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This guide describes how to connect the Adafruit Feather M0 Adalogger to the SparkFun GPS-RTK2 board to create the F9P_RAWX_Logger
The Adafruit Feather M0 Adalogger is a versatile board equipped with a SAMD21G18A ARM Cortex-M0+ microcontroller (as used on the Arduino Zero), a micro-SD card socket and a LiPo battery charger.
If your Adalogger is still connected to your computer, disconnect it before proceeding. Make sure the LiPo battery is disconnected too.
The Adalogger uses USB power to charge the LiPo battery at 100mA. Charging a larger battery can take quite a long time. Adafruit offer separate miniature LiPo chargers which can charge larger batteries at 500mA.
Choose a good quality micro-SD card. A 4GB card should provide more than enough storage for your RAWX files. Make sure the card is formatted as FAT32. If you have problems formatting the card, you might need to download and use the official SD card formatter from the SD Association. Insert the card into the Adalogger before connecting USB or LiPo battery power. Don't insert or remove the card while power is connected!
There are many ways to hook up the Adalogger. The simplest is to use header pins and jumper wires. There are full instructions available on the Adafruit website.
The SparkFun GPS-RTK2 Board is equipped with the u-blox ZED-F9P GNSS module.
The u-blox ZED-F9P is a sophisticated dual band (L1 + L2) GNSS receiver which can act as a Real Time Kinematic base or rover. It has a variety of interfaces: UART, SPI, I2C and USB. SparkFun have included their Qwiic I2C connectors on the board, making it easy to interface it to their other Qwiic boards. For the RAWX_Logger we will only be using the UART interface (the Arduino code disables the I2C and USB interfaces - edit the code if you want these to remain enabled).
This project only logs RAWX messages which can be post-processed (PPK) using rtklibexplorer's version of RTKLIB; it does not make use of the F9P's RTK features.
Like the Adalogger, there are many ways to hook up the F9P board. Again, the simplest is to use header pins and jumper wires.
Connect the following pins:
The GPS-RTK2 board has its own 3.3V regulator on board. We will use this and power it from the Adalogger VBUS pin. That way it can be powered via the Adalogger's USB socket or the Adalogger LiPo battery.
These connections will also work if you want to power the Adalogger using the USB-C socket on the SparkFun board.
Be careful that you do not connect power via the Adalogger USB and SparkFun USB-C sockets at the same time. BAD THINGS WILL HAPPEN IF YOU DO!
The RST connection is only necessary if you want the Adalogger reset switch to be able to reset the ZED-F9P too.
Connect the SparkFun board to a suitable active L1/L2 GNSS antenna using the uFL socket. You may need to use a uFL to SMA adapter.
Connect the Adalogger A0 pin to GND to put the logger into base mode. Leave A0 floating for rover mode. The only differences between base and rover mode are:
If you are powering the logger from a LiPo battery, the logger monitors the LiPo battery voltage and will automatically close the log file when the battery voltage starts to fall.
You can connect a "stop logging" push switch between the Adalogger A1 pin and GND. This switch is optional but pushing it will safely close the RAWX log file so you can unplug the power. If you unplug both USB and LiPo power while the logger is still logging, the RAWX log file will not get closed and you will lose your data!
You can connect a push switch between GND and the SparkFun INT pin. Pushing it will generate a TIM_TM2 message which will get logged with the RAWX data. RTKLIB can be used to export these.
Instead of a switch, you can connect the INT pin to a 3.3V logic signal from (e.g.) your UAV camera trigger. (The signal must be between 0V and 3.3V. Higher voltages will cause permanent damage to the ZED-F9P!)
If you want to power the logger from your UAV battery, use a suitable 5V battery eliminator (DC-DC converter) to drop your UAV battery voltage down to 5V. Connect the 5V to the Adalogger using the micro-USB socket and connect a small (~100mAh) LiPo battery to the Adalogger too. When you disconnect the UAV battery at the end of a flight, the Adalogger will switch over to the LiPo battery and will keep logging until the battery voltage starts to fall. The log file will be closed automatically when the battery voltage is low (or if you press the stop switch).
When you provide power from a UAV battery, the Adalogger will draw an extra 100mA from the battery eliminator to recharge the LiPo battery. This will cut down your flight time. If you do not want the Adalogger to do this, you can remove the LiPo charger chip by carefully cutting through its legs with a scalpel blade. If you do this, you won't then be able recharge the LiPo battery through the Adalogger. You will need to use a separate charger instead. Your will of course void the Adalogger's warranty too!
You could connect 5V from the battery eliminator to the USB/VBUS pin but you must make sure you do not connect either the Adalogger USB socket or the SparkFun USB-C socket to a computer or a power supply. BAD THINGS WILL HAPPEN IF YOU DO!
Leave the LiPo battery disconnected.
Hook up the Adalogger and SparkFun boards as described above.
Connect the Adalogger to your computer using a micro-USB cable. The logger will draw its power from the USB port.
Open the Arduino IDE and open the RAWX_Logger_F9P.ino sketch. Check the Tools\Board and Tools\Port settings. Upload the code to the Adalogger using the arrow icon below the Edit menu.
As soon as the upload is finished, click on the Tools menu and then "Serial Monitor". Change the baud rate to 115200 using the pull-down menu at the bottom of the serial monitor window. All being well, after 10 seconds you should see messages saying:
Now connect the LiPo battery. You can then disconnect the USB cable if you want to and the logger will keep logging, drawing power from the LiPo battery.
The green LED on the Adalogger will light up when a GNSS fix is established and the logger is about to start logging RAWX data. If the LED doesn't illuminate after ~1 minute, check the antenna has a clear view of the sky. There are DEBUG messages that you can enable to help diagnose problems. The messages will appear in the serial monitor. Uncomment the line which says:
#define DEBUG // Comment this line out to disable debug messages
and upload the code again.
The red LED on the Adalogger will flash quickly each time data is written to the SD card. Continuous red indicates: a problem with the SD card; or that the stop switch has been pressed; or that the LiPo battery is low.
The logger will keep logging until the stop switch is pressed or the battery voltage starts to fall. A new file is opened every 15 minutes to minimise data loss if the power is accidentially disconnected. The INTERVAL can be changed by editing the Arduino code. If you disconnect the power while the log file is still open, you will lose your data (the file will appear zero size).
Disconnect the power before removing the SD card. Plug the SD card into your computer using a suitable adapter and look for the RAWX log file(s). You will find them in a directory called "YYYYMMDD" where YYYY is the UTC year, MM is the month and DD is the date. A rover file will be called "r_HHMMSS.ubx" where HH is the UTC hour, MM the minute and SS the second when the file was created. Base files start with "b_".
You can concatenate the separate log files into one contiguous file without losing any data:
In Windows:
In Linux:
The HHMMSS filename format ensures that the files are concatenated in the correct order. If your files straddle UTC midnight, you will have to combine the files from day1 and day2 separately first and then combine the two day files together.
You can then process a pair of base and rover files using RTKLIB.
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