Example Code for Arduino-Reading Data via UART

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?

Since the Uno R3 only supports a maximum baud rate of 57600, you'll need to adjust the baud rate in I2C mode before switching to UART mode after powering off.

Wiring Diagram（ Change the baud rate）

• Connect the module to Arduino as shown
• 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

Wiring Diagram

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

Additional Information

• Ensure the base station antenna is stationary for accurate RTK corrections.
• The result table explains key NMEA message fields.