Begining to add I2C lat/long harvesting

Author: nseidle

examples/Example3_GetPosition/Example3_GetPosition.ino

@@ -34,6 +34,8 @@ void setup()
   while (!Serial); //Wait for user to open terminal
   Serial.println("Ublox high precision accuracy example");
 
+  Wire.begin();
+
   myGPS.begin(); //Connect to the Ublox module using Wire port
   if (myGPS.isConnected() == false)
   {
@@ -54,10 +56,14 @@ void loop()
   //Every other second print the current 3D position accuracy
   if(millis() - lastTime > 1000)
   {
-    long accuracy = myGPS.getPositionAccuracy();
-    Serial.print("3D Positional Accuracy: ");
-    Serial.print(accuracy);
-    Serial.println("mm");
+    long lat = myGPS.getLatitude();
+    Serial.print("Lat: ");
+    Serial.print(lat);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(" Long: ");
+    Serial.print(longitude);
+    Serial.println(" (degrees * 10^-7)");
   }
 
 }

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -478,31 +478,6 @@ boolean SFE_UBLOX_GPS::waitForResponse(uint16_t maxTime)
   return (false);
 }
 
-
-//Get the current 3D high precision positional accuracy - a fun thing to watch
-//Returns a float representing the 3D accuracy in millimeters
-uint32_t SFE_UBLOX_GPS::getPositionAccuracy(uint16_t maxWait)
-{
-  packetCfg.cls = UBX_CLASS_NAV;
-  packetCfg.id = UBX_NAV_HPPOSECEF;
-  packetCfg.len = 0;
-
-  if(sendCommand(packetCfg, maxWait) == false)
-    return(0); //If command send fails then bail
-
-  //We got a response, now parse the bits into the float variable
-  uint32_t tempAccuracy = 0;
-  tempAccuracy |= payloadCfg[24] << 8*0;
-  tempAccuracy |= payloadCfg[25] << 8*1;
-  tempAccuracy |= payloadCfg[26] << 8*2;
-  tempAccuracy |= payloadCfg[27] << 8*3;
-
-  if(tempAccuracy % 10) >= 5) tempAccuracy += 5; //Round fraction of mm up to next mm if .5 or above
-  tempAccuracy /= 10; //Convert 0.1mm units to mm
-
-  return(tempAccuracy);
-}
-
 //Get the current TimeMode3 settings - these contain survey in statuses
 boolean SFE_UBLOX_GPS::getSurveyMode(uint16_t maxWait)
 {
@@ -648,3 +623,70 @@ boolean SFE_UBLOX_GPS::getPortSettings(uint8_t portID, uint16_t maxWait)
 
   return ( sendCommand(packetCfg, maxWait) );
 }
+
+//Get the current 3D high precision positional accuracy - a fun thing to watch
+//Returns a float representing the 3D accuracy in millimeters
+uint32_t SFE_UBLOX_GPS::getPositionAccuracy(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_HPPOSECEF;
+  packetCfg.len = 0;
+
+  if(sendCommand(packetCfg, maxWait) == false)
+    return(0); //If command send fails then bail
+
+  //We got a response, now parse the byte fields into our variable
+  uint32_t tempAccuracy = 0;
+  tempAccuracy |= payloadCfg[24] << 8*0;
+  tempAccuracy |= payloadCfg[25] << 8*1;
+  tempAccuracy |= payloadCfg[26] << 8*2;
+  tempAccuracy |= payloadCfg[27] << 8*3;
+
+  if( (tempAccuracy % 10) >= 5) tempAccuracy += 5; //Round fraction of mm up to next mm if .5 or above
+  tempAccuracy /= 10; //Convert 0.1mm units to mm
+
+  return(tempAccuracy);
+}
+//Get the current latitude in degrees
+//Returns a long representing the number of degrees *10^-7
+uint32_t SFE_UBLOX_GPS::getLatitude(uint16_t maxWait)
+{
+	//Query the module for the latest lat/long
+	packetCfg.cls = UBX_CLASS_NAV;
+	packetCfg.id = UBX_NAV_POSLLH;
+	packetCfg.len = 0;
+
+	if(sendCommand(packetCfg, maxWait) == false)
+		return(0); //If command send fails then bail
+
+	//We got a response, now parse the byte fields
+	uint32_t pos = 0;
+	pos |= payloadCfg[8] << 8*0;
+	pos |= payloadCfg[9] << 8*1;
+	pos |= payloadCfg[10] << 8*2;
+	pos |= payloadCfg[11] << 8*3;
+
+	return(pos);
+}
+
+//Get the current longitude in degrees
+//Returns a long representing the number of degrees *10^-7
+uint32_t SFE_UBLOX_GPS::getLongitude(uint16_t maxWait)
+{
+	//Query the module for the latest lat/long
+	packetCfg.cls = UBX_CLASS_NAV;
+	packetCfg.id = UBX_NAV_POSLLH;
+	packetCfg.len = 0;
+
+	if(sendCommand(packetCfg, maxWait) == false)
+		return(0); //If command send fails then bail
+
+	//We got a response, now parse the byte fields
+	uint32_t pos = 0;
+	pos |= payloadCfg[4] << 8*0;
+	pos |= payloadCfg[5] << 8*1;
+	pos |= payloadCfg[6] << 8*2;
+	pos |= payloadCfg[7] << 8*3;
+
+	return(pos);
+}

src/SparkFun_Ublox_Arduino_Library.h

@@ -92,6 +92,9 @@ const uint8_t UBX_CFG_TMODE3 = 0x71; //Used to enable Survey In Mode
 const uint8_t SVIN_MODE_DISABLE = 0x00;
 const uint8_t SVIN_MODE_ENABLE = 0x01;
 
+const uint8_t UBX_NAV_POSLLH = 0x02; //Used for obtaining lat/long/alt in low precision
+const uint8_t UBX_NAV_HPPOSLLH = 0x14; //Used for obtaining lat/long/alt in high precision
+
 const uint8_t UBX_NAV_SVIN = 0x3B; //Used for checking Survey In status
 const uint8_t UBX_NAV_HPPOSECEF = 0x13; //Find our positional accuracy (high precision)
 
@@ -169,7 +172,10 @@ class SFE_UBLOX_GPS
 
 	boolean getPortSettings(uint8_t portID, uint16_t maxWait = 250); //Returns the current protocol bits in the UBX-CFG-PRT command for a given port
 
-	uint32_t getPositionAccuracy(uint16_t maxWait = 500); //Returns the 3D accuracy of the current high-precision fix
+	uint32_t getPositionAccuracy(uint16_t maxWait = 500); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,
+	
+	uint32_t getLatitude(uint16_t maxWait = 250); //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
+	uint32_t getLongitude(uint16_t maxWait = 250); //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module.
 
 	struct svinStructure {
 		boolean active;