PlatformIO-Libs/SparkFunGNSS
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Merge branch 'sparkfun:main' into main

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This commit is contained in:
Michael Ammann
2022-07-19 19:02:11 +02:00
committed by GitHub
parent b7f959a1f1 273c8ba222
commit 380e3e66b6
5 changed files with 72 additions and 1 deletions
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keywords.txt
+11
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@@ -16,12 +16,18 @@ UBX_ESF_MEAS_sensorData_t KEYWORD1
UBX_ESF_RAW_sensorData_t KEYWORD1
UBX_ESF_STATUS_sensorStatus_t KEYWORD1
UBX_CFG_PRT_data_t KEYWORD1
UBX_CFG_RATE_data_t KEYWORD1
UBX_CFG_TP5_data_t KEYWORD1
UBX_CFG_ITFM_data_t KEYWORD1
UBX_CFG_TMODE3_data_t KEYWORD1
UBX_MON_RF_data_t KEYWORD1
UBX_MON_HW_data_t KEYWORD1
UBX_MON_HW2_data_t KEYWORD1
UBX_NAV_POSECEF_data_t KEYWORD1
UBX_NAV_POSLLH_data_t KEYWORD1
UBX_NAV_STATUS_data_t KEYWORD1
UBX_NAV_DOP_data_t KEYWORD1
UBX_NAV_ATT_data_t KEYWORD1
@@ -32,8 +38,10 @@ UBX_NAV_VELNED_data_t KEYWORD1
UBX_NAV_HPPOSECEF_data_t KEYWORD1
UBX_NAV_HPPOSLLH_data_t KEYWORD1
UBX_NAV_PVAT_data_t KEYWORD1
UBX_NAV_TIMEUTC_data_t KEYWORD1
UBX_NAV_CLOCK_data_t KEYWORD1
UBX_NAV_SAT_data_t KEYWORD1
UBX_NAV_SVIN_data_t KEYWORD1
UBX_NAV_RELPOSNED_data_t KEYWORD1
UBX_NAV_TIMELS_data_t KEYWORD1
UBX_NAV_AOPSTATUS_data_t KEYWORD1
@@ -52,6 +60,9 @@ UBX_ESF_MEAS_data_t KEYWORD1
UBX_ESF_RAW_data_t KEYWORD1
UBX_ESF_STATUS_data_t KEYWORD1
UBX_MGA_ACK_DATA0_t KEYWORD1
UBX_MGA_DBD_data_t KEYWORD1
UBX_HNR_PVT_data_t KEYWORD1
UBX_HNR_ATT_data_t KEYWORD1
UBX_HNR_INS_data_t KEYWORD1
library.properties
+1 -1
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@@ -1,5 +1,5 @@
name=SparkFun u-blox GNSS Arduino Library
version=2.2.10
version=2.2.11
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
+30
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@@ -7320,6 +7320,36 @@ bool SFE_UBLOX_GNSS::getSurveyMode(uint16_t maxWait)
return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
}
// Get the current TimeMode3 settings - these contain survey in statuses
bool SFE_UBLOX_GNSS::getSurveyMode(UBX_CFG_TMODE3_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_TMODE3;
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->version = extractByte(&packetCfg, 0);
data->flags.all = extractInt(&packetCfg, 2);
data->ecefXOrLat = extractSignedLong(&packetCfg, 4);
data->ecefYOrLon = extractSignedLong(&packetCfg, 8);
data->ecefZOrAlt = extractSignedLong(&packetCfg, 12);
data->ecefXOrLatHP = extractSignedChar(&packetCfg, 16);
data->ecefYOrLonHP = extractSignedChar(&packetCfg, 17);
data->ecefZOrAltHP = extractSignedChar(&packetCfg, 18);
data->fixedPosAcc = extractLong(&packetCfg, 20);
data->svinMinDur = extractLong(&packetCfg, 24);
data->svinAccLimit = extractLong(&packetCfg, 28);
return (true);
}
// Control Survey-In for NEO-M8P
bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
{
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+1
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@@ -861,6 +861,7 @@ public:
// Functions used for RTK and base station setup
bool getSurveyMode(uint16_t maxWait = defaultMaxWait); // Get the current TimeMode3 settings
bool getSurveyMode(UBX_CFG_TMODE3_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Get the current TimeMode3 settings
bool setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = defaultMaxWait); // Control survey in mode
bool setSurveyModeFull(uint8_t mode, uint32_t observationTime, float requiredAccuracy, uint16_t maxWait = defaultMaxWait); // Control survey in mode
bool enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = defaultMaxWait); // Begin Survey-In for NEO-M8P / ZED-F9x
src/u-blox_structs.h
+29
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@@ -1754,6 +1754,35 @@ typedef struct
} config2;
} UBX_CFG_ITFM_data_t;
// UBX-CFG-TMODE3 (0x06 0x71): Time Mode Settings 3
const uint16_t UBX_CFG_TMODE3_LEN = 40;
typedef struct
{
uint8_t version; // Message version (0x00 for this version)
uint8_t reserved1;
union
{
uint16_t all;
struct
{
uint16_t mode : 8; // Receiver Mode: 0 Disabled; 1 Survey In; 2 Fixed Mode (true ARP position information required); 3-255 Reserved
uint16_t lla : 1; // Position is given in LAT/LON/ALT (default is ECEF)
} bits;
} flags;
int32_t ecefXOrLat; // WGS84 ECEF X coordinate (or latitude) of the ARP position, depending on flags above: cm or deg*1e-7
int32_t ecefYOrLon; // WGS84 ECEF Y coordinate (or latitude) of the ARP position, depending on flags above: cm or deg*1e-7
int32_t ecefZOrAlt; // WGS84 ECEF Z coordinate (or altitude) of the ARP position, depending on flags above: cm
int8_t ecefXOrLatHP; // High-precision WGS84 ECEF X coordinate (or latitude) of the ARP position, depending on flags above: 0.1 mm or deg*1e-9
int8_t ecefYOrLonHP; // High-precision WGS84 ECEF Y coordinate (or longitude) of the ARP position, depending on flags above: 0.1 mm or deg*1e-9
int8_t ecefZOrAltHP; // High-precision WGS84 ECEF Z coordinate (or altitude) of the ARP position, depending on flags above: 0.1 mm
uint8_t reserved2;
uint32_t fixedPosAcc; // Fixed position 3D accuracy: 0.1 mm
uint32_t svinMinDur; // Survey-in minimum duration: s
uint32_t svinAccLimit; // Survey-in position accuracy limit: 0.1 mm
uint8_t reserved3[8];
} UBX_CFG_TMODE3_data_t;
// MON-specific structs
// UBX-MON-HW (0x0A 0x09): Hardware status