPI = 0x209101a4; // Output rate of the UBX-MON-RXBUF message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_RXBUF_UART1 = 0x209101a1; // Output rate of the UBX-MON-RXBUF message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_RXBUF_UART2 = 0x209101a2; // Output rate of the UBX-MON-RXBUF message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_RXBUF_USB = 0x209101a3; // Output rate of the UBX-MON-RXBUF message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_RXR_I2C = 0x20910187; // Output rate of the UBX-MON-RXR message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_RXR_SPI = 0x2091018b; // Output rate of the UBX-MON-RXR message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_RXR_UART1 = 0x20910188; // Output rate of the UBX-MON-RXR message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_RXR_UART2 = 0x20910189; // Output rate of the UBX-MON-RXR message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_RXR_USB = 0x2091018a; // Output rate of the UBX-MON-RXR message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_SPAN_I2C = 0x2091038b; // Output rate of the UBX-MON-SPAN message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_SPAN_SPI = 0x2091038f; // Output rate of the UBX-MON-SPAN message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_SPAN_UART1 = 0x2091038c; // Output rate of the UBX-MON-SPAN message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_SPAN_UART2 = 0x2091038d; // Output rate of the UBX-MON-SPAN message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_SPAN_USB = 0x2091038e; // Output rate of the UBX-MON-SPAN message on port USB
const uint32_t CFG_MSGOUT_UBX_MON_TXBUF_I2C = 0x2091019b; // Output rate of the UBX-MON-TXBUF message on port I2C
const uint32_t CFG_MSGOUT_UBX_MON_TXBUF_SPI = 0x2091019f; // Output rate of the UBX-MON-TXBUF message on port SPI
const uint32_t CFG_MSGOUT_UBX_MON_TXBUF_UART1 = 0x2091019c; // Output rate of the UBX-MON-TXBUF message on port UART1
const uint32_t CFG_MSGOUT_UBX_MON_TXBUF_UART2 = 0x2091019d; // Output rate of the UBX-MON-TXBUF message on port UART2
const uint32_t CFG_MSGOUT_UBX_MON_TXBUF_USB = 0x2091019e; // Output rate of the UBX-MON-TXBUF message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_CLOCK_I2C = 0x20910065; // Output rate of the UBX-NAV-CLOCK message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_CLOCK_SPI = 0x20910069; // Output rate of the UBX-NAV-CLOCK message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_CLOCK_UART1 = 0x20910066; // Output rate of the UBX-NAV-CLOCK message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_CLOCK_UART2 = 0x20910067; // Output rate of the UBX-NAV-CLOCK message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_CLOCK_USB = 0x20910068; // Output rate of the UBX-NAV-CLOCK message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_DOP_I2C = 0x20910038; // Output rate of the UBX-NAV-DOP message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_DOP_SPI = 0x2091003c; // Output rate of the UBX-NAV-DOP message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_DOP_UART1 = 0x20910039; // Output rate of the UBX-NAV-DOP message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_DOP_UART2 = 0x2091003a; // Output rate of the UBX-NAV-DOP message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_DOP_USB = 0x2091003b; // Output rate of the UBX-NAV-DOP message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_EOE_I2C = 0x2091015f; // Output rate of the UBX-NAV-EOE message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_EOE_SPI = 0x20910163; // Output rate of the UBX-NAV-EOE message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_EOE_UART1 = 0x20910160; // Output rate of the UBX-NAV-EOE message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_EOE_UART2 = 0x20910161; // Output rate of the UBX-NAV-EOE message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_EOE_USB = 0x20910162; // Output rate of the UBX-NAV-EOE message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_GEOFENCE_I2C = 0x209100a1; // Output rate of the UBX-NAV-GEOFENCE message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_GEOFENCE_SPI = 0x209100a5; // Output rate of the UBX-NAV-GEOFENCE message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_GEOFENCE_UART1 = 0x209100a2;// Output rate of the UBX-NAV-GEOFENCE message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_GEOFENCE_UART2 = 0x209100a3;// Output rate of the UBX-NAV-GEOFENCE message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_GEOFENCE_USB = 0x209100a4; // Output rate of the UBX-NAV-GEOFENCE message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_I2C = 0x2091002e;// Output rate of the UBX-NAV-HPPOSECEF message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_SPI = 0x20910032;// Output rate of the UBX-NAV-HPPOSECEF message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART1 = 0x2091002f;// Output rate of the UBX-NAV-HPPOSECEF message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART2 = 0x20910030;// Output rate of the UBX-NAV-HPPOSECEF message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB = 0x20910031;// Output rate of the UBX-NAV-HPPOSECEF message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_I2C = 0x20910033; // Output rate of the UBX-NAV-HPPOSLLH message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_SPI = 0x20910037; // Output rate of the UBX-NAV-HPPOSLLH message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_UART1 = 0x20910034;// Output rate of the UBX-NAV-HPPOSLLH message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_UART2 = 0x20910035;// Output rate of the UBX-NAV-HPPOSLLH message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB = 0x20910036; // Output rate of the UBX-NAV-HPPOSLLH message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_ODO_I2C = 0x2091007e; // Output rate of the UBX-NAV-ODO message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_ODO_SPI = 0x20910082; // Output rate of the UBX-NAV-ODO message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_ODO_UART1 = 0x2091007f; // Output rate of the UBX-NAV-ODO message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_ODO_UART2 = 0x20910080; // Output rate of the UBX-NAV-ODO message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_ODO_USB = 0x20910081; // Output rate of the UBX-NAV-ODO message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_ORB_I2C = 0x20910010; // Output rate of the UBX-NAV-ORB message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_ORB_SPI = 0x20910014; // Output rate of the UBX-NAV-ORB message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_ORB_UART1 = 0x20910011; // Output rate of the UBX-NAV-ORB message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_ORB_UART2 = 0x20910012; // Output rate of the UBX-NAV-ORB message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_ORB_USB = 0x20910013; // Output rate of the UBX-NAV-ORB message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_POSECEF_I2C = 0x20910024; // Output rate of the UBX-NAV-POSECEF message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_POSECEF_SPI = 0x20910028; // Output rate of the UBX-NAV-POSECEF message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_POSECEF_UART1 = 0x20910025;// Output rate of the UBX-NAV-POSECEF message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_POSECEF_UART2 = 0x20910026;// Output rate of the UBX-NAV-POSECEF message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_POSECEF_USB = 0x20910027; // Output rate of the UBX-NAV-POSECEF message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_POSLLH_I2C = 0x20910029; // Output rate of the UBX-NAV-POSLLH message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_POSLLH_SPI = 0x2091002d; // Output rate of the UBX-NAV-POSLLH message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_POSLLH_UART1 = 0x2091002a; // Output rate of the UBX-NAV-POSLLH message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_POSLLH_UART2 = 0x2091002b; // Output rate of the UBX-NAV-POSLLH message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_POSLLH_USB = 0x2091002c; // Output rate of the UBX-NAV-POSLLH message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_PVT_I2C = 0x20910006; // Output rate of the UBX-NAV-PVT message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_PVT_SPI = 0x2091000a; // Output rate of the UBX-NAV-PVT message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_PVT_UART1 = 0x20910007; // Output rate of the UBX-NAV-PVT message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_PVT_UART2 = 0x20910008; // Output rate of the UBX-NAV-PVT message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_PVT_USB = 0x20910009; // Output rate of the UBX-NAV-PVT message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_RELPOSNED_I2C = 0x2091008d; // Output rate of the UBX-NAV-RELPOSNED message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_RELPOSNED_SPI = 0x20910091;// Output rate of the UBX-NAV-RELPOSNED message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_RELPOSNED_UART1 = 0x2091008e;// Output rate of the UBX-NAV-RELPOSNED message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_RELPOSNED_UART2 = 0x2091008f;// Output rate of the UBX-NAV-RELPOSNED message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_RELPOSNED_USB = 0x20910090;// Output rate of the UBX-NAV-RELPOSNED message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_SAT_I2C = 0x20910015; // Output rate of the UBX-NAV-SAT message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_SAT_SPI = 0x20910019; // Output rate of the UBX-NAV-SAT message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_SAT_UART1 = 0x20910016; // Output rate of the UBX-NAV-SAT message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_SAT_UART2 = 0x20910017; // Output rate of the UBX-NAV-SAT message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_SAT_USB = 0x20910018; // Output rate of the UBX-NAV-SAT message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_SBAS_I2C = 0x2091006a; // Output rate of the UBX-NAV-SBAS message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_SBAS_SPI = 0x2091006e; // Output rate of the UBX-NAV-SBAS message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_SBAS_UART1 = 0x2091006b; // Output rate of the UBX-NAV-SBAS message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_SBAS_UART2 = 0x2091006c; // Output rate of the UBX-NAV-SBAS message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_SBAS_USB = 0x2091006d; // Output rate of the UBX-NAV-SBAS message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_SIG_I2C = 0x20910345; // Output rate of the UBX-NAV-SIG message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_SIG_SPI = 0x20910349; // Output rate of the UBX-NAV-SIG message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_SIG_UART1 = 0x20910346; // Output rate of the UBX-NAV-SIG message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_SIG_UART2 = 0x20910347; // Output rate of the UBX-NAV-SIG message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_SIG_USB = 0x20910348; // Output rate of the UBX-NAV-SIG message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_SLAS_I2C = 0x20910336; // Output rate of the UBX-NAV-SLAS message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_SLAS_SPI = 0x2091033a; // Output rate of the UBX-NAV-SLAS message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_SLAS_UART1 = 0x20910337; // Output rate of the UBX-NAV-SLAS message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_SLAS_UART2 = 0x20910338; // Output rate of the UBX-NAV-SLAS message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_SLAS_USB = 0x20910339; // Output rate of the UBX-NAV-SLAS message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_STATUS_I2C = 0x2091001a; // Output rate of the UBX-NAV-STATUS message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_STATUS_SPI = 0x2091001e; // Output rate of the UBX-NAV-STATUS message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_STATUS_UART1 = 0x2091001b; // Output rate of the UBX-NAV-STATUS message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_STATUS_UART2 = 0x2091001c; // Output rate of the UBX-NAV-STATUS message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_STATUS_USB = 0x2091001d; // Output rate of the UBX-NAV-STATUS message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_SVIN_I2C = 0x20910088; // Output rate of the UBX-NAV-SVIN message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_SVIN_SPI = 0x2091008c; // Output rate of the UBX-NAV-SVIN message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_SVIN_UART1 = 0x20910089; // Output rate of the UBX-NAV-SVIN message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_SVIN_UART2 = 0x2091008a; // Output rate of the UBX-NAV-SVIN message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_SVIN_USB = 0x2091008b; // Output rate of the UBX-NAV-SVIN message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEBDS_I2C = 0x20910051; // Output rate of the UBX-NAV-TIMEBDS message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEBDS_SPI = 0x20910055; // Output rate of the UBX-NAV-TIMEBDS message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEBDS_UART1 = 0x20910052;// Output rate of the UBX-NAV-TIMEBDS message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEBDS_UART2 = 0x20910053;// Output rate of the UBX-NAV-TIMEBDS message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEBDS_USB = 0x20910054; // Output rate of the UBX-NAV-TIMEBDS message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGAL_I2C = 0x20910056; // Output rate of the UBX-NAV-TIMEGAL message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGAL_SPI = 0x2091005a; // Output rate of the UBX-NAV-TIMEGAL message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGAL_UART1 = 0x20910057;// Output rate of the UBX-NAV-TIMEGAL message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGAL_UART2 = 0x20910058;// Output rate of the UBX-NAV-TIMEGAL message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGAL_USB = 0x20910059; // Output rate of the UBX-NAV-TIMEGAL message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGLO_I2C = 0x2091004c; // Output rate of the UBX-NAV-TIMEGLO message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGLO_SPI = 0x20910050; // Output rate of the UBX-NAV-TIMEGLO message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGLO_UART1 = 0x2091004d;// Output rate of the UBX-NAV-TIMEGLO message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGLO_UART2 = 0x2091004e;// Output rate of the UBX-NAV-TIMEGLO message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGLO_USB = 0x2091004f; // Output rate of the UBX-NAV-TIMEGLO message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGPS_I2C = 0x20910047; // Output rate of the UBX-NAV-TIMEGPS message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGPS_SPI = 0x2091004b; // Output rate of the UBX-NAV-TIMEGPS message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGPS_UART1 = 0x20910048;// Output rate of the UBX-NAV-TIMEGPS message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGPS_UART2 = 0x20910049;// Output rate of the UBX-NAV-TIMEGPS message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGPS_USB = 0x2091004a; // Output rate of the UBX-NAV-TIMEGPS message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_TIMELS_I2C = 0x20910060; // Output rate of the UBX-NAV-TIMELS message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_TIMELS_SPI = 0x20910064; // Output rate of the UBX-NAV-TIMELS message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_TIMELS_UART1 = 0x20910061; // Output rate of the UBX-NAV-TIMELS message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_TIMELS_UART2 = 0x20910062; // Output rate of the UBX-NAV-TIMELS message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_TIMELS_USB = 0x20910063; // Output rate of the UBX-NAV-TIMELS message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEQZSS_I2C = 0x20910386; // Output rate of the UBX-NAV-TIMEQZSSmessage on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEQZSS_SPI = 0x2091038a; // Output rate of the UBX-NAV-TIMEQZSSmessage on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEQZSS_UART1 = 0x20910387;// Output rate of the UBX-NAV-TIMEQZSSmessage on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEQZSS_UART2 = 0x20910388;// Output rate of the UBX-NAV-TIMEQZSSmessage on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEQZSS_USB = 0x20910389; // Output rate of the UBX-NAV-TIMEQZSSmessage on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEUTC_I2C = 0x2091005b; // Output rate of the UBX-NAV-TIMEUTC message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEUTC_SPI = 0x2091005f; // Output rate of the UBX-NAV-TIMEUTC message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEUTC_UART1 = 0x2091005c;// Output rate of the UBX-NAV-TIMEUTC message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEUTC_UART2 = 0x2091005d;// Output rate of the UBX-NAV-TIMEUTC message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_TIMEUTC_USB = 0x2091005e; // Output rate of the UBX-NAV-TIMEUTC message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_VELECEF_I2C = 0x2091003d; // Output rate of the UBX-NAV-VELECEF message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_VELECEF_SPI = 0x20910041; // Output rate of the UBX-NAV-VELECEF message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_VELECEF_UART1 = 0x2091003e;// Output rate of the UBX-NAV-VELECEF message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_VELECEF_UART2 = 0x2091003f;// Output rate of the UBX-NAV-VELECEF message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_VELECEF_USB = 0x20910040; // Output rate of the UBX-NAV-VELECEF message on port USB
const uint32_t CFG_MSGOUT_UBX_NAV_VELNED_I2C = 0x20910042; // Output rate of the UBX-NAV-VELNED message on port I2C
const uint32_t CFG_MSGOUT_UBX_NAV_VELNED_SPI = 0x20910046; // Output rate of the UBX-NAV-VELNED message on port SPI
const uint32_t CFG_MSGOUT_UBX_NAV_VELNED_UART1 = 0x20910043; // Output rate of the UBX-NAV-VELNED message on port UART1
const uint32_t CFG_MSGOUT_UBX_NAV_VELNED_UART2 = 0x20910044; // Output rate of the UBX-NAV-VELNED message on port UART2
const uint32_t CFG_MSGOUT_UBX_NAV_VELNED_USB = 0x20910045; // Output rate of the UBX-NAV-VELNED message on port USB
const uint32_t CFG_MSGOUT_UBX_RXM_MEASX_I2C = 0x20910204; // Output rate of the UBX-RXM-MEASX message on port I2C
const uint32_t CFG_MSGOUT_UBX_RXM_MEASX_SPI = 0x20910208; // Output rate of the UBX-RXM-MEASX message on port SPI
const uint32_t CFG_MSGOUT_UBX_RXM_MEASX_UART1 = 0x20910205; // Output rate of the UBX-RXM-MEASX message on port UART1
const uint32_t CFG_MSGOUT_UBX_RXM_MEASX_UART2 = 0x20910206; // Output rate of the UBX-RXM-MEASX message on port UART2
const uint32_t CFG_MSGOUT_UBX_RXM_MEASX_USB = 0x20910207; // Output rate of the UBX-RXM-MEASX message on port USB
const uint32_t CFG_MSGOUT_UBX_RXM_RAWX_I2C = 0x209102a4; // Output rate of the UBX-RXM-RAWX message on port I2C
const uint32_t CFG_MSGOUT_UBX_RXM_RAWX_SPI = 0x209102a8; // Output rate of the UBX-RXM-RAWX message on port SPI
const uint32_t CFG_MSGOUT_UBX_RXM_RAWX_UART1 = 0x209102a5; // Output rate of the UBX-RXM-RAWX message on port UART1
const uint32_t CFG_MSGOUT_UBX_RXM_RAWX_UART2 = 0x209102a6; // Output rate of the UBX-RXM-RAWX message on port UART2
const uint32_t CFG_MSGOUT_UBX_RXM_RAWX_USB = 0x209102a7; // Output rate of the UBX-RXM-RAWX message on port USB
const uint32_t CFG_MSGOUT_UBX_RXM_RLM_I2C = 0x2091025e; // Output rate of the UBX-RXM-RLM message on port I2C
const uint32_t CFG_MSGOUT_UBX_RXM_RLM_SPI = 0x20910262; // Output rate of the UBX-RXM-RLM message on port SPI
const uint32_t CFG_MSGOUT_UBX_RXM_RLM_UART1 = 0x2091025f; // Output rate of the UBX-RXM-RLM message on port UART1
const uint32_t CFG_MSGOUT_UBX_RXM_RLM_UART2 = 0x20910260; // Output rate of the UBX-RXM-RLM message on port UART2
const uint32_t CFG_MSGOUT_UBX_RXM_RLM_USB = 0x20910261; // Output rate of the UBX-RXM-RLM message on port USB
const uint32_t CFG_MSGOUT_UBX_RXM_RTCM_I2C = 0x20910268; // Output rate of the UBX-RXM-RTCM message on port I2C
const uint32_t CFG_MSGOUT_UBX_RXM_RTCM_SPI = 0x2091026c; // Output rate of the UBX-RXM-RTCM message on port SPI
const uint32_t CFG_MSGOUT_UBX_RXM_RTCM_UART1 = 0x20910269; // Output rate of the UBX-RXM-RTCM message on port UART1
const uint32_t CFG_MSGOUT_UBX_RXM_RTCM_UART2 = 0x2091026a; // Output rate of the UBX-RXM-RTCM message on port UART2
const uint32_t CFG_MSGOUT_UBX_RXM_RTCM_USB = 0x2091026b; // Output rate of the UBX-RXM-RTCM message on port USB
const uint32_t CFG_MSGOUT_UBX_RXM_SFRBX_I2C = 0x20910231; // Output rate of the UBX-RXM-SFRBX message on port I2C
const uint32_t CFG_MSGOUT_UBX_RXM_SFRBX_SPI = 0x20910235; // Output rate of the UBX-RXM-SFRBX message on port SPI
const uint32_t CFG_MSGOUT_UBX_RXM_SFRBX_UART1 = 0x20910232; // Output rate of the UBX-RXM-SFRBX message on port UART1
const uint32_t CFG_MSGOUT_UBX_RXM_SFRBX_UART2 = 0x20910233; // Output rate of the UBX-RXM-SFRBX message on port UART2
const uint32_t CFG_MSGOUT_UBX_RXM_SFRBX_USB = 0x20910234; // Output rate of the UBX-RXM-SFRBX message on port USB
const uint32_t CFG_MSGOUT_UBX_TIM_TM2_I2C = 0x20910178; // Output rate of the UBX-TIM-TM2 message on port I2C
const uint32_t CFG_MSGOUT_UBX_TIM_TM2_SPI = 0x2091017c; // Output rate of the UBX-TIM-TM2 message on port SPI
const uint32_t CFG_MSGOUT_UBX_TIM_TM2_UART1 = 0x20910179; // Output rate of the UBX-TIM-TM2 message on port UART1
const uint32_t CFG_MSGOUT_UBX_TIM_TM2_UART2 = 0x2091017a; // Output rate of the UBX-TIM-TM2 message on port UART2
const uint32_t CFG_MSGOUT_UBX_TIM_TM2_USB = 0x2091017b; // Output rate of the UBX-TIM-TM2 message on port USB
const uint32_t CFG_MSGOUT_UBX_TIM_TP_I2C = 0x2091017d; // Output rate of the UBX-TIM-TP message on port I2C
const uint32_t CFG_MSGOUT_UBX_TIM_TP_SPI = 0x20910181; // Output rate of the UBX-TIM-TP message on port SPI
const uint32_t CFG_MSGOUT_UBX_TIM_TP_UART1 = 0x2091017e; // Output rate of the UBX-TIM-TP message on port UART1
const uint32_t CFG_MSGOUT_UBX_TIM_TP_UART2 = 0x2091017f; // Output rate of the UBX-TIM-TP message on port UART2
const uint32_t CFG_MSGOUT_UBX_TIM_TP_USB = 0x20910180; // Output rate of the UBX-TIM-TP message on port USB
const uint32_t CFG_MSGOUT_UBX_TIM_VRFY_I2C = 0x20910092; // Output rate of the UBX-TIM-VRFY message on port I2C
const uint32_t CFG_MSGOUT_UBX_TIM_VRFY_SPI = 0x20910096; // Output rate of the UBX-TIM-VRFY message on port SPI
const uint32_t CFG_MSGOUT_UBX_TIM_VRFY_UART1 = 0x20910093; // Output rate of the UBX-TIM-VRFY message on port UART1
const uint32_t CFG_MSGOUT_UBX_TIM_VRFY_UART2 = 0x20910094; // Output rate of the UBX-TIM-VRFY message on port UART2
const uint32_t CFG_MSGOUT_UBX_TIM_VRFY_USB = 0x20910095; // Output rate of the UBX-TIM-VRFY message on port USB
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
#endif

41
serial/serial.go Normal file
View File

@ -0,0 +1,41 @@
package main
import (
"bufio"
"log"
"strings"
"go.bug.st/serial"
)
func main() {
mode := &serial.Mode{
BaudRate: 115200,
}
port, err := serial.Open("/dev/tty.usbmodem14201", mode)
if err != nil {
log.Fatal(err)
}
//n, err := s.Write([]byte("test"))
//if err != nil {
// log.Fatal(err)
//}
r := bufio.NewScanner(port)
for {
//buf := make([]byte, 256)
r.Scan()
res := r.Text()
if err != nil {
log.Fatal(err)
}
if strings.HasPrefix(res, "$G") {
log.Println(res)
}
//if string(buf[0:1]) == "$" {
// log.Printf("%v byte || %q", n, buf[:n])
// continue
//}
}
}

2
server.go
View File

@ -115,7 +115,7 @@ func handleRequest(conn net.Conn, d *dispatcher.Dispatcher) {
}
json := buf
json = pretty.Pretty(json)
//fmt.Println(string(json))
fmt.Println(string(json))
d.Publish(string(json))
// Send a response back to person contacting us.
// conn.Write([]byte("You stepped into my honey pot. I'll find you! "))