Olimex MOD-GPS
src
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
