Example Code for Arduino-Reading Data via UART
Read latitude, longitude, and positioning status from the GNSS-RTK kit using the UART protocol with Arduino IDE.
Modifying the Baud Rate
Hardware Preparation
- DFR0216-2 DFRduino UNO R3 × 1
- GNSS-RTK High-Precision Positioning Kit × 1 (or Gravity I/O Expansion Board)
Software Preparation
- Arduino IDE Download Arduino IDE
- Download and install the RTK Library.
- How to install libraries?
Wiring Diagram
Other Preparation Work
- Connect the module to Arduino as shown (or use Gravity I/O Expansion Board).
- Set the sensor's mode switch to I²C (for configuration only).
- Install the library.
- Upload the code below to Arduino UNO.
- Open Serial Monitor at 57600 baud to observe results.
- Note: Configuration mode only supports I²C.
Sample Code
/*!
* @file configParam.ino
* @brief config moudle param
* @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
* @license The MIT License (MIT)
* @author ZhixinLiu([email protected])
* @version V0.5.0
* @date 2024-04-24
* @url https://github.com/DFRobot/DFRobot_RTK_LoRa
*/
#include "DFRobot_RTK_LoRa.h"
// must use iic config parameter
DFRobot_RTK_LoRa_I2C rtk(&Wire ,DEVICE_ADDR);
void setup()
{
Serial.begin(115200);
while(!rtk.begin()){
Serial.println("NO Deivces !");
delay(1000);
}
Serial.println("Device connected !");
/**
* | Support Baud | UNO/ESP8266 | Leonardo/Mega2560 | ESP32 | M0 |
* | eBaud9600 | √ | √ | √ | √ |
* | eBaud14400 | √ | √ | √ | √ |
* | eBaud19200 | √ | √ | √ | √ |
* | eBaud38400 | √ | √ | √ | √ |
* | eBaud56000 | √ | √ | √ | √ |
* | eBaud57600 | √ | √ | √ | √ |
* | eBaud115200 | | √ | √ | √ |
* | eBaud256000 | | | √ | √ |
* | eBaud512000 | | | √ | √ |
* | eBaud921600 | | | √ | √ |
*/
rtk.setModuleBaud(eBaud115200);
Serial.print("module mode = ");
Serial.println(rtk.getModule());
Serial.print("moudle buad = ");
Serial.println(rtk.getModuleBaud());
}
void loop()
{
// Reserved interface, direct communication with gnss firmware, use with the original factory data manual
Serial.println(rtk.transmitAT("$PQTMVERNO*58\r\n"));
delay(2000);
}
Result
Open Serial Monitor and press RESET to view current baud rate:
Obtaining Latitude, Longitude, and Positioning Status via UART Mode
Hardware Preparation
- DFR0216-2 DFRduino UNO R3 × 1
- GNSS-RTK High-Precision Positioning Kit × 1
Software Preparation
- Arduino IDE Download Arduino IDE
- Download and install the RTK Library.
- How to install libraries?
Wiring Diagram
Other Preparation Work
- Connect the rover to Arduino as shown.
- Set the rover's mode switch to UART.
- Install the library.
- Upload the code to Arduino UNO.
- Place base station and rover outdoors; keep base station antenna stationary.
- Open Serial Monitor at 115200 baud to view data.
Sample Code
/*!
* @file getAllGNSS.ino
* @brief read all gnss data
* @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
* @license The MIT License (MIT)
* @author ZhixinLiu([email protected])
* @version V0.5.0
* @date 2024-04-23
* @url https://github.com/DFRobot/DFRobot_RTK_LoRa
*/
#include "DFRobot_RTK_LoRa.h"
void callback(char *data, uint8_t len)
{
for(uint8_t i = 0; i < len; i++){
Serial.print((char)data[i]);
}
}
// #define I2C_COMMUNICATION //use I2C for communication, but use the serial port for communication if the line of codes were masked
#ifdef I2C_COMMUNICATION
DFRobot_RTK_LoRa_I2C rtk(&Wire ,DEVICE_ADDR);
#else
/* -----------------------------------------------------------------------------------------------------
* | Sensor | Connect line | Leonardo/Mega2560/M0 | UNO | ESP8266 | ESP32 | microbit | m0 |
* | VCC |=============>| VCC | VCC | VCC | VCC | X | vcc |
* | GND |=============>| GND | GND | GND | GND | X | gnd |
* | RX |=============>| Serial1 TX1 | 5 | 5/D6 | D2 | X | tx1 |
* | TX |=============>| Serial1 RX1 | 4 | 4/D7 | D3 | X | rx1 |
* ----------------------------------------------------------------------------------------------------*/
/* Baud rate cannot be changed */
#if defined(ARDUINO_AVR_UNO) || defined(ESP8266)
SoftwareSerial mySerial(4, 5);
DFRobot_RTK_LoRa_UART rtk(&mySerial, 57600);
#elif defined(ESP32)
DFRobot_RTK_LoRa_UART rtk(&Serial1, 115200 ,/*rx*/D2 ,/*tx*/D3);
#else
DFRobot_RTK_LoRa_UART rtk(&Serial1, 115200);
#endif
#endif
void setup()
{
Serial.begin(115200);
while(!rtk.begin()){
Serial.println("NO Deivces !");
delay(1000);
}
Serial.println("Device connected !");
rtk.setModule(eMoudleLora);
while(rtk.getModule() != eMoudleLora){\n Serial.println("Module type is not lora! please wait!");\n delay(1000);\n }
rtk.setCallback(callback);
}
void loop()
{
rtk.getAllGnss();
}
Result
| Name | meaning | remark |
|---|---|---|
| N | North | Latitude Hemisphere |
| E | East | Longitude Hemisphere |
| lat degree | Latitude | |
| lon degree | Longitude | |
| star | Number of satellites | Include GNSS,GPS,GLONASS,Galileo，BDS |
| alt high | Meters above Mean Sea Level | |
| sep | Geoid height above/below WGS84 ellipsoid (m) | Positive: the geoid is higher than the ellipsoid; Negative: The geoid is below the ellipsoid |
| hdop | Horizontal Dilution of Precision (lower = better) | |
| message mode | Positioning status | 0=Invalid, 1=GPS, 2=DGPS, 4=RTK Fixed, 5=RTK Float |
| siteID | Reference station ID | Only RTK fixed interpretations or floating-point solutions are valid |
| diftime | Age of RTK corrections (valid for RTK only) | Only RTK fixed interpretations or floating-point solutions are valid |
| $GNGGA | NMEA Message | Please refer to the NMEA Data Resolution section |
| $GNRMC | NMEA Message | Please refer to the NMEA Data Resolution section |
| $GNGLL | NMEA Message | Please refer to the NMEA Data Resolution section |
| $GNVTG | NMEA Message | Please refer to the NMEA Data Resolution section |
| $GNGGA | NMEA Message | Please refer to the NMEA Data Resolution section |
Additional Information
- Ensure the base station antenna is stationary for accurate RTK corrections.
- The result table explains key NMEA message fields.
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