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brentru 2025-07-21 11:49:41 -04:00
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examples/ublox_ddc_parse_nmea.ino Normal file
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/*!
* @file ublox_ddc_parse_nmea.ino
*
* Example sketch demonstrating parsing NMEA sentences from a u-blox GPS/RTK module
* using the Adafruit_GPS and Adafruit_UBX libraries.
*
* Written by Brent Rubell for Adafruit Industries.
*
* MIT license, all text above must be included in any redistribution
*/
#include <Adafruit_GPS.h>
#include <Adafruit_UBX.h>
#include <Adafruit_UBloxDDC.h>
// Adafruit_UBloxDDC object with default I2C address (0x42)
Adafruit_UBloxDDC gps;
// Create Adafruit_UBX parser using the DDC object as input stream
Adafruit_UBX ubx(gps);
// Create Adafruit_GPS object for use as a NMEA parser only
Adafruit_GPS NMEA;
// Buffer to store NMEA sentences from the module (may be partial sentences)
const size_t SZ_NMEA_BUFFER = 128;
uint8_t buffer[SZ_NMEA_BUFFER];
uint32_t timer = millis();
/*!
* @brief Sets the NMEA output to only RMC and GGA sentences and waits for an
* acknowledgment. All other common NMEA sentences are disabled to increase
* loop() performance by decreasing the amount of messages output by the UBlox
* module.
* @return Status indicating success, failure, or timeout
*/
UBXSendStatus SetNMEAOutputRMCGGAOnly() {
UBXSendStatus status;
// Disable all common NMEA messages
status = ubx.sendMessageWithAck(UBX_CLASS_CFG, UBX_CFG_MSG,
UBX_CFG_MSG_NMEA_GLL_DISABLE,
sizeof(UBX_CFG_MSG_NMEA_GLL_DISABLE));
if (status != UBX_SEND_SUCCESS)
return status;
status = ubx.sendMessageWithAck(UBX_CLASS_CFG, UBX_CFG_MSG,
UBX_CFG_MSG_NMEA_GSA_DISABLE,
sizeof(UBX_CFG_MSG_NMEA_GSA_DISABLE));
if (status != UBX_SEND_SUCCESS)
return status;
status = ubx.sendMessageWithAck(UBX_CLASS_CFG, UBX_CFG_MSG,
UBX_CFG_MSG_NMEA_GSV_DISABLE,
sizeof(UBX_CFG_MSG_NMEA_GSV_DISABLE));
if (status != UBX_SEND_SUCCESS)
return status;
status = ubx.sendMessageWithAck(UBX_CLASS_CFG, UBX_CFG_MSG,
UBX_CFG_MSG_NMEA_VTG_DISABLE,
sizeof(UBX_CFG_MSG_NMEA_VTG_DISABLE));
if (status != UBX_SEND_SUCCESS)
return status;
// Enable only GGA and RMC messages
status = ubx.sendMessageWithAck(UBX_CLASS_CFG, UBX_CFG_MSG,
UBX_CFG_MSG_NMEA_GGA_ENABLE,
sizeof(UBX_CFG_MSG_NMEA_GGA_ENABLE));
if (status != UBX_SEND_SUCCESS)
return status;
status = ubx.sendMessageWithAck(UBX_CLASS_CFG, UBX_CFG_MSG,
UBX_CFG_MSG_NMEA_RMC_ENABLE,
sizeof(UBX_CFG_MSG_NMEA_RMC_ENABLE));
return status;
}
void setup() {
// Initialize serial port for debugging
Serial.begin(115200);
while (!Serial) {
; // Wait for serial port to connect
}
// Initialize GPS module
if (!gps.begin()) {
Serial.println("Failed to initialize GPS module!");
while (1); // Halt if initialization fails
}
Serial.println("GPS module initialized successfully!");
// Initialize the u-blox parser
if (!ubx.begin()) {
Serial.println("Failed to initialize u-blox parser!");
while (1); // Halt if initialization fails
}
Serial.println("u-blox parser initialized successfully!");
ubx.verbose_debug = 3; // Set debug level to verbose
// Set NMEA output on DDC to RMC and GGA sentences only
UBXSendStatus status = SetNMEAOutputRMCGGAOnly();
if (status != UBX_SEND_SUCCESS) {
Serial.print("Failed to configure NMEA output [status code: ");
Serial.print(status);
Serial.println("]");
while (1); // Halt if setting NMEA output fails
}
}
void loop() {
static char nmeaSentenceBuf[SZ_NMEA_BUFFER];
static int nmeaSentenceIdx = 0;
// Check how many bytes are available
int bytesAvailable = gps.available();
if (bytesAvailable > 0) {
// Read up to SZ_NMEA_BUFFER bytes at a time
size_t bytesToRead = min(bytesAvailable, (int)SZ_NMEA_BUFFER);
size_t bytesRead = gps.readBytes(buffer, bytesToRead);
// Build NMEA sentences and parse when complete
for (size_t i = 0; i < bytesRead; i++) {
char c = buffer[i];
// Add to buffer if space available
if (nmeaSentenceIdx < SZ_NMEA_BUFFER - 1) {
nmeaSentenceBuf[nmeaSentenceIdx++] = c;
}
// Check for end of NMEA sentence
if (c == '\n') {
nmeaSentenceBuf[nmeaSentenceIdx] = '\0';
// Parse the NMEA sentence
if (NMEA.parse(nmeaSentenceBuf)) {
// Successfully parsed sentence!
Serial.println(nmeaSentenceBuf);
// approximately every 2 seconds or so, print out the current stats
if (millis() - timer > 2000) {
timer = millis(); // reset the timer
Serial.print("\nTime: ");
if (NMEA.hour < 10) {
Serial.print('0');
}
Serial.print(NMEA.hour, DEC);
Serial.print(':');
if (NMEA.minute < 10) {
Serial.print('0');
}
Serial.print(NMEA.minute, DEC);
Serial.print(':');
if (NMEA.seconds < 10) {
Serial.print('0');
}
Serial.print(NMEA.seconds, DEC);
Serial.print('.');
if (NMEA.milliseconds < 10) {
Serial.print("00");
} else if (NMEA.milliseconds > 9 && NMEA.milliseconds < 100) {
Serial.print("0");
}
Serial.println(NMEA.milliseconds);
Serial.print("Date: ");
Serial.print(NMEA.day, DEC);
Serial.print('/');
Serial.print(NMEA.month, DEC);
Serial.print("/20");
Serial.println(NMEA.year, DEC);
Serial.print("Fix: ");
Serial.print((int)NMEA.fix);
Serial.print(" quality: ");
Serial.println((int)NMEA.fixquality);
if (NMEA.fix) {
Serial.print("Location: ");
Serial.print(NMEA.latitude, 4);
Serial.print(NMEA.lat);
Serial.print(", ");
Serial.print(NMEA.longitude, 4);
Serial.println(NMEA.lon);
Serial.print("Speed (knots): ");
Serial.println(NMEA.speed);
Serial.print("Angle: ");
Serial.println(NMEA.angle);
Serial.print("Altitude: ");
Serial.println(NMEA.altitude);
Serial.print("Satellites: ");
Serial.println((int)NMEA.satellites);
}
}
} else {
Serial.println("Failed to parse sentence.");
}
nmeaSentenceIdx = 0; // Reset index for next sentence
}
}
}
// Short delay to prevent overwhelming the module
delay(10);
}