GPS first commit

GPS_CCP/GPS_CCP.ino

@@ -0,0 +1,106 @@
+#include <Wire.h>  //Needed for I2C to GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h>  //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+#include <MicroNMEA.h>  //http://librarymanager/All#MicroNMEA
+char nmeaBuffer[100];
+MicroNMEA nmea(nmeaBuffer, sizeof(nmeaBuffer));
+
+//CANに必要なもの
+#include <SPI.h>
+#include <string.h>
+#include <CCP_MCP2515.h>
+
+#define CAN0_INT D1
+#define CAN0_CS D0
+
+CCP_MCP2515 CCP(CAN0_CS, CAN0_INT);
+
+long CCP_latitude = 0;
+long CCP_longitude = 0;
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println("SparkFun u-blox Example");
+
+  Wire.begin();
+  myGNSS.begin();
+
+
+  myGNSS.setI2COutput(COM_TYPE_UBX | COM_TYPE_NMEA);  //Set the I2C port to output both NMEA and UBX messages
+  myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT);  //Save (only) the communications port settings to flash and BBR
+
+  myGNSS.setProcessNMEAMask(SFE_UBLOX_FILTER_NMEA_ALL);  // Make sure the library is passing all NMEA messages to processNMEA
+
+  myGNSS.setProcessNMEAMask(SFE_UBLOX_FILTER_NMEA_GGA);  // Or, we can be kind to MicroNMEA and _only_ pass the GGA messages to it
+
+  // CAN
+  pinMode(CAN0_CS, OUTPUT);
+  pinMode(CAN0_INT, INPUT);
+  digitalWrite(CAN0_CS, HIGH);
+  CCP.begin();
+}
+
+void loop() {
+  myGNSS.checkUblox();  //See if new data is available. Process bytes as they come in.
+
+  if (nmea.isValid() == true) {
+    long latitude_mdeg = nmea.getLatitude();
+    long longitude_mdeg = nmea.getLongitude();
+
+    Serial.print("Latitude (deg): ");
+    Serial.println(latitude_mdeg / 1000000., 6);
+    Serial.print("Longitude (deg): ");
+    Serial.println(longitude_mdeg / 1000000., 6);
+
+    byte sndStat1 = CCP.uint32_to_device(CCP_A_GNSS_latitude_udeg, nmea.getLatitude() );
+    if (sndStat1 == CAN_OK) {
+      Serial.println("Message Sent Successfully!");
+    } else {
+      Serial.println("Error Sending Message...");
+    }
+
+    byte sndStat2 = CCP.uint32_to_device(CCP_A_GNSS_longitude_udeg, nmea.getLongitude() );
+    if (sndStat2 == CAN_OK) {
+      Serial.println("Message Sent Successfully!");
+    } else {
+      Serial.println("Error Sending Message...");
+    }
+    nmea.clear();  // Clear the MicroNMEA storage to make sure we are getting fresh data
+  }
+  // //  else {
+  //   Serial.println("Waiting for fresh data");
+  // }
+
+  if (!digitalRead(CAN0_INT))  // データ受信確認
+  {
+    CCP.read_device();
+    switch (CCP.id) {
+      case CCP_A_GNSS_latitude_udeg:
+        CCP_latitude = CCP.data_uint32();
+        break;
+      case CCP_A_GNSS_longitude_udeg:
+        CCP_longitude = CCP.data_uint32();
+        break;
+      default:
+        break;
+    }
+  }
+
+  // Serial.print(CCP_latitude);
+  // Serial.print(",");
+  // Serial.println(CCP_longitude);
+
+  // delay(100);  //Don't pound too hard on the I2C bus
+}
+
+//This function gets called from the SparkFun u-blox Arduino Library
+//As each NMEA character comes in you can specify what to do with it
+//Useful for passing to other libraries like tinyGPS, MicroNMEA, or even
+//a buffer, radio, etc.
+void SFE_UBLOX_GNSS::processNMEA(char incoming) {
+  //Take the incoming char from the u-blox I2C port and pass it on to the MicroNMEA lib
+  //for sentence cracking
+  nmea.process(incoming);
+}

sketch_GPS2/sketch_GPS2.ino

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+#include <Wire.h> // Needed for I2C to GPS
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> // Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println("SparkFun u-blox Example");
+  Wire.begin();
+  Serial.println("Hello");
+  if (myGNSS.begin() == false)
+  {
+    Serial.println(F("u-blox GNSS module not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  // This will pipe all NMEA sentences to the serial port so we can see them
+  myGNSS.setNMEAOutputPort(Serial);
+}
+
+void loop()
+{
+  myGNSS.checkUblox(); // See if new data is available. Process bytes as they come in.
+  Serial.println("----------------------------");
+  delay(1000); // Don't pound too hard on the I2C bus
+}