Create CallbackExample8_NAV_SVIN.ino

Author: PaulZC

examples/Callbacks/CallbackExample8_NAV_SVIN/CallbackExample8_NAV_SVIN.ino

@@ -0,0 +1,127 @@
+/*
+  Configuring the GNSS to automatically send NAV SVIN reports over I2C and display them using a callback
+  By: Paul Clark
+  SparkFun Electronics
+  Date: April 4th, 2022
+  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 to send NAV SVIN reports automatically
+  and access the data via a callback. No more polling!
+
+  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 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 GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+// Callback: newNAVSVIN will be called when new NAV SVIN data arrives
+// See u-blox_structs.h for the full definition of UBX_NAV_SVIN_data_t
+//         _____  You can use any name you like for the callback. Use the same name when you call setAutoNAVSVINcallbackPtr
+//        /             _____  This _must_ be UBX_NAV_SVIN_data_t
+//        |            /                _____ You can use any name you like for the struct
+//        |            |               /
+//        |            |               |
+void newNAVSVIN(UBX_NAV_SVIN_data_t *ubxDataStruct)
+{
+  Serial.println();
+
+  Serial.print(F("Survey-in is "));
+  if (ubxDataStruct->active == 0)
+    Serial.print(F("not "));
+  Serial.println(F("in progress"));
+
+  Serial.print(F("Survey-in position is "));
+  if (ubxDataStruct->valid == 0)
+    Serial.print(F("not "));
+  Serial.println(F("valid"));
+
+  Serial.print(F("Survey-in observation time (s): "));
+  Serial.println(ubxDataStruct->dur);
+
+  Serial.print(F("ECEF position (cm): "));
+  Serial.print(ubxDataStruct->meanX);
+  Serial.print(F(" ("));
+  if (ubxDataStruct->meanXHP >= 0)
+    Serial.print(F("+"));
+  Serial.print((float)ubxDataStruct->meanXHP * 0.01); // Convert 0.1mm to cm
+  Serial.print(F("), "));
+  Serial.print(ubxDataStruct->meanY);
+  Serial.print(F(" ("));
+  if (ubxDataStruct->meanYHP >= 0)
+    Serial.print(F("+"));
+  Serial.print((float)ubxDataStruct->meanYHP * 0.01); // Convert 0.1mm to cm
+  Serial.print(F("), "));
+  Serial.print(ubxDataStruct->meanZ);
+  Serial.print(F(" ("));
+  if (ubxDataStruct->meanZHP >= 0)
+    Serial.print(F("+"));
+  Serial.print((float)ubxDataStruct->meanZHP * 0.01); // Convert 0.1mm to cm
+  Serial.println(F(")"));  
+
+  Serial.print(F("Mean position accuracy (cm): "));
+  Serial.println((float)ubxDataStruct->meanAcc * 0.01); // Convert 0.1mm to cm
+}
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("u-blox Base Station example"));
+
+  Wire.begin();
+
+  //myGNSS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
+  
+  if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  // Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
+  //myGNSS.factoryDefault(); delay(5000);
+
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
+
+  // Set up the callback for NAV SVIN. This will enable SVIN messages at the navigation rate
+  myGNSS.setAutoNAVSVINcallbackPtr(&newNAVSVIN);
+
+  while (Serial.available()) Serial.read(); //Clear the serial buffer
+  Serial.println(F("Press any key to begin Survey-In"));
+}
+
+void loop()
+{
+  myGNSS.checkUblox(); //See if new data is available. Process bytes as they come in.
+  myGNSS.checkCallbacks(); //Process any waiting callbacks
+
+  if (Serial.available()) // Check if user has pressed a key
+  {
+    bool success = myGNSS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
+    //bool success = myGNSS.enableSurveyModeFull(86400, 2.000); //Enable Survey in, 24 hours, 2.0m
+
+    Serial.println();
+
+    if (success)
+    {
+      Serial.println(F("Survey-In started!"));    
+    }
+    else
+    {
+      Serial.println(F("Survey start failed!"));
+    }
+    
+    while (Serial.available()) Serial.read(); //Clear the serial buffer
+  }
+}