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PaulZCPaulZC
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Merge pull request #207 from alonbl/virtual
Convert to polymorphic class
2 parents abffe1a + 4b4ed43 commit 43bb6fa

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Diff for: ‎examples/NEO-M8P-2/Example2_StartRTCMBase_virtual/Example2_StartRTCMBase_virtual.ino

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@@ -0,0 +1,168 @@
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/*
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Note: compiles OK with v2.0 but is currently untested
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Send UBX binary commands to enable RTCM sentences on u-blox NEO-M8P-2 module
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By: Nathan Seidle
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SparkFun Electronics
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Date: September 7th, 2018
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example does all steps to configure and enable a NEO-M8P-2 as a base station:
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Begin Survey-In
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Once we've achieved 2m accuracy and 300s have passed, survey is complete
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Enable four RTCM messages
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Begin outputting RTCM bytes
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/15136
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NEO-M8P RTK: https://www.sparkfun.com/products/15005
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SAM-M8Q: https://www.sparkfun.com/products/15106
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Hardware Connections:
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Plug a Qwiic cable into the GNSS and a BlackBoard
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GNSS
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
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class MY_SFE_UBLOX_GNSS : public SFE_UBLOX_GNSS
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{
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//This function gets called from the SparkFun u-blox Arduino Library.
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//As each RTCM byte comes in you can specify what to do with it
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//Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
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virtual void processRTCM_v(uint8_t incoming)
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{
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//Let's just pretty-print the HEX values for now
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if (rtcmFrameCounter % 16 == 0) Serial.println();
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Serial.print(F(" "));
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if (incoming < 0x10) Serial.print(F("0"));
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Serial.print(incoming, HEX);
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}
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};
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MY_SFE_UBLOX_GNSS myGNSS;
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println(F("u-blox NEO-M8P-2 base station example"));
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Wire.begin();
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Wire.setClock(400000); //Increase I2C clock speed to 400kHz
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if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
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{
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Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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myGNSS.setI2COutput(COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3); // Ensure RTCM3 is enabled
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myGNSS.saveConfiguration(); //Save the current settings to flash and BBR
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while (Serial.available()) Serial.read(); //Clear any latent chars in serial buffer
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Serial.println(F("Press any key to send commands to begin Survey-In"));
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while (Serial.available() == 0) ; //Wait for user to press a key
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bool response;
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//Check if Survey is in Progress before initiating one
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// From v2.0, the data from getSurveyStatus (UBX-NAV-SVIN) is returned in UBX_NAV_SVIN_t packetUBXNAVSVIN
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// Please see u-blox_structs.h for the full definition of UBX_NAV_SVIN_t
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// You can either read the data from packetUBXNAVSVIN directly
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// or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; and getSurveyInMeanAccuracy
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response = myGNSS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
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if (response == false) // Check if fresh data was received
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{
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Serial.println(F("Failed to get Survey In status. Freezing..."));
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while (1); //Freeze
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}
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if (myGNSS.getSurveyInActive() == true) // Use the helper function
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{
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Serial.print(F("Survey already in progress."));
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}
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else
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{
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//Start survey
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response = myGNSS.enableSurveyMode(300, 2.000); //Enable Survey in, 300 seconds, 2.0m
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if (response == false)
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{
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Serial.println(F("Survey start failed. Freezing..."));
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while (1);
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}
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Serial.println(F("Survey started. This will run until 300s has passed and less than 2m accuracy is achieved."));
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}
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while(Serial.available()) Serial.read(); //Clear buffer
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//Begin waiting for survey to complete
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while (myGNSS.getSurveyInValid() == false) // Call the helper function
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{
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if(Serial.available())
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{
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byte incoming = Serial.read();
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if(incoming == 'x')
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{
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//Stop survey mode
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response = myGNSS.disableSurveyMode(); //Disable survey
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Serial.println(F("Survey stopped"));
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break;
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}
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}
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// From v2.0, the data from getSurveyStatus (UBX-NAV-SVIN) is returned in UBX_NAV_SVIN_t packetUBXNAVSVIN
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// Please see u-blox_structs.h for the full definition of UBX_NAV_SVIN_t
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// You can either read the data from packetUBXNAVSVIN directly
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// or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; and getSurveyInMeanAccuracy
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response = myGNSS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
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if (response == true) // Check if fresh data was received
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{
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Serial.print(F("Press x to end survey - "));
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Serial.print(F("Time elapsed: "));
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Serial.print((String)myGNSS.getSurveyInObservationTime());
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Serial.print(F(" Accuracy: "));
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Serial.print((String)myGNSS.getSurveyInMeanAccuracy());
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Serial.println();
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}
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else
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{
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Serial.println(F("SVIN request failed"));
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}
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delay(1000);
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}
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Serial.println(F("Survey valid!"));
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response = true;
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response &= myGNSS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
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response &= myGNSS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_I2C, 1);
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response &= myGNSS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_I2C, 1);
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response &= myGNSS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
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if (response == true)
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{
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Serial.println(F("RTCM messages enabled"));
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}
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else
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{
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Serial.println(F("RTCM failed to enable. Are you sure you have an NEO-M8P?"));
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while (1); //Freeze
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}
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Serial.println(F("Base survey complete! RTCM now broadcasting."));
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}
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void loop()
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{
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myGNSS.checkUblox(); //See if new data is available. Process bytes as they come in.
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delay(250); //Don't pound too hard on the I2C bus
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}

Diff for: ‎src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

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@@ -2288,13 +2288,18 @@ bool SFE_UBLOX_GNSS::processThisNMEA()
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// This is the default or generic NMEA processor. We're only going to pipe the data to serial port so we can see it.
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// User could overwrite this function to pipe characters to nmea.process(c) of tinyGPS or MicroNMEA
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// Or user could pipe each character to a buffer, radio, etc.
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void SFE_UBLOX_GNSS::processNMEA(char incoming)
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void SFE_UBLOX_GNSS::processNMEA_v(char incoming)
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{
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// If user has assigned an output port then pipe the characters there
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if (_nmeaOutputPort != NULL)
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_nmeaOutputPort->write(incoming); // Echo this byte to the serial port
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}
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void SFE_UBLOX_GNSS::processNMEA(char incoming)
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{
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processNMEA_v(incoming);
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}
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#ifndef SFE_UBLOX_DISABLE_AUTO_NMEA
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// Check if the NMEA message (in nmeaAddressField) is "auto" (i.e. has RAM allocated for it)
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bool SFE_UBLOX_GNSS::isThisNMEAauto()
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// Byte 2: 10-bits of length of this packet including the first two-ish header bytes, + 6.
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// byte 3 + 4 bits: Msg type 12 bits
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// Example: D3 00 7C 43 F0 ... / 0x7C = 124+6 = 130 bytes in this packet, 0x43F = Msg type 1087
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SFE_UBLOX_GNSS::sfe_ublox_sentence_types_e SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming, uint16_t *rtcmFrameCounter)
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SFE_UBLOX_GNSS::sfe_ublox_sentence_types_e SFE_UBLOX_GNSS::processRTCMframe_v(uint8_t incoming, uint16_t *rtcmFrameCounter)
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{
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static uint16_t rtcmLen = 0;
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return (*rtcmFrameCounter == rtcmLen) ? SFE_UBLOX_SENTENCE_TYPE_NONE : SFE_UBLOX_SENTENCE_TYPE_RTCM;
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}
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SFE_UBLOX_GNSS::sfe_ublox_sentence_types_e SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming, uint16_t *rtcmFrameCounter)
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{
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return processRTCMframe_v(incoming, rtcmFrameCounter);
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}
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// This function is called for each byte of an RTCM frame
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// Ths user can overwrite this function and process the RTCM frame as they please
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// Bytes can be piped to Serial or other interface. The consumer could be a radio or the internet (Ntrip broadcaster)
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void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
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void SFE_UBLOX_GNSS::processRTCM_v(uint8_t incoming)
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{
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// Radio.sendReliable((String)incoming); //An example of passing this byte to a radio
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@@ -2930,6 +2940,11 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
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(void)incoming; // Do something with incoming just to get rid of the pesky compiler warning!
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}
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void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
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{
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processRTCM_v(incoming);
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}
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// Given a character, file it away into the uxb packet structure
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// Set valid to VALID or NOT_VALID once sentence is completely received and passes or fails CRC
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// The payload portion of the packet can be 100s of bytes but the max array size is packetCfgPayloadSize bytes.

Diff for: ‎src/SparkFun_u-blox_GNSS_Arduino_Library.h

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@@ -679,7 +679,7 @@ class SFE_UBLOX_GNSS
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{
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public:
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SFE_UBLOX_GNSS(void);
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~SFE_UBLOX_GNSS(void);
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virtual ~SFE_UBLOX_GNSS(void);
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// Depending on the sentence type the processor will load characters into different arrays
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enum sfe_ublox_sentence_types_e
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void process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); // Processes NMEA and UBX binary sentences one byte at a time
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void processNMEA(char incoming) __attribute__((weak)); // Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries
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virtual void processNMEA_v(char incoming); // Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries
786787
sfe_ublox_sentence_types_e processRTCMframe(uint8_t incoming, uint16_t *rtcmFrameCounter) __attribute__((weak)); // Monitor the incoming bytes for start and length bytes
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virtual sfe_ublox_sentence_types_e processRTCMframe_v(uint8_t incoming, uint16_t *rtcmFrameCounter); // Monitor the incoming bytes for start and length bytes
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void processRTCM(uint8_t incoming) __attribute__((weak)); // Given rtcm byte, do something with it. User can overwrite if desired to pipe bytes to radio, internet, etc.
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virtual void processRTCM_v(uint8_t incoming); // Given rtcm byte, do something with it. User can overwrite if desired to pipe bytes to radio, internet, etc.
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void processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); // Given a character, file it away into the uxb packet structure
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void processUBXpacket(ubxPacket *msg); // Once a packet has been received and validated, identify this packet's class/id and update internal flags
790793

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