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Add setSurveyModeFull, enableSurveyModeFull, getSurveyInObservationTimeFull. See #117

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This commit is contained in:
PaulZC
2022-02-28 08:32:55 +00:00
parent f372324f6c
commit 1b7eec1fc4
4 changed files with 42 additions and 23 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+24 -12
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@@ -6661,6 +6661,10 @@ bool SFE_UBLOX_GNSS::getSurveyMode(uint16_t maxWait)
// Control Survey-In for NEO-M8P
bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
{
return (setSurveyModeFull(mode, (uint32_t)observationTime, requiredAccuracy, maxWait));
}
bool SFE_UBLOX_GNSS::setSurveyModeFull(uint8_t mode, uint32_t observationTime, float requiredAccuracy, uint16_t maxWait)
{
if (getSurveyMode(maxWait) == false) // Ask module for the current TimeMode3 settings. Loads into payloadCfg.
return (false);
@@ -6673,18 +6677,18 @@ bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float
// payloadCfg should be loaded with poll response. Now modify only the bits we care about
payloadCfg[2] = mode; // Set mode. Survey-In and Disabled are most common. Use ECEF (not LAT/LON/ALT).
// svinMinDur is U4 (uint32_t) but we'll only use a uint16_t (waiting more than 65535 seconds seems excessive!)
// svinMinDur is U4 (uint32_t) in seconds
payloadCfg[24] = observationTime & 0xFF; // svinMinDur in seconds
payloadCfg[25] = observationTime >> 8; // svinMinDur in seconds
payloadCfg[26] = 0; // Truncate to 16 bits
payloadCfg[27] = 0; // Truncate to 16 bits
payloadCfg[25] = (observationTime >> 8) & 0xFF;
payloadCfg[26] = (observationTime >> 16) & 0xFF;
payloadCfg[27] = (observationTime >> 24) & 0xFF;
// svinAccLimit is U4 (uint32_t) in 0.1mm.
uint32_t svinAccLimit = (uint32_t)(requiredAccuracy * 10000.0); // Convert m to 0.1mm
payloadCfg[28] = svinAccLimit & 0xFF; // svinAccLimit in 0.1mm increments
payloadCfg[29] = svinAccLimit >> 8;
payloadCfg[30] = svinAccLimit >> 16;
payloadCfg[31] = svinAccLimit >> 24;
payloadCfg[29] = (svinAccLimit >> 8) & 0xFF;
payloadCfg[30] = (svinAccLimit >> 16) & 0xFF;
payloadCfg[31] = (svinAccLimit >> 24) & 0xFF;
return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}
@@ -6692,7 +6696,11 @@ bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float
// Begin Survey-In for NEO-M8P
bool SFE_UBLOX_GNSS::enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
{
return (setSurveyMode(SVIN_MODE_ENABLE, observationTime, requiredAccuracy, maxWait));
return (setSurveyModeFull(SVIN_MODE_ENABLE, (uint32_t)observationTime, requiredAccuracy, maxWait));
}
bool SFE_UBLOX_GNSS::enableSurveyModeFull(uint32_t observationTime, float requiredAccuracy, uint16_t maxWait)
{
return (setSurveyModeFull(SVIN_MODE_ENABLE, observationTime, requiredAccuracy, maxWait));
}
// Stop Survey-In for NEO-M8P
@@ -15554,7 +15562,7 @@ bool SFE_UBLOX_GNSS::getSurveyInValid(uint16_t maxWait)
return ((bool)packetUBXNAVSVIN->data.valid);
}
uint16_t SFE_UBLOX_GNSS::getSurveyInObservationTime(uint16_t maxWait) // Truncated to 65535 seconds
uint32_t SFE_UBLOX_GNSS::getSurveyInObservationTimeFull(uint16_t maxWait) // Return the full uint32_t
{
if (packetUBXNAVSVIN == NULL)
initPacketUBXNAVSVIN(); // Check that RAM has been allocated for the SVIN data
@@ -15566,9 +15574,13 @@ uint16_t SFE_UBLOX_GNSS::getSurveyInObservationTime(uint16_t maxWait) // Truncat
packetUBXNAVSVIN->moduleQueried.moduleQueried.bits.dur = false; // Since we are about to give this to user, mark this data as stale
packetUBXNAVSVIN->moduleQueried.moduleQueried.bits.all = false;
// dur (Passed survey-in observation time) is U4 (uint32_t) seconds. We truncate to 16 bits
//(waiting more than 65535 seconds (18.2 hours) seems excessive!)
uint32_t tmpObsTime = packetUBXNAVSVIN->data.dur;
return (packetUBXNAVSVIN->data.dur);
}
uint16_t SFE_UBLOX_GNSS::getSurveyInObservationTime(uint16_t maxWait) // Truncated to 65535 seconds
{
// dur (Passed survey-in observation time) is U4 (uint32_t) seconds. Here we truncate to 16 bits
uint32_t tmpObsTime = getSurveyInObservationTimeFull(maxWait);
if (tmpObsTime <= 0xFFFF)
{
return ((uint16_t)tmpObsTime);