Merge pull request #186 from sparkfun/release_candidate

Version 2.2.22

examples/Callbacks/CallbackExample2_NAV_ODO/CallbackExample2_NAV_ODO.ino

@@ -2,9 +2,8 @@
   Configuring the GNSS to automatically send odometer reports over I2C and display the data using a callback
   By: Paul Clark
   SparkFun Electronics
-  Date: December 30th, 2020
-  License: MIT. See license file for more information but you can
-  basically do whatever you want with this code.
+  Date: March 20th, 2023
+  License: MIT. See license file for more information.
 
   This example shows how to configure the u-blox GNSS to send odometer reports automatically
   and display the data via a callback. No more polling!
@@ -55,6 +54,8 @@ void printODOdata(UBX_NAV_ODO_data_t *ubxDataStruct)
 
 void setup()
 {
+  delay(1000);
+  
   Serial.begin(115200);
   while (!Serial); //Wait for user to open terminal
   Serial.println("SparkFun u-blox Example");
@@ -63,10 +64,9 @@ void setup()
 
   //myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
 
-  if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  while (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
   {
-    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
-    while (1);
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring."));
   }
 
   myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
@@ -74,6 +74,27 @@ void setup()
 
   myGNSS.setNavigationFrequency(1); //Produce one solution per second
 
+  //By default, the odometer is disabled. We need to enable it.
+  //We can enable it using the default settings:
+  myGNSS.enableOdometer();
+
+  //Or we can configure it using our own settings, by performing a read-modify-write:
+  uint8_t flags;        // Odometer/Low-speed COG filter flags
+  uint8_t odoCfg;       // Odometer filter settings
+  uint8_t cogMaxSpeed;  // Speed below which course-over-ground (COG) is computed with the low-speed COG filter : m/s * 0.1
+  uint8_t cogMaxPosAcc; // Maximum acceptable position accuracy for computing COG with the low-speed COG filter
+  uint8_t velLpGain;    // Velocity low-pass filter level
+  uint8_t cogLpGain;    // COG low-pass filter level
+
+  if (myGNSS.getOdometerConfig(&flags, &odoCfg, &cogMaxSpeed, &cogMaxPosAcc, &velLpGain, &cogLpGain))
+  {
+    flags = UBX_CFG_ODO_USE_ODO; // Enable the odometer
+    odoCfg = UBX_CFG_ODO_CAR; // Use the car profile (others are RUN, CYCLE, SWIM, CUSTOM)
+    myGNSS.setOdometerConfig(flags, odoCfg, cogMaxSpeed, cogMaxPosAcc, velLpGain, cogLpGain); // Set the configuration
+  }
+  else
+    Serial.println("Could not read odometer config!");
+
   //myGNSS.resetOdometer(); //Uncomment this line to reset the odometer
 
   myGNSS.setAutoNAVODOcallbackPtr(&printODOdata); // Enable automatic NAV ODO messages with callback to printODOdata

examples/NEO-M8P-2/Example4_MovingBase_Base/Example4_MovingBase_Base.ino

@@ -0,0 +1,74 @@
+/*
+  Configure the NEO-M8P-2 as a "moving base"
+  By: Paul Clark
+  SparkFun Electronics
+  Date: March 20th, 2023
+  License: MIT. See license file for more information.
+
+  This example configures the NEO-M8P-2 as a moving base.
+  It will output RTCM3 1077, 1087, 1230 and 4072.0 messages on UART1.
+  Connect UART1 TX to UART1 RX on a NEO-M8P rover. Also connect GND to GND.
+  The next example shows how to display the relative position of the rover.
+ 
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Connect UART1 TX to UART1 RX on a NEO-M8P rover. Also connect GND to GND.
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+void setup()
+{
+  delay(1000);
+  
+  Serial.begin(115200);
+  while(!Serial); //Wait for user to open terminal
+  Serial.println(F("u-blox NEO-M8P Moving Base Example"));
+
+  Wire.begin();
+
+  while (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring."));
+  }
+
+  // Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
+  //myGNSS.factoryDefault(); delay(5000);
+
+  myGNSS.setUART1Output(COM_TYPE_RTCM3); // Configure UART1 to output RTCM3 only. Disable NMEA.
+  myGNSS.saveConfiguration(); //Save the current settings to flash and BBR
+
+  bool response = true;
+  
+  response &= myGNSS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_UART1, 1); //Enable message 1077 on UART1
+  response &= myGNSS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_UART1, 1); //Enable message 1087 on UART1
+  response &= myGNSS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART1, 1); //Enable message 1230 on UART1
+  response &= myGNSS.enableRTCMmessage(UBX_RTCM_4072_0, COM_PORT_UART1, 1); //Enable message 4072.0 on UART1
+  
+  response &= myGNSS.disableSurveyMode(); //Essential - we need to set TMODE3 to Disabled to allow 4072.0 to be output
+
+  if (response == true)
+  {
+    Serial.println(F("RTCM messages enabled"));
+  }
+  else
+  {
+    Serial.println(F("RTCM failed to enable. Are you sure you have an NEO-M8P?"));
+  }
+}
+
+void loop()
+{
+  myGNSS.checkUblox(); //See if new data is available. Process bytes as they come in.
+
+  delay(250); //Don't pound too hard on the I2C bus
+}

examples/NEO-M8P-2/Example5_MovingBase_Rover/Example5_MovingBase_Rover.ino

@@ -0,0 +1,117 @@
+/*
+  Display the relative position of a NEO-M8P-2 rover
+  By: Paul Clark
+  SparkFun Electronics
+  Date: March 20th, 2023
+  License: MIT. See license file for more information.
+
+  This example shows how to query the module for RELPOS information in the NED frame.
+  It assumes you already have RTCM correction data being fed to the receiver on UART1.
+  Connect UART1 TX on the base to UART1 RX on the rover. Also connect GND to GND.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS and a RedBoard Qwiic or BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Connect UART1 TX on the base to UART1 RX on the rover. Also connect GND to GND.
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+void setup()
+{
+  delay(1000);
+  
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("u-blox NEO-M8P Rover Example");
+
+  Wire.begin();
+
+  while (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring."));
+  }
+
+  // Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
+  //myGNSS.factoryDefault(); delay(5000);
+
+  // By default, UART1 Protocol In is set to NMEA + UBX + RTCM3. No changes are necessary. But we can manually configure the port if required.
+  Serial.print(myGNSS.setPortInput(COM_PORT_UART1, COM_TYPE_UBX | COM_TYPE_RTCM3)); //Enable UBX and RTCM3 input on UART1
+  myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
+}
+
+void loop()
+{
+  // The data from getRELPOSNED (UBX-NAV-RELPOSNED) is returned in UBX_NAV_RELPOSNED_t packetUBXNAVRELPOSNED
+  // Please see u-blox_structs.h for the full definition of UBX_NAV_RELPOSNED_t
+  // You can either read the data from packetUBXNAVRELPOSNED directly
+  // or can use the helper functions: getRelPosN/E/D; getRelPosAccN/E/D
+  // Note that NEO-M8P RELPOSNED is different to ZED-F9P. It does not contain the relative length and heading.
+  if (myGNSS.getRELPOSNED() == true)
+  {
+    Serial.print("relPosN: ");
+    Serial.println(myGNSS.getRelPosN(), 4); // Use the helper functions to get the rel. pos. as m
+    Serial.print("relPosE: ");
+    Serial.println(myGNSS.getRelPosE(), 4);
+    Serial.print("relPosD: ");
+    Serial.println(myGNSS.getRelPosD(), 4);
+
+    Serial.print("relPosHPN: ");
+    Serial.println((float)myGNSS.packetUBXNAVRELPOSNED->data.relPosHPN / 10, 1); //High-precision component. Convert to mm
+    Serial.print("relPosHPE: ");
+    Serial.println((float)myGNSS.packetUBXNAVRELPOSNED->data.relPosHPE / 10, 1);
+    Serial.print("relPosHPD: ");
+    Serial.println((float)myGNSS.packetUBXNAVRELPOSNED->data.relPosHPD / 10, 1);
+
+    Serial.print("accN: ");
+    Serial.println(myGNSS.getRelPosAccN(), 4); // Use the helper functions to get the rel. pos. accuracy as m
+    Serial.print("accE: ");
+    Serial.println(myGNSS.getRelPosAccE(), 4);
+    Serial.print("accD: ");
+    Serial.println(myGNSS.getRelPosAccD(), 4);
+
+    Serial.print("gnssFixOk: ");
+    if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.gnssFixOK == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("diffSolution: ");
+    if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.diffSoln == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("relPosValid: ");
+    if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.relPosValid == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("carrier Solution Type: ");
+    if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 0)
+      Serial.println("None");
+    else if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 1)
+      Serial.println("Float");
+    else if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 2)
+      Serial.println("Fixed");
+
+    Serial.print("isMoving: ");
+    if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.isMoving == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+  }
+  else
+    Serial.println("RELPOS request failed");
+
+  Serial.println("");
+}

keywords.txt

@@ -193,6 +193,9 @@ setDynamicModel	KEYWORD2
 getDynamicModel	KEYWORD2
 
 resetOdometer	KEYWORD2
+enableOdometer	KEYWORD2
+getOdometerConfig	KEYWORD2
+setOdometerConfig	KEYWORD2
 
 enableGNSS	KEYWORD2
 isGNSSenabled	KEYWORD2
@@ -831,6 +834,17 @@ VAL_CFG_SUBSEC_ANTCONF	LITERAL1
 VAL_CFG_SUBSEC_LOGCONF	LITERAL1
 VAL_CFG_SUBSEC_FTSCONF	LITERAL1
 
+UBX_CFG_ODO_USE_ODO	LITERAL1
+UBX_CFG_ODO_USE_COG	LITERAL1
+UBX_CFG_ODO_OUT_LP_VEL	LITERAL1
+UBX_CFG_ODO_OUT_LP_COG	LITERAL1
+
+UBX_CFG_ODO_RUN	LITERAL1
+UBX_CFG_ODO_CYCLE	LITERAL1
+UBX_CFG_ODO_SWIM	LITERAL1
+UBX_CFG_ODO_CAR	LITERAL1
+UBX_CFG_ODO_CUSTOM	LITERAL1
+
 DYN_MODEL_PORTABLE	LITERAL1
 DYN_MODEL_STATIONARY	LITERAL1
 DYN_MODEL_PEDESTRIAN	LITERAL1

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.2.21
+version=2.2.22
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -8207,6 +8207,70 @@ bool SFE_UBLOX_GNSS::resetOdometer(uint16_t maxWait)
   return (sendCommand(&packetCfg, maxWait, true) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
+// Enable / disable the odometer
+bool SFE_UBLOX_GNSS::enableOdometer(bool enable, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_ODO;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  // Ask module for the current odometer configuration. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  if (enable)
+    payloadCfg[4] = payloadCfg[4] | UBX_CFG_ODO_USE_ODO;
+  else
+    payloadCfg[4] = payloadCfg[4] & ~UBX_CFG_ODO_USE_ODO;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+  
+// Read the odometer configuration
+bool SFE_UBLOX_GNSS::getOdometerConfig(uint8_t *flags, uint8_t *odoCfg, uint8_t *cogMaxSpeed, uint8_t *cogMaxPosAcc, uint8_t *velLpGain, uint8_t *cogLpGain, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_ODO;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  // Ask module for the current odometer configuration. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  *flags = payloadCfg[4];
+  *odoCfg = payloadCfg[5];
+  *cogMaxSpeed = payloadCfg[12];
+  *cogMaxPosAcc = payloadCfg[13];
+  *velLpGain = payloadCfg[16];
+  *cogLpGain = payloadCfg[17];
+
+  return true;
+}
+
+// Configure the odometer
+bool SFE_UBLOX_GNSS::setOdometerConfig(uint8_t flags, uint8_t odoCfg, uint8_t cogMaxSpeed, uint8_t cogMaxPosAcc, uint8_t velLpGain, uint8_t cogLpGain, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_ODO;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  // Ask module for the current odometer configuration. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  payloadCfg[4] = flags;
+  payloadCfg[5] = odoCfg;
+  payloadCfg[12] = cogMaxSpeed;
+  payloadCfg[13] = cogMaxPosAcc;
+  payloadCfg[16] = velLpGain;
+  payloadCfg[17] = cogLpGain;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
 // Enable/Disable individual GNSS systems using UBX-CFG-GNSS
 bool SFE_UBLOX_GNSS::enableGNSS(bool enable, sfe_ublox_gnss_ids_e id, uint16_t maxWait)
 {
@@ -17402,6 +17466,8 @@ int32_t SFE_UBLOX_GNSS::getAltitude(uint16_t maxWait)
 // Get the current altitude in mm according to mean sea level
 // Ellipsoid model: https://www.esri.com/news/arcuser/0703/geoid1of3.html
 // Difference between Ellipsoid Model and Mean Sea Level: https://eos-gnss.com/elevation-for-beginners/
+// Also see: https://portal.u-blox.com/s/question/0D52p00008HKDSkCAP/what-geoid-model-is-used-and-where-is-this-calculated
+// and: https://cddis.nasa.gov/926/egm96/egm96.html on 10x10 degree grid
 int32_t SFE_UBLOX_GNSS::getAltitudeMSL(uint16_t maxWait)
 {
   if (packetUBXNAVPVT == NULL)

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -465,6 +465,22 @@ const uint8_t COM_TYPE_NMEA = (1 << 1);
 const uint8_t COM_TYPE_RTCM3 = (1 << 5);
 const uint8_t COM_TYPE_SPARTN = (1 << 6);
 
+// Odometer configuration - flags
+const uint8_t UBX_CFG_ODO_USE_ODO = (1 << 0);
+const uint8_t UBX_CFG_ODO_USE_COG = (1 << 1);
+const uint8_t UBX_CFG_ODO_OUT_LP_VEL = (1 << 2);
+const uint8_t UBX_CFG_ODO_OUT_LP_COG = (1 << 3);
+
+// Odometer configuration - odoCfg
+enum odoCfg_e
+{
+  UBX_CFG_ODO_RUN = 0,
+  UBX_CFG_ODO_CYCLE,
+  UBX_CFG_ODO_SWIM,
+  UBX_CFG_ODO_CAR,
+  UBX_CFG_ODO_CUSTOM,
+};
+
 // Configuration Sub-Section mask definitions for saveConfigSelective (UBX-CFG-CFG)
 const uint32_t VAL_CFG_SUBSEC_IOPORT = 0x00000001;   // ioPort - communications port settings (causes IO system reset!)
 const uint32_t VAL_CFG_SUBSEC_MSGCONF = 0x00000002;  // msgConf - message configuration
@@ -909,8 +925,11 @@ public:
   bool setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = defaultMaxWait);
   uint8_t getDynamicModel(uint16_t maxWait = defaultMaxWait); // Get the dynamic model - returns 255 if the sendCommand fails
 
-  // Reset the odometer
+  // Reset / enable / configure the odometer
   bool resetOdometer(uint16_t maxWait = defaultMaxWait); // Reset the odometer
+  bool enableOdometer(bool enable = true, uint16_t maxWait = defaultMaxWait); // Enable / disable the odometer
+  bool getOdometerConfig(uint8_t *flags, uint8_t *odoCfg, uint8_t *cogMaxSpeed, uint8_t *cogMaxPosAcc, uint8_t *velLpGain, uint8_t *cogLpGain, uint16_t maxWait = defaultMaxWait); // Read the odometer configuration
+  bool setOdometerConfig(uint8_t flags, uint8_t odoCfg, uint8_t cogMaxSpeed, uint8_t cogMaxPosAcc, uint8_t velLpGain, uint8_t cogLpGain, uint16_t maxWait = defaultMaxWait); // Configure the odometer
 
   // Enable/Disable individual GNSS systems using UBX-CFG-GNSS
   // Note: you must leave at least one major GNSS enabled! If in doubt, enable GPS before disabling the others