PlatformIO-Libs/SparkFunGNSS
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Adding set/getNavigationRate and set/getMeasurementRate

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This commit is contained in:
PaulZC
2021-03-30 08:43:54 +01:00
parent 213e3eb125
commit 0c576c9745
3 changed files with 84 additions and 3 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+74 -1
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@@ -8569,7 +8569,7 @@ boolean SFE_UBLOX_GNSS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait
//Adjust the I2C polling timeout based on update rate
i2cPollingWait = 1000 / (((int)navFreq) * 4); //This is the number of ms to wait between checks for new I2C data
//Query the module for the latest lat/long
//Query the module
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_RATE;
packetCfg.len = 0;
@@ -8606,6 +8606,79 @@ uint8_t SFE_UBLOX_GNSS::getNavigationFrequency(uint16_t maxWait)
return (measurementRate);
}
//Set the elapsed time between GNSS measurements in milliseconds, which defines the rate
boolean SFE_UBLOX_GNSS::setMeasurementRate(uint16_t rate, uint16_t maxWait)
{
//Adjust the I2C polling timeout based on update rate
i2cPollingWait = rate / 4; //This is the number of ms to wait between checks for new I2C data
//Query the module
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_RATE;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
//This will load the payloadCfg array with current settings of the given register
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false); //If command send fails then bail
//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[0] = rate & 0xFF; //measRate LSB
payloadCfg[1] = rate >> 8; //measRate MSB
return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}
//Return the elapsed time between GNSS measurements in milliseconds, which defines the rate
uint16_t SFE_UBLOX_GNSS::getMeasurementRate(uint16_t maxWait)
{
if (packetUBXCFGRATE == NULL) initPacketUBXCFGRATE(); //Check that RAM has been allocated for the RATE data
if (packetUBXCFGRATE == NULL) //Bail if the RAM allocation failed
return 0;
if (packetUBXCFGRATE->moduleQueried.moduleQueried.bits.measRate == false)
getNavigationFrequencyInternal(maxWait);
packetUBXCFGRATE->moduleQueried.moduleQueried.bits.measRate = false; //Since we are about to give this to user, mark this data as stale
packetUBXCFGRATE->moduleQueried.moduleQueried.bits.all = false;
return (packetUBXCFGRATE->data.measRate);
}
//Set the ratio between the number of measurements and the number of navigation solutions. Unit is cycles. Max is 127.
boolean SFE_UBLOX_GNSS::setNavigationRate(uint16_t rate, uint16_t maxWait)
{
//Query the module
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_RATE;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
//This will load the payloadCfg array with current settings of the given register
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false); //If command send fails then bail
//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[2] = rate & 0xFF; //navRate LSB
payloadCfg[3] = rate >> 8; //navRate MSB
return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}
//Return the ratio between the number of measurements and the number of navigation solutions. Unit is cycles
uint16_t SFE_UBLOX_GNSS::getNavigationRate(uint16_t maxWait)
{
if (packetUBXCFGRATE == NULL) initPacketUBXCFGRATE(); //Check that RAM has been allocated for the RATE data
if (packetUBXCFGRATE == NULL) //Bail if the RAM allocation failed
return 0;
if (packetUBXCFGRATE->moduleQueried.moduleQueried.bits.navRate == false)
getNavigationFrequencyInternal(maxWait);
packetUBXCFGRATE->moduleQueried.moduleQueried.bits.navRate = false; //Since we are about to give this to user, mark this data as stale
packetUBXCFGRATE->moduleQueried.moduleQueried.bits.all = false;
return (packetUBXCFGRATE->data.navRate);
}
// ***** DOP Helper Functions
uint16_t SFE_UBLOX_GNSS::getGeometricDOP(uint16_t maxWait)