Initial commit

Author: Nathan Seidle

.gitattributes

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+# Auto detect text files and perform LF normalization
+* text=auto

Documents/1551SFL.pdf

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+/*
+  Using I2C, setup UART1 to be NMEA+UBX, at 115200bps
+  This will pipe into the NINA module that is 115200bps by default
+
+  Setup UART2 to be RTCM3, at 57600bps
+  This will pipe correction data to/from radio at default rate for SiK firmware
+
+  Set update rate to 1Hz
+
+  This example does not demonstrate high precision position over I2C but it is available
+  over UBX packets on UART1 using UBX. This means you should be able to connect over Bluetooth
+  to UART1 and use U-center to see high-precision positions.
+
+  TODO:
+
+  Try I2C again if init fails
+  We may need to cold start to re-start survey in?
+  Accuracy of position
+  Does 57600bps support update rates of RTK at 4Hz?
+  Press/hold to activate survey in
+*/
+
+#include <Wire.h>
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount of I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println(F("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);
+  }
+
+  bool response = configureModule();
+
+  if(response == false)
+  {
+    //Try once more
+      Serial.println(F("Failed to configure module. Trying again."));
+    delay(2000);
+    response = configureModule();
+
+    if(response == false)
+    {
+      Serial.println(F("Failed to configure module. Power cycle? Freezing..."));
+      while(1);
+    }
+  }
+
+  Serial.println(F("GPS configuration complate"));
+}
+
+void loop()
+{
+  if (Serial.available())
+  {
+    byte incoming = Serial.read();
+
+    if (incoming == 'r')
+    {
+      myGPS.factoryReset();
+      Serial.println(F("Module reset"));
+    }
+    else if (incoming == 'c')
+    {
+      configureModule();
+    }
+    else if (incoming == 's')
+    {
+      bool success = surveyIn();
+
+      if (success == true)
+        Serial.println(F("Base survey complete! RTCM now broadcasting."));
+      else
+        Serial.println(F("Survey failed"));
+    }
+  }
+
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  if (myGPS.getPVT())
+  {
+    //lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    long longitude = myGPS.getLongitude();
+    long altitude = myGPS.getAltitude();
+    byte SIV = myGPS.getSIV();
+    long accuracy = myGPS.getPositionAccuracy();
+    uint32_t horizontalAccuracy = myGPS.getHorizontalAccuracy();
+    byte RTK = myGPS.getCarrierSolutionType();
+
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.print(F(" 3D Acc: "));
+    Serial.print(accuracy);
+    Serial.print(F("mm"));
+
+    float f_horizontalAccuracy = horizontalAccuracy;
+    f_horizontalAccuracy /= 10.0;
+
+    Serial.print(F(" Horz Acc: "));
+    Serial.print(f_horizontalAccuracy, 1);
+    Serial.print(F("mm"));
+
+    Serial.print(" RTK: ");
+    Serial.print(RTK);
+    if (RTK == 1) Serial.print(F(" High precision float fix!"));
+    if (RTK == 2) Serial.print(F(" High precision fix!"));
+
+    Serial.println();
+  }
+}
+
+bool configureModule()
+{
+  boolean response = true;
+
+  response &= myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  //myGPS.setNavigationFrequency(10); //Set output to 10 times a second
+  response &= myGPS.setNavigationFrequency(4); //Set output in Hz
+
+  myGPS.setSerialRate(115200); //Set UART1 to 115200
+  response &= myGPS.setUART1Output(COM_TYPE_NMEA | COM_TYPE_UBX); //Set the UART1 to output NMEA and UBX so we can get high precision over Bluetooth
+
+  myGPS.setSerialRate(57600, 2); //Set UART2 to 57600 to match SiK firmware default
+  response &= myGPS.setUART2Output(COM_TYPE_RTCM3); //Set the UART2 to output RTCM3 for radio link
+
+  response &= myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  response &= myGPS.setAutoPVT(true); //Tell the GPS to "send" each solution
+
+  if (response == false)
+  {
+    Serial.println(F("Module failed initial config."));
+    return (false);
+  }
+
+  response &= myGPS.setDynamicModel(DYN_MODEL_STATIONARY); // Set the dynamic model to STATIONARY
+  if (response == false) // Set the dynamic model to STATIONARY
+  {
+    Serial.println(F("Warning: setDynamicModel failed!"));
+    return(false);
+  }
+
+  // Let's read the new dynamic model to see if it worked
+  uint8_t newDynamicModel = myGPS.getDynamicModel();
+  if (newDynamicModel != 2)
+  {
+    Serial.println(F("setDynamicModel failed!"));
+    return(false);
+  }
+
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_UART2, 1); //Enable message 1005 to output through UART2, message every second
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1074, COM_PORT_UART2, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_UART2, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_UART2, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_UART2, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART2, 10); //Enable message every 10 seconds
+
+  if (response == false)
+  {
+    Serial.println(F("RTCM failed to enable."));
+    return (false);
+  }
+
+  response &= myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+
+  if (response == false)
+  {
+    Serial.println(F("Module failed to save."));
+    return (false);
+  }
+
+  return(true);
+}
+
+bool surveyIn()
+{
+  boolean response = true;
+
+  //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"));
+    return (false);
+  }
+
+  if (myGPS.svin.active == true)
+  {
+    Serial.println(F("Survey already in progress."));
+  }
+  else
+  {
+    //Start survey
+    //The ZED-F9P is slightly different than the NEO-M8P. See the Integration manual 3.5.8 for more info.
+    //response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in on NEO-M8P, 300 seconds, 2.0m
+    response = myGPS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
+    if (response == false)
+    {
+      Serial.println("Survey start failed");
+      return (false);
+    }
+    Serial.println("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"));
+        return (false);
+      }
+    }
+
+    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);
+
+      uint32_t horizontalAccuracy = myGPS.getHorizontalAccuracy();
+      float f_horizontalAccuracy = horizontalAccuracy;
+      f_horizontalAccuracy /= 10.0;
+
+      Serial.print(F(" Horz Acc: "));
+      Serial.print(f_horizontalAccuracy, 1);
+      Serial.print(F("mm"));
+
+      Serial.println();
+    }
+    else
+    {
+      Serial.println(F("SVIN request failed"));
+    }
+
+    delay(1000);
+  }
+  return (true);
+}

Documents/1553BBK.pdf

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+#include "BluetoothSerial.h"
+
+BluetoothSerial SerialBT;
+
+volatile bool btconnected = false;
+
+const int statLED = 13;
+
+uint32_t lastTime = 0;
+
+void callback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param) {
+  if (event == ESP_SPP_SRV_OPEN_EVT) {
+    Serial.println("Client Connected");
+    btconnected = true;
+    SerialBT.flush(); //Clear buffer
+    if(Serial1.available()) SerialBT.write(Serial1.read());
+  }
+
+  if (event == ESP_SPP_CLOSE_EVT ) {
+    Serial.println("Client disconnected");
+    btconnected = false;
+    digitalWrite(statLED, LOW);
+    SerialBT.flush(); //Clear buffer
+  }
+
+  if (event == ESP_SPP_WRITE_EVT ) {
+    Serial.println("W");
+    if(Serial1.available()) SerialBT.write(Serial1.read());
+  }
+}
+
+void setup() {
+  Serial.begin(115200);
+  Serial1.begin(115200); //Default UART1?
+
+  pinMode(statLED, OUTPUT);
+
+  SerialBT.register_callback(callback);
+
+  if (!SerialBT.begin("ESP32test")) {
+    Serial.println("An error occurred initializing Bluetooth");
+  } else {
+    Serial.println("Bluetooth initialized");
+  }
+
+}
+
+void loop() {
+
+//  //if (btconnected == true)
+//  //{
+//  if (Serial1.available())
+//  {
+//    //yield();
+//    SerialBT.write(Serial1.read());
+//
+//    //Blink LED to indicate traffic
+//    if (millis() - lastTime > 1000)
+//    {
+//      lastTime += 1000;
+//
+//      if (digitalRead(statLED) == LOW)
+//        digitalWrite(statLED, HIGH);
+//      else
+//        digitalWrite(statLED, LOW);
+//    }
+//  }
+//
+//  //  }
+//  //  else
+//  //  {
+//  //    Serial.println("No BT");
+//  //    for (int x = 0 ; x < 1000 ; x++)
+//  //    {
+//  //      delay(1);
+//  //      yield();
+//  //    }
+//  //    //delay(1000);
+//  //  }
+//  delay(1);
+
+}