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Add NEO-M8P moving base examples - resolves #184 
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Diff for: ‎examples/NEO-M8P-2/Example4_MovingBase_Base/Example4_MovingBase_Base.ino

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/*
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Configure the NEO-M8P-2 as a "moving base"
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By: Paul Clark
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SparkFun Electronics
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Date: March 20th, 2023
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License: MIT. See license file for more information.
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This example configures the NEO-M8P-2 as a moving base.
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It will output RTCM3 1077, 1087, 1230 and 4072.0 messages on UART1.
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Connect UART1 TX to UART1 RX on a NEO-M8P rover. Also connect GND to GND.
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The next example shows how to display the relative position of the rover.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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NEO-M8P RTK: https://www.sparkfun.com/products/15005
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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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Connect UART1 TX to UART1 RX on a NEO-M8P rover. Also connect GND to GND.
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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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SFE_UBLOX_GNSS myGNSS;
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void setup()
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{
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delay(1000);
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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 Moving Base Example"));
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Wire.begin();
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while (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."));
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}
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// Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
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//myGNSS.factoryDefault(); delay(5000);
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myGNSS.setUART1Output(COM_TYPE_RTCM3); // Configure UART1 to output RTCM3 only. Disable NMEA.
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myGNSS.saveConfiguration(); //Save the current settings to flash and BBR
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bool response = true;
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response &= myGNSS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_UART1, 1); //Enable message 1077 on UART1
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response &= myGNSS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_UART1, 1); //Enable message 1087 on UART1
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response &= myGNSS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART1, 1); //Enable message 1230 on UART1
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response &= myGNSS.enableRTCMmessage(UBX_RTCM_4072_0, COM_PORT_UART1, 1); //Enable message 4072.0 on UART1
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response &= myGNSS.disableSurveyMode(); //Essential - we need to set TMODE3 to Disabled to allow 4072.0 to be output
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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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}
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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: ‎examples/NEO-M8P-2/Example5_MovingBase_Rover/Example5_MovingBase_Rover.ino

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/*
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Display the relative position of a NEO-M8P-2 rover
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By: Paul Clark
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SparkFun Electronics
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Date: March 20th, 2023
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License: MIT. See license file for more information.
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This example shows how to query the module for RELPOS information in the NED frame.
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It assumes you already have RTCM correction data being fed to the receiver on UART1.
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Connect UART1 TX on the base to UART1 RX on the rover. Also connect GND to GND.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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NEO-M8P RTK: https://www.sparkfun.com/products/15005
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Hardware Connections:
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Plug a Qwiic cable into the GNSS and a RedBoard Qwiic or 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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Connect UART1 TX on the base to UART1 RX on the rover. Also connect GND to GND.
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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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SFE_UBLOX_GNSS myGNSS;
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void setup()
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{
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delay(1000);
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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("u-blox NEO-M8P Rover Example");
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Wire.begin();
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while (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."));
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}
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// Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
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//myGNSS.factoryDefault(); delay(5000);
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// By default, UART1 Protocol In is set to NMEA + UBX + RTCM3. No changes are necessary. But we can manually configure the port if required.
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Serial.print(myGNSS.setPortInput(COM_PORT_UART1, COM_TYPE_UBX | COM_TYPE_RTCM3)); //Enable UBX and RTCM3 input on UART1
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myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
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}
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void loop()
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{
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// The data from getRELPOSNED (UBX-NAV-RELPOSNED) is returned in UBX_NAV_RELPOSNED_t packetUBXNAVRELPOSNED
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// Please see u-blox_structs.h for the full definition of UBX_NAV_RELPOSNED_t
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// You can either read the data from packetUBXNAVRELPOSNED directly
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// or can use the helper functions: getRelPosN/E/D; getRelPosAccN/E/D
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// Note that NEO-M8P RELPOSNED is different to ZED-F9P. It does not contain the relative length and heading.
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if (myGNSS.getRELPOSNED() == true)
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{
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Serial.print("relPosN: ");
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Serial.println(myGNSS.getRelPosN(), 4); // Use the helper functions to get the rel. pos. as m
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Serial.print("relPosE: ");
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Serial.println(myGNSS.getRelPosE(), 4);
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Serial.print("relPosD: ");
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Serial.println(myGNSS.getRelPosD(), 4);
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Serial.print("relPosHPN: ");
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Serial.println((float)myGNSS.packetUBXNAVRELPOSNED->data.relPosHPN / 10, 1); //High-precision component. Convert to mm
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Serial.print("relPosHPE: ");
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Serial.println((float)myGNSS.packetUBXNAVRELPOSNED->data.relPosHPE / 10, 1);
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Serial.print("relPosHPD: ");
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Serial.println((float)myGNSS.packetUBXNAVRELPOSNED->data.relPosHPD / 10, 1);
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Serial.print("accN: ");
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Serial.println(myGNSS.getRelPosAccN(), 4); // Use the helper functions to get the rel. pos. accuracy as m
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Serial.print("accE: ");
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Serial.println(myGNSS.getRelPosAccE(), 4);
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Serial.print("accD: ");
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Serial.println(myGNSS.getRelPosAccD(), 4);
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Serial.print("gnssFixOk: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.gnssFixOK == true)
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Serial.println("x");
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else
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Serial.println("");
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Serial.print("diffSolution: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.diffSoln == true)
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Serial.println("x");
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else
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Serial.println("");
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Serial.print("relPosValid: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.relPosValid == true)
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Serial.println("x");
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else
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Serial.println("");
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Serial.print("carrier Solution Type: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 0)
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Serial.println("None");
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else if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 1)
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Serial.println("Float");
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else if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 2)
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Serial.println("Fixed");
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Serial.print("isMoving: ");
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if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.isMoving == true)
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Serial.println("x");
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else
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Serial.println("");
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}
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else
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Serial.println("RELPOS request failed");
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Serial.println("");
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}

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