From 34f15c25f3aa8f11c899cef0d84e5f668c0a9b46 Mon Sep 17 00:00:00 2001 From: PaulZC Date: Wed, 13 Jan 2021 12:00:14 +0000 Subject: [PATCH] Adding support for Time Pulse Parameters --- .../Example23_TimePulseParameters.ino | 86 +++++++++++++++++++ src/SparkFun_u-blox_GNSS_Arduino_Library.cpp | 75 ++++++++++++++++ src/SparkFun_u-blox_GNSS_Arduino_Library.h | 4 + src/u-blox_structs.h | 35 ++++++++ 4 files changed, 200 insertions(+) create mode 100644 examples/Example23_TimePulseParameters/Example23_TimePulseParameters.ino diff --git a/examples/Example23_TimePulseParameters/Example23_TimePulseParameters.ino b/examples/Example23_TimePulseParameters/Example23_TimePulseParameters.ino new file mode 100644 index 0000000..0ba75e8 --- /dev/null +++ b/examples/Example23_TimePulseParameters/Example23_TimePulseParameters.ino @@ -0,0 +1,86 @@ +/* + Time Pulse Parameters + By: Paul Clark (PaulZC) + Date: January 13th, 2021 + + License: MIT. See license file for more information but you can + basically do whatever you want with this code. + + This example shows how to change the time pulse parameters and configure the TIMEPULSE (PPS) + pin to produce a 1kHz squarewave + + Feel like supporting open source hardware? + Buy a board from SparkFun! + ZED-F9P RTK2: https://www.sparkfun.com/products/15136 + NEO-M8P RTK: https://www.sparkfun.com/products/15005 + SAM-M8Q: https://www.sparkfun.com/products/15106 + + 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) + Open the serial monitor at 115200 baud to see the output +*/ + +#include //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() +{ + Serial.begin(115200); + while (!Serial) + ; //Wait for user to open terminal + Serial.println(F("SparkFun u-blox Example")); + + Wire.begin(); + + //myGNSS.enableDebugging(); // Uncomment this line to enable debug messages + + if (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) + ; + } + + myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise) + + // Create storage for the time pulse parameters + UBX_CFG_TP5_data_t timePulseParameters; + + // Get the time pulse parameters + if (myGNSS.getTimePulseParameters(&timePulseParameters) == false) + { + Serial.println(F("getTimePulseParameters failed! Freezing...")); + while (1) ; // Do nothing more + } + + timePulseParameters.tpIdx = 0; // Select the TIMEPULSE pin + //timePulseParameters.tpIdx = 1; // Or we could select the TIMEPULSE2 pin instead, if the module has one + + // We can configure the time pulse pin to produce a defined frequency or period + // Here is how to set the frequency: + timePulseParameters.freqPeriod = 1000; // Set the frequency/period to 1000Hz + timePulseParameters.pulseLenRatio = 0x80000000; // Set the pulse ratio to 2^31 * 2^-32 to produce 50:50 mark:space + + timePulseParameters.flags.bits.active = 1; // Make sure the active flag is set to enable the time pulse. (Set to 0 to disable.) + timePulseParameters.flags.bits.isFreq = 1; // Tell the module that we want to set the frequency (not the period) + timePulseParameters.flags.bits.isLength = 0; // Tell the module that pulseLenRatio is a ratio / duty cycle (2^-32) - not a length (in us) + timePulseParameters.flags.bits.polarity = 0; // Tell the module that we want the falling edge at the top of second. (Set to 1 for rising edge.) + + // Now set the time pulse parameters + if (myGNSS.setTimePulseParameters(&timePulseParameters) == false) + { + Serial.println(F("setTimePulseParameters failed!")); + } + else + { + Serial.println(F("Success!")); + } +} + +void loop() +{ + // Nothing to do here +} diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp index a5e50d7..ddb9abc 100644 --- a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp +++ b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp @@ -4252,6 +4252,81 @@ boolean SFE_UBLOX_GNSS::resetIMUalignment(uint16_t maxWait) return (sendCommand(&packetCfg, maxWait, true) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK } +//Get the time pulse parameters using UBX_CFG_TP5 +boolean SFE_UBLOX_GNSS::getTimePulseParameters(UBX_CFG_TP5_data_t *data, uint16_t maxWait) +{ + if (data == NULL) // Check if the user forgot to include the data pointer + return (false); // Bail + + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_TP5; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (false); + + // Extract the data + data->tpIdx = extractByte(&packetCfg, 0); + data->version = extractByte(&packetCfg, 1); + data->antCableDelay = extractSignedInt(&packetCfg, 4); + data->rfGroupDelay = extractSignedInt(&packetCfg, 6); + data->freqPeriod = extractLong(&packetCfg, 8); + data->freqPeriodLock = extractLong(&packetCfg, 12); + data->pulseLenRatio = extractLong(&packetCfg, 16); + data->pulseLenRatioLock = extractLong(&packetCfg, 20); + data->userConfigDelay = extractSignedLong(&packetCfg, 24); + data->flags.all = extractLong(&packetCfg, 28); + + return(true); +} + +//Set the time pulse parameters using UBX_CFG_TP5 +boolean SFE_UBLOX_GNSS::setTimePulseParameters(UBX_CFG_TP5_data_t *data, uint16_t maxWait) +{ + if (data == NULL) // Check if the user forgot to include the data pointer + return (false); // Bail + + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_TP5; + packetCfg.len = UBX_CFG_TP5_LEN; + packetCfg.startingSpot = 0; + + // Insert the data + payloadCfg[0] = data->tpIdx; + payloadCfg[1] = data->version; + payloadCfg[4] = data->antCableDelay & 0xFF; // Little Endian + payloadCfg[5] = data->antCableDelay >> 8; + payloadCfg[6] = data->rfGroupDelay & 0xFF; // Little Endian + payloadCfg[7] = data->rfGroupDelay >> 8; + payloadCfg[8] = data->freqPeriod & 0xFF; // Little Endian + payloadCfg[9] = (data->freqPeriod >> 8) & 0xFF; + payloadCfg[10] = (data->freqPeriod >> 16) & 0xFF; + payloadCfg[11] = (data->freqPeriod >> 24) & 0xFF; + payloadCfg[12] = data->freqPeriodLock & 0xFF; // Little Endian + payloadCfg[13] = (data->freqPeriodLock >> 8) & 0xFF; + payloadCfg[14] = (data->freqPeriodLock >> 16) & 0xFF; + payloadCfg[15] = (data->freqPeriodLock >> 24) & 0xFF; + payloadCfg[16] = data->pulseLenRatio & 0xFF; // Little Endian + payloadCfg[17] = (data->pulseLenRatio >> 8) & 0xFF; + payloadCfg[18] = (data->pulseLenRatio >> 16) & 0xFF; + payloadCfg[19] = (data->pulseLenRatio >> 24) & 0xFF; + payloadCfg[20] = data->pulseLenRatioLock & 0xFF; // Little Endian + payloadCfg[21] = (data->pulseLenRatioLock >> 8) & 0xFF; + payloadCfg[22] = (data->pulseLenRatioLock >> 16) & 0xFF; + payloadCfg[23] = (data->pulseLenRatioLock >> 24) & 0xFF; + payloadCfg[24] = data->userConfigDelay & 0xFF; // Little Endian + payloadCfg[25] = (data->userConfigDelay >> 8) & 0xFF; + payloadCfg[26] = (data->userConfigDelay >> 16) & 0xFF; + payloadCfg[27] = (data->userConfigDelay >> 24) & 0xFF; + payloadCfg[28] = data->flags.all & 0xFF; // Little Endian + payloadCfg[29] = (data->flags.all >> 8) & 0xFF; + payloadCfg[30] = (data->flags.all >> 16) & 0xFF; + payloadCfg[31] = (data->flags.all >> 24) & 0xFF; + + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + // CONFIGURATION INTERFACE (protocol v27 and above) //Form 32-bit key from group/id/size diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.h b/src/SparkFun_u-blox_GNSS_Arduino_Library.h index 24ec996..df2bf69 100644 --- a/src/SparkFun_u-blox_GNSS_Arduino_Library.h +++ b/src/SparkFun_u-blox_GNSS_Arduino_Library.h @@ -645,6 +645,10 @@ public: //Reset ESF automatic IMU-mount alignment boolean resetIMUalignment(uint16_t maxWait = defaultMaxWait); + //Configure Time Pulse Parameters + boolean getTimePulseParameters(UBX_CFG_TP5_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Get the time pulse parameters using UBX_CFG_TP5 + boolean setTimePulseParameters(UBX_CFG_TP5_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Set the time pulse parameters using UBX_CFG_TP5 + //General configuration (used only on protocol v27 and higher - ie, ZED-F9P) //It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic. diff --git a/src/u-blox_structs.h b/src/u-blox_structs.h index 9e06507..74cc1d3 100644 --- a/src/u-blox_structs.h +++ b/src/u-blox_structs.h @@ -1789,4 +1789,39 @@ typedef struct UBX_HNR_INS_data_t *callbackData; } UBX_HNR_INS_t; +// UBX-CFG-TP5 (0x06 0x31): Time pulse parameters +const uint16_t UBX_CFG_TP5_LEN = 32; + +typedef struct +{ + uint8_t tpIdx; // Time pulse selection (0 = TIMEPULSE, 1 = TIMEPULSE2) + uint8_t version; // Message version (0x01 for this version) + uint8_t reserved1[2]; + int16_t antCableDelay; // Antenna cable delay: ns + int16_t rfGroupDelay; // RF group delay: ns + uint32_t freqPeriod; // Frequency or period time, depending on setting of bit 'isFreq': Hz_or_us + uint32_t freqPeriodLock; // Frequency or period time when locked to GNSS time, only used if 'lockedOtherSet' is set: Hz_or_us + uint32_t pulseLenRatio; // Pulse length or duty cycle, depending on 'isLength': us_or_2^-32 + uint32_t pulseLenRatioLock; // Pulse length or duty cycle when locked to GNSS time, only used if 'lockedOtherSet' is set: us_or_2^-32 + int32_t userConfigDelay; // User-configurable time pulse delay: ns + union + { + uint32_t all; + struct + { + uint32_t active : 1; // If set enable time pulse; if pin assigned to another function, other function takes precedence. + uint32_t lockGnssFreq : 1; // If set, synchronize time pulse to GNSS as soon as GNSS time is valid. If not set, or before GNSS time is valid, use local clock. + uint32_t lockedOtherSet : 1; // If set the receiver switches between the timepulse settings given by 'freqPeriodLocked' & 'pulseLenLocked' and those given by 'freqPeriod' & 'pulseLen'. + uint32_t isFreq : 1; // If set 'freqPeriodLock' and 'freqPeriod' are interpreted as frequency, otherwise interpreted as period. + uint32_t isLength : 1; // If set 'pulseLenRatioLock' and 'pulseLenRatio' interpreted as pulse length, otherwise interpreted as duty cycle. + uint32_t alignToTow : 1; // Align pulse to top of second (period time must be integer fraction of 1s). Also set 'lockGnssFreq' to use this feature. + uint32_t polarity : 1; // Pulse polarity: 0: falling edge at top of second; 1: rising edge at top of second + uint32_t gridUtcGnss : 4; // Timegrid to use: 0: UTC; 1: GPS; 2: GLONASS; 3: BeiDou; 4: Galileo + uint32_t syncMode : 3; // Sync Manager lock mode to use: + // 0: switch to 'freqPeriodLock' and 'pulseLenRatioLock' as soon as Sync Manager has an accurate time, never switch back to 'freqPeriod' and 'pulseLenRatio' + // 1: switch to 'freqPeriodLock' and 'pulseLenRatioLock' as soon as Sync Manager has an accurate time, and switch back to 'freqPeriod' and 'pulseLenRatio' as soon as time gets inaccurate + } bits; + } flags; +} UBX_CFG_TP5_data_t; + #endif