Hi all, I spent some time digging through the forum and tried solutions that seemed to work for others. No luck. My issue is I need to implement SPI on my nav board for an autonomous RC car application. I have a custom PCB with ESP32 devkitc v4 installed on it. I am trying to use the HSPI pins. I confirmed they work as expected by hooking up an sd card reader to those pins. I blobbed the SPI jumper on the nav board and confirmed continuity with ground.
The example code for SPI does not work for me even with a redboard (though I noticed that redboard is kicking out 3.9V logic!), so it may be I’m not changing the right settings in u-center. But I went to CFG-PRT and set to SPI, 0+1+5 for protocol in/out. Set I2C and Uart1 to none for protocol in/out. Enabled SPI in CFG-MSG for NAV-PVT. And of course saved current config in CFG-CFG. I tried to do some low-level SPI comms with the nav board to no avail. The code I adapted from the example is below, not sure how to make it all go into the code box.
I should mention I’ve used this board hundreds of times with I2C, though not since I started trying to make SPI work.
#include <SPI.h> //Needed for SPI to GNSS
#include <SparkFun_u-blox_GNSS_v3.h> //http://librarymanager/All#SparkFun_u-blox_GNSS_v3
SFE_UBLOX_GNSS_SPI myGNSS; // SFE_UBLOX_GNSS_SPI uses SPI
#define myCS 15 // Define the GPIO pin number for the SPI Chip Select
#define GNSS_MOSI_PIN 13
#define GNSS_MISO_PIN 12
#define GNSS_SCK_PIN 14
#define mySPI SPI // Define which SPI port to use
#define myClockSpeed 4000000 // Define what SPI clock speed to use
// Variables for timing and statistics
unsigned long GPSlastTime = 0;
unsigned long GPS_Interval = 100; // 100ms = 10Hz rate
unsigned long Readtime = 0;
unsigned long Max = 0;
unsigned long entrymillis = 0;
long counter = 0;
void setup()
{
Serial.begin(115200);
// Initialize SPI bus
SPI.begin(GNSS_SCK_PIN, GNSS_MISO_PIN, GNSS_MOSI_PIN, myCS);
delay(50);
// Do a fake transaction to initialize the SPI pins
SPI.beginTransaction(SPISettings(myClockSpeed, MSBFIRST, SPI_MODE0));
SPI.transfer(0xFF);
SPI.endTransaction();
delay(50);
// Try to connect with timeout
Serial.println(“Connecting to ZED-F9R over SPI…”);
while (myGNSS.begin(mySPI, myCS, myClockSpeed, 20) == false)
{
Serial.println(“Waiting for ZED-F9R to connect over SPI”);
delay(50);
}
Serial.println(“GNSS connected!”);
// Configure SPI port to only output UBX (disable NMEA)
myGNSS.setSPIOutput(COM_TYPE_UBX);
// THIS IS THE CRITICAL CHANGE - Set Auto PVT mode
myGNSS.setAutoPVT(true);
// Save the communications port settings to flash and BBR
myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT);
Serial.println(“Setup complete!”);
}
void loop()
{
// Only read at the specified interval
if ((millis() - GPSlastTime) >= GPS_Interval)
{
GPSlastTime = millis(); // Update the timer
// Try to get the latest PVT data
if (myGNSS.getPVT())
{
entrymillis = millis();
// Get position data
int32_t latitude = myGNSS.getLatitude();
int32_t longitude = myGNSS.getLongitude();
int32_t altitude = myGNSS.getAltitudeMSL();
// Calculate read time for performance monitoring
Readtime = millis() - entrymillis;
// Track maximum read time
if (Readtime > Max)
Max = Readtime;
counter++;
// Display position and timing information
Serial.print("Lat: ");
Serial.print(latitude);
Serial.print(" Long: ");
Serial.print(longitude);
Serial.print(" Alt: ");
Serial.print(altitude);
Serial.print(" (mm) | ReadTime: ");
Serial.print(Readtime);
Serial.print("ms Max: ");
Serial.print(Max);
Serial.print("ms Count: ");
Serial.println(counter);
}
else
{
Serial.println("No new PVT data");
}
}