Create SPI Example2 Auto PVT

Author: PaulZC

examples/SPI/Example2_AutoPVT/Example2_AutoPVT.ino

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+/*
+  Configuring the GNSS to automatically send position reports over SPI
+  Based on code 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 GNSS the send navigation reports automatically
+  and retrieving the latest one via getPVT. This eliminates the blocking in getPVT while the GNSS
+  produces a fresh navigation solution at the expense of returning a slighly old 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
+  NEO-M8U: https://www.sparkfun.com/products/16329
+  NEO-M9N: https://www.sparkfun.com/products/17285
+
+  Hardware Connections:
+  You need to connect the SPI pins from your microcontroller to the specific pins on your SparkFun product. 
+  Connections will vary based on your microcontroller, but for reference please refer to this tutorial on SPI:
+  https://learn.sparkfun.com/tutorials/serial-peripheral-interface-spi/all
+  
+  Most new boards now use the terms:
+  CS - Chip Select
+  COPI - Controller Out, Peripheral In
+  CIPO - Controller in, Peripheral Out
+  SCK - Serial Clock
+
+  You can choose any pin for Chip Select, but the others are likely either defined by the library you are using
+  (see here for the standard Arduino one: https://www.arduino.cc/en/reference/SPI) or the microcontroller. The
+  ESP32 has two standard, selectable SPI ports, for example.
+
+  To enable SPI communication, you will need to solder the DSEL/SPI jumper closed on your u-blox board.
+
+  IMPORTANT: there have been reports that some u-blox devices do not respond to the UBX protocol over SPI
+  with the factory settings. You may find you need to connect to the device via USB and u-center and set
+  the incoming protocol to UBX only. Make sure you disable all other protocols as inputs if you can't
+  get things to work! Hopefully this is just a bug in the u-blox firmware that will be fixed soon ;-)
+
+*/
+
+#include <SPI.h> //Needed for SPI to GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+// #########################################
+
+// Instantiate an instance of the SPI class. 
+// Your configuration may be different, depending on the microcontroller you are using!
+
+#define spiPort SPI // This is the SPI port on standard Ardino boards. Comment this line if you want to use a different port.
+
+//SPIClass spiPort (HSPI); // This is the default SPI interface on some ESP32 boards. Uncomment this line if you are using ESP32.
+
+// #########################################
+
+const uint8_t csPin = 10; // On ATmega328 boards, SPI Chip Select is usually pin 10. Change this to match your board.
+
+// #########################################
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun u-blox Example");
+
+  spiPort.begin(); // begin the SPI port
+
+  //myGNSS.enableDebugging(); // Uncomment this line to see helpful debug messages on Serial
+
+  // Connect to the u-blox module using SPI port, csPin and speed setting
+  // ublox devices generally work up to 5MHz. We'll use 4MHz for this example:
+  if (myGNSS.begin(spiPort, csPin, 4000000) == false) 
+  {
+    Serial.println(F("u-blox GNSS not detected on SPI bus. Please check wiring. Freezing."));
+    while (1);
+  }
+  
+  myGNSS.setPortOutput(COM_PORT_SPI, COM_TYPE_UBX); //Set the SPI port to output UBX only (turn off NMEA noise)
+  myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
+
+  myGNSS.setNavigationFrequency(2); //Produce two solutions per second
+  myGNSS.setAutoPVT(true); //Tell the GNSS to "send" each solution
+  //myGNSS.saveConfiguration(); //Optional: Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  // Start the reading only when valid LLH is available
+  if (myGNSS.getPVT() && (myGNSS.getInvalidLlh() == false))
+  {
+    Serial.println();
+    long latitude = myGNSS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGNSS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGNSS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGNSS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    int PDOP = myGNSS.getPDOP();
+    Serial.print(F(" PDOP: "));
+    Serial.print(PDOP);
+    Serial.print(F(" (10^-2)"));
+
+    int nedNorthVel = myGNSS.getNedNorthVel();
+    Serial.print(F(" VelN: "));
+    Serial.print(nedNorthVel);
+    Serial.print(F(" (mm/s)"));
+
+    int nedEastVel = myGNSS.getNedEastVel();
+    Serial.print(F(" VelE: "));
+    Serial.print(nedEastVel);
+    Serial.print(F(" (mm/s)"));
+
+    int nedDownVel = myGNSS.getNedDownVel();
+    Serial.print(F(" VelD: "));
+    Serial.print(nedDownVel);
+    Serial.print(F(" (mm/s)"));
+
+    int verticalAccEst = myGNSS.getVerticalAccEst();
+    Serial.print(F(" VAccEst: "));
+    Serial.print(verticalAccEst);
+    Serial.print(F(" (mm)"));
+
+    int horizontalAccEst = myGNSS.getHorizontalAccEst();
+    Serial.print(F(" HAccEst: "));
+    Serial.print(horizontalAccEst);
+    Serial.print(F(" (mm)"));
+
+    int speedAccEst = myGNSS.getSpeedAccEst();
+    Serial.print(F(" SpeedAccEst: "));
+    Serial.print(speedAccEst);
+    Serial.print(F(" (mm/s)"));
+
+    int headAccEst = myGNSS.getHeadingAccEst();
+    Serial.print(F(" HeadAccEst: "));
+    Serial.print(headAccEst);
+    Serial.print(F(" (degrees * 10^-5)"));
+
+    if (myGNSS.getHeadVehValid() == true) {
+      int headVeh = myGNSS.getHeadVeh();
+      Serial.print(F(" HeadVeh: "));
+      Serial.print(headVeh);
+      Serial.print(F(" (degrees * 10^-5)"));
+
+      int magDec = myGNSS.getMagDec();
+      Serial.print(F(" MagDec: "));
+      Serial.print(magDec);
+      Serial.print(F(" (degrees * 10^-2)"));
+
+      int magAcc = myGNSS.getMagAcc();
+      Serial.print(F(" MagAcc: "));
+      Serial.print(magAcc);
+      Serial.print(F(" (degrees * 10^-2)"));
+    }
+
+    Serial.println();
+  } else {
+    Serial.print(".");
+    delay(50);
+  }
+}