ublox documentation and notes

datasheets/Olimex_MOD-GPS/Notes.md

@@ -0,0 +1,293 @@
+Olimex MOD-GPS
+---
+
+![UBlox Connector](uext-connector-male.png)
+
+
+[src](https://playground.arduino.cc/UBlox/GPS/)
+
+```
+boolean gpsStatus[] = {false, false, false, false, false, false, false};
+unsigned long start;
+
+HardwareSerial gpsSerial(Serial1);
+
+void setup() {
+  gpsSerial.begin(9600);
+  // START OUR SERIAL DEBUG PORT
+  Serial.begin(115200);
+  //
+  //Settings Array contains the following settings: [0]NavMode, [1]DataRate1, [2]DataRate2, [3]PortRateByte1, [4]PortRateByte2, [5]PortRateByte3,
+  //[6]NMEA GLL Sentence, [7]NMEA GSA Sentence, [8]NMEA GSV Sentence, [9]NMEA RMC Sentence, [10]NMEA VTG Sentence
+  //NavMode:
+  //Pedestrian Mode    = 0x03
+  //Automotive Mode    = 0x04
+  //Sea Mode           = 0x05
+  //Airborne < 1G Mode = 0x06
+  //
+  //DataRate:
+  //1Hz     = 0xE8 0x03
+  //2Hz     = 0xF4 0x01
+  //3.33Hz  = 0x2C 0x01
+  //4Hz     = 0xFA 0x00
+  //
+  //PortRate:
+  //4800   = C0 12 00
+  //9600   = 80 25 00
+  //19200  = 00 4B 00  **SOFTWARESERIAL LIMIT FOR ARDUINO UNO R3!**
+  //38400  = 00 96 00  **SOFTWARESERIAL LIMIT FOR ARDUINO MEGA 2560!**
+  //57600  = 00 E1 00
+  //115200 = 00 C2 01
+  //230400 = 00 84 03
+  //
+  //NMEA Messages:
+  //OFF = 0x00
+  //ON  = 0x01
+  //
+  byte settingsArray[] = {0x03, 0xFA, 0x00, 0x00, 0xE1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; //
+  configureUblox(settingsArray);
+}
+
+void loop()
+{
+  while(1) {
+    if(gpsSerial.available()) {
+      // THIS IS THE MAIN LOOP JUST READS IN FROM THE GPS SERIAL AND ECHOS OUT TO THE ARDUINO SERIAL.
+      Serial.write(gpsSerial.read());
+    }
+  }
+}  
+
+
+void configureUblox(byte *settingsArrayPointer) {
+  byte gpsSetSuccess = 0;
+  Serial.println("Configuring u-Blox GPS initial state...");
+
+  //Generate the configuration string for Navigation Mode
+  byte setNav[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, *settingsArrayPointer, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+  calcChecksum(&setNav[2], sizeof(setNav) - 4);
+
+  //Generate the configuration string for Data Rate
+  byte setDataRate[] = {0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, settingsArrayPointer[1], settingsArrayPointer[2], 0x01, 0x00, 0x01, 0x00, 0x00, 0x00};
+  calcChecksum(&setDataRate[2], sizeof(setDataRate) - 4);
+
+  //Generate the configuration string for Baud Rate
+  byte setPortRate[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, settingsArrayPointer[3], settingsArrayPointer[4], settingsArrayPointer[5], 0x00, 0x07, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+  calcChecksum(&setPortRate[2], sizeof(setPortRate) - 4);
+
+  byte setGLL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x2B};
+  byte setGSA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x32};
+  byte setGSV[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x03, 0x39};
+  byte setRMC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x04, 0x40};
+  byte setVTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x46};
+
+  delay(2500);
+
+  while(gpsSetSuccess < 3) {
+    Serial.print("Setting Navigation Mode... ");
+    sendUBX(&setNav[0], sizeof(setNav));  //Send UBX Packet
+    gpsSetSuccess += getUBX_ACK(&setNav[2]); //Passes Class ID and Message ID to the ACK Receive function
+    if (gpsSetSuccess == 5) {
+      gpsSetSuccess -= 4;
+      setBaud(settingsArrayPointer[4]);
+      delay(1500);
+      byte lowerPortRate[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0xA2, 0xB5};
+      sendUBX(lowerPortRate, sizeof(lowerPortRate));
+      gpsSerial.begin(9600);
+      delay(2000);      
+    }
+    if(gpsSetSuccess == 6) gpsSetSuccess -= 4;
+    if (gpsSetSuccess == 10) gpsStatus[0] = true;
+  }
+  if (gpsSetSuccess == 3) Serial.println("Navigation mode configuration failed.");
+  gpsSetSuccess = 0;
+  while(gpsSetSuccess < 3) {
+    Serial.print("Setting Data Update Rate... ");
+    sendUBX(&setDataRate[0], sizeof(setDataRate));  //Send UBX Packet
+    gpsSetSuccess += getUBX_ACK(&setDataRate[2]); //Passes Class ID and Message ID to the ACK Receive function      
+    if (gpsSetSuccess == 10) gpsStatus[1] = true;
+    if (gpsSetSuccess == 5 | gpsSetSuccess == 6) gpsSetSuccess -= 4;
+  }
+  if (gpsSetSuccess == 3) Serial.println("Data update mode configuration failed.");
+  gpsSetSuccess = 0;
+
+
+  while(gpsSetSuccess < 3 && settingsArrayPointer[6] == 0x00) {
+    Serial.print("Deactivating NMEA GLL Messages ");
+    sendUBX(setGLL, sizeof(setGLL));
+    gpsSetSuccess += getUBX_ACK(&setGLL[2]);
+    if (gpsSetSuccess == 10) gpsStatus[2] = true;
+    if (gpsSetSuccess == 5 | gpsSetSuccess == 6) gpsSetSuccess -= 4;
+  }
+  if (gpsSetSuccess == 3) Serial.println("NMEA GLL Message Deactivation Failed!");
+  gpsSetSuccess = 0;
+
+  while(gpsSetSuccess < 3 && settingsArrayPointer[7] == 0x00) {
+    Serial.print("Deactivating NMEA GSA Messages ");
+    sendUBX(setGSA, sizeof(setGSA));
+    gpsSetSuccess += getUBX_ACK(&setGSA[2]);
+    if (gpsSetSuccess == 10) gpsStatus[3] = true;
+    if (gpsSetSuccess == 5 | gpsSetSuccess == 6) gpsSetSuccess -= 4;
+  }
+  if (gpsSetSuccess == 3) Serial.println("NMEA GSA Message Deactivation Failed!");  
+  gpsSetSuccess = 0;
+
+  while(gpsSetSuccess < 3 && settingsArrayPointer[8] == 0x00) {
+    Serial.print("Deactivating NMEA GSV Messages ");
+    sendUBX(setGSV, sizeof(setGSV));
+    gpsSetSuccess += getUBX_ACK(&setGSV[2]);
+    if (gpsSetSuccess == 10) gpsStatus[4] = true;
+    if (gpsSetSuccess == 5 | gpsSetSuccess == 6) gpsSetSuccess -= 4;
+  }
+  if (gpsSetSuccess == 3) Serial.println("NMEA GSV Message Deactivation Failed!");  
+  gpsSetSuccess = 0;
+
+  while(gpsSetSuccess < 3 && settingsArrayPointer[9] == 0x00) {
+    Serial.print("Deactivating NMEA RMC Messages ");
+    sendUBX(setRMC, sizeof(setRMC));
+    gpsSetSuccess += getUBX_ACK(&setRMC[2]);
+    if (gpsSetSuccess == 10) gpsStatus[5] = true;
+    if (gpsSetSuccess == 5 | gpsSetSuccess == 6) gpsSetSuccess -= 4;
+  }
+  if (gpsSetSuccess == 3) Serial.println("NMEA RMC Message Deactivation Failed!");  
+  gpsSetSuccess = 0;
+
+  while(gpsSetSuccess < 3 && settingsArrayPointer[10] == 0x00) {
+    Serial.print("Deactivating NMEA VTG Messages ");
+    sendUBX(setVTG, sizeof(setVTG));
+    gpsSetSuccess += getUBX_ACK(&setVTG[2]);
+    if (gpsSetSuccess == 10) gpsStatus[6] = true;
+    if (gpsSetSuccess == 5 | gpsSetSuccess == 6) gpsSetSuccess -= 4;
+  }
+  if (gpsSetSuccess == 3) Serial.println("NMEA VTG Message Deactivation Failed!");
+
+  gpsSetSuccess = 0;
+  if (settingsArrayPointer[4] != 0x25) {
+    Serial.print("Setting Port Baud Rate... ");
+    sendUBX(&setPortRate[0], sizeof(setPortRate));
+    setBaud(settingsArrayPointer[4]);
+    Serial.println("Success!");
+    delay(500);
+  }
+}
+
+
+void calcChecksum(byte *checksumPayload, byte payloadSize) {
+  byte CK_A = 0, CK_B = 0;
+  for (int i = 0; i < payloadSize ;i++) {
+    CK_A = CK_A + *checksumPayload;
+    CK_B = CK_B + CK_A;
+    checksumPayload++;
+  }
+  *checksumPayload = CK_A;
+  checksumPayload++;
+  *checksumPayload = CK_B;
+}
+
+void sendUBX(byte *UBXmsg, byte msgLength) {
+  for(int i = 0; i < msgLength; i++) {
+    gpsSerial.write(UBXmsg[i]);
+    gpsSerial.flush();
+  }
+  gpsSerial.println();
+  gpsSerial.flush();
+}
+
+
+byte getUBX_ACK(byte *msgID) {
+  byte CK_A = 0, CK_B = 0;
+  byte incoming_char;
+  boolean headerReceived = false;
+  unsigned long ackWait = millis();
+  byte ackPacket[10] = {0xB5, 0x62, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+  int i = 0;
+  while (1) {
+    if (gpsSerial.available()) {
+      incoming_char = gpsSerial.read();
+      if (incoming_char == ackPacket[i]) {
+        i++;
+      }
+      else if (i > 2) {
+        ackPacket[i] = incoming_char;
+        i++;
+      }
+    }
+    if (i > 9) break;
+    if ((millis() - ackWait) > 1500) {
+      Serial.println("ACK Timeout");
+      return 5;
+    }
+    if (i == 4 && ackPacket[3] == 0x00) {
+      Serial.println("NAK Received");
+      return 1;
+    }
+  }
+
+  for (i = 2; i < 8 ;i++) {
+  CK_A = CK_A + ackPacket[i];
+  CK_B = CK_B + CK_A;
+  }
+  if (msgID[0] == ackPacket[6] && msgID[1] == ackPacket[7] && CK_A == ackPacket[8] && CK_B == ackPacket[9]) {
+    Serial.println("Success!");
+    Serial.print("ACK Received! ");
+    printHex(ackPacket, sizeof(ackPacket));
+    return 10;
+  }
+  else {
+    Serial.print("ACK Checksum Failure: ");
+    printHex(ackPacket, sizeof(ackPacket));
+    delay(1000);
+    return 1;
+  }
+}
+
+
+void printHex(uint8_t *data, uint8_t length) // prints 8-bit data in hex {
+  char tmp[length*2+1];
+  byte first ;
+  int j=0;
+  for (byte i = 0; i < length; i++) {
+    first = (data[i] >> 4) | 48;
+    if (first > 57) tmp[j] = first + (byte)7;
+    else tmp[j] = first ;
+    j++;
+
+    first = (data[i] & 0x0F) | 48;
+    if (first > 57) tmp[j] = first + (byte)7;
+    else tmp[j] = first;
+    j++;
+  }
+  tmp[length*2] = 0;
+  for (byte i = 0, j = 0; i < sizeof(tmp); i++) {
+    Serial.print(tmp[i]);
+    if (j == 1) {
+      Serial.print(" ");
+      j = 0;
+    }
+    else j++;
+  }
+  Serial.println();
+}
+
+void setBaud(byte baudSetting) {
+  if (baudSetting == 0x12) gpsSerial.begin(4800);
+  if (baudSetting == 0x4B) gpsSerial.begin(19200);
+  if (baudSetting == 0x96) gpsSerial.begin(38400);
+  if (baudSetting == 0xE1) gpsSerial.begin(57600);
+  if (baudSetting == 0xC2) gpsSerial.begin(115200);
+  if (baudSetting == 0x84) gpsSerial.begin(230400);
+}
+```
+
+References
+---
+
+* [Olimex MOD-GPS Product Page](https://www.olimex.com/Products/Modules/GPS/MOD-GPS/)
+* [Olimex MOD-GPS Wiki](https://www.olimex.com/wiki/MOD-GPS)
+* [Olimex u-blox UBX-G7020](https://www.olimex.com/Products/Modules/GPS/MOD-GPS/resources/UBX-G7020_ProductSummary_-GPS.G7-HW-10001-.pdf)
+* [Olimex u-blox 7](https://www.olimex.com/Products/Modules/GPS/MOD-GPS/resources/u-blox7-V14_ReceiverDescriptionProtocolSpec_Public_-GPS.G7-SW-12001-.pdf)
+* [u-blox command set](https://cdn-shop.adafruit.com/datasheets/PMTK_A08.pdf)
+* [arduino.cc/UBlox/GPS](https://playground.arduino.cc/UBlox/GPS/)
+* [TinyGPS](https://github.com/mikalhart/TinyGPS)
+* [FIZ-IX](https://fiz-ix.com/2012/12/arduino-gps-and-ensuring-successful-gps-communication-when-using-software-serial/)
+