I need help please…
I’m able to run the exemple code for making the base runing, and “pipe” the incoming to Serial3 with baudrate at 38400, the things seem to work as I see the console show me some data. The Serial3 of the base arduino mega is connected to the TX/MISO and RX/MOSI of the rover ZED-F9P by wire, but the “RTK” led of the rover isn’t blinking. I watch the position recieved by the rover with another arduino and position varie a lot (+5meters in altitudes in less than 20minutes…). I don’t understand how to make a base/rover working great… there is a big lack of clear explanation… the hookup guide is more a advertising (“look, we have qwiic i2c and we love it! look this beautiful red color, you can do great things…”) but not technical informations at all for new guy in gps rtk technology…
The code of the base and rover:
/*
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;
void setup()
{
Serial.begin(115200);
Serial3.begin(38400);
while (!Serial)
; //Wait for user to open terminal
Serial.println("Ublox GPS I2C Test");
Wire.begin();
pinMode(STAT_LED, OUTPUT);
digitalWrite(STAT_LED, LOW);
myGPS.begin(Wire);
if (myGPS.isConnected() == false)
{
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1)
;
}
//Force le redémarrage du positionnement de la base
myGPS.disableSurveyMode();
myGPS.saveConfiguration();
delay(2000);
myGPS.hardReset();
delay(5000);
Wire.setClock(400000); //Increase I2C clock speed to 400kHz
//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."));
}
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"));
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
//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);
Serial.print(F(" Accuracy: "));
Serial.print((String)myGPS.svin.meanAccuracy);
Serial.println();
}
else
{
Serial.println(F("SVIN request failed"));
}
delay(1000);
}
Serial.println(F("Survey valid!"));
Serial.println(F("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.
//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);
Serial3.print(incoming, HEX);
}
/*
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(38400);
while (!Serial) //Wait for user to open terminal
{
Serial.println("wait...");
}
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();
}
}
HEEEEEEELLLPEEE!!!