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Add getAopCfg and setAopCfg - for AssistNow Autonomous

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PaulZC
2021-11-29 17:11:15 +00:00
parent cc27ec2746
commit 611e086864
4 changed files with 90 additions and 21 deletions
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examples/AssistNow/README.md
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@@ -10,7 +10,7 @@ With AssistNow Online, an Internet connected host downloads assistance data from
Please see the [AssistNow_Online](./AssistNow_Online) examples for more details. These examples were written for the ESP32, but will run on other platforms too.
The new functions we've added to the library to support AssistNow Online are described [Code Support for AssistNow below](#Code-Support-for-AssistNow).
The new functions we've added to the library to support AssistNow Online are described [Support for AssistNow below](#Support-for-AssistNow).
## AssistNow<sup>TM</sup> Offline
@@ -20,7 +20,7 @@ Please see the [AssistNow_Offline](./AssistNow_Offline) examples for more detail
**Note: AssistNow Offline is not supported by the ZED-F9P. "The ZED-F9P supports AssistNow Online only."**
The new functions we've added to the library to support AssistNow Offline are described [Code Support for AssistNow below](#Code-Support-for-AssistNow).
The new functions we've added to the library to support AssistNow Offline are described [Support for AssistNow](#Support-for-AssistNow) and [Additional Support for AssistNow Offline](#Additional-Support-for-AssistNow-Offline).
## AssistNow<sup>TM</sup> Autonomous
@@ -37,7 +37,7 @@ AssistNow Autonomous offers augmentation for up to 6 days.
Please see the [AssistNow_Autonomous](./AssistNow_Autonomous) examples for more details.
The new functions we've added to the library to support AssistNow Autonomous are described [Code Support for AssistNow below](#Code-Support-for-AssistNow).
The new functions we've added to the library to support AssistNow Autonomous are described [Support for AssistNow Autonomous below](#Support-for-AssistNow-Autonomous).
## AssistNow Service Token
@@ -62,7 +62,23 @@ The _free_ AssistNow Developer token entitles you to:
The free token will expire after 90 days, but you can continue to use it beyond that by registering it on [Thingstream](https://portal.thingstream.io/).
## Code Support for AssistNow
## Initial Position Assistance
You can further decrease the time-to-first-fix by providing the receiver's approximate position - if known. There are two ways to do this:
* The position can be specified when requesting AssistNow Online data from the server:
* include the key name ```lat``` with the approximate user latitude in WGS 84 expressed in degrees and fractional degrees. Must be in range -90 to 90. Example: ```lat=47.2;```
* include the key name ```lon``` with the approximate user longitude in WGS 84 expressed in degrees and fractional degrees. Must be in range -180 to 180. Example: ```lon=8.55;```
* include the key name ```alt``` with the approximate user altitude above WGS 84 Ellipsoid in meters. If this value is not provided, the server assumes an altitude of 0 meters. Must be in range -1000 to 50000
* include the key name ```pacc``` with the approximate accuracy of submitted position in meters. If this value is not provided, the server assumes an accuracy of 300 km. Must be in range 0 to 6000000
* the position assistance data will then be automatically included in the AssistNow Online data
* Provide initial position assistance data by calling one of:
* <b>bool setPositionAssistanceXYZ(int32_t ecefX, int32_t ecefY, int32_t ecefZ, uint32_t posAcc, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait);</b>
* The units for ```ecefX/Y/Z``` and ```posAcc``` (stddev) are cm
* <b>bool setPositionAssistanceLLH(int32_t lat, int32_t lon, int32_t alt, uint32_t posAcc, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait);</b>
* The units for ```lat``` and ```lon``` are degrees * 1e-7 (WGS84). The units for ```alt``` (WGS84) and ```posAcc``` (stddev) are cm (not m)
## Support for AssistNow
```pushAssistNowData``` allows the AssistNow Online data or AssistNow Offline data from the u-blox server to be pushed to the module. As the ESP32 HTTP GET function returns a ```String```, we've included overloaded functions which allow you to pass the data as a ```String``` or as ```const uint8_t *```.
@@ -124,23 +140,7 @@ Only the ```year```, ```month```, ```day```, ```hour```, ```minute``` and ```sec
Call ```setUTCTimeAssistance``` _before_ ```pushAssistNowData```.
## Initial Position Assistance
You can further decrease the time-to-first-fix by also providing the receiver's position - if known. There are two ways to do this:
* The position can be specified when requesting AssistNow Online data from the server:
* include the key name ```lat``` with the approximate user latitude in WGS 84 expressed in degrees and fractional degrees. Must be in range -90 to 90. Example: ```lat=47.2;```
* include the key name ```lon``` with the approximate user longitude in WGS 84 expressed in degrees and fractional degrees. Must be in range -180 to 180. Example: ```lon=8.55;```
* include the key name ```alt``` with the approximate user altitude above WGS 84 Ellipsoid in meters. If this value is not provided, the server assumes an altitude of 0 meters. Must be in range -1000 to 50000
* if possible, include the key name ```pacc``` with the approximate accuracy of submitted position in meters. If this value is not provided, the server assumes an accuracy of 300 km. Must be in range 0 to 6000000
* the position assistance data will then be automatically included in the AssistNow Online data
* Provide initial position assistance data by calling one of:
* <b>bool setPositionAssistanceXYZ(int32_t ecefX, int32_t ecefY, int32_t ecefZ, uint32_t posAcc, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait);</b>
* The units for ```ecefX/Y/Z``` and ```posAcc``` (stddev) are cm
* <b>bool setPositionAssistanceLLH(int32_t lat, int32_t lon, int32_t alt, uint32_t posAcc, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait);</b>
* The units for ```lat``` and ```lon``` are degrees * 1e-7 (WGS84). The units for ```alt``` (WGS84) and ```posAcc``` (stddev) are cm (not m)
## Additional Code Support for AssistNow Offline
## Additional Support for AssistNow Offline
AssistNow Offline data downloaded from the u-blox server can contain 1-5 weeks of data. However, only the data for _today_ should be pushed the module. Sending data for past or future days will confuse the module.
```findMGAANOForDate``` can be used to find the location of the start of the UBX-MGA-ANO data for the specified date within the offline data. That location can then be passed to ```pushAssistNowData``` using the ```offset``` parameter.
@@ -161,3 +161,16 @@ The sequence of events is:
Again, call ```setUTCTimeAssistance``` _before_ ```pushAssistNowData```.
## Support for AssistNow Autonomous
AssistNow Autonomous is disabled by default. You can enable it by calling ```setAopCfg``` and check if it is enabled by calling ```getAopCfg```:
* <b>uint8_t getAopCfg(uint16_t maxWait);</b>
* <b>bool SFE_UBLOX_GNSS::setAopCfg(uint8_t aopCfg, uint16_t aopOrbMaxErr, uint16_t maxWait)</b>
```getAopCfg``` will return 1 if AssistNow Autonomous is enabled, 0 if disabled. 255 indicates an error or timeout.
```setAopCfg``` has two parameters:
* set ```aopCfg``` to 1 to enable AssistNow Autonomous, or 0 to disable it
* ```aopOrbMaxErr``` is used to set the 'lifetime' of the AssistNow data. It is recommended to set aopOrbMaxErr to 0 (the default value). This instructs the module to use the firmware default value that corresponds to a default orbit data validity of approximately three days (for GPS satellites observed once) and up to six days (for GPS and GLONASS satellites observed multiple times over a period of at least half a day).
keywords.txt
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@@ -172,6 +172,9 @@ setTimePulseParameters KEYWORD2
getAckAiding KEYWORD2
setAckAiding KEYWORD2
getAopCfg KEYWORD2
setAopCfg KEYWORD2
createKey KEYWORD2
getVal KEYWORD2
getVal8 KEYWORD2
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
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@@ -334,6 +334,12 @@ void SFE_UBLOX_GNSS::end(void)
packetUBXESFRAW = NULL; // Redundant?
}
if (packetUBXMGAACK != NULL)
{
delete packetUBXMGAACK;
packetUBXMGAACK = NULL; // Redundant?
}
if (packetUBXHNRATT != NULL)
{
if (packetUBXHNRATT->callbackData != NULL)
@@ -6026,6 +6032,48 @@ bool SFE_UBLOX_GNSS::setAckAiding(uint8_t ackAiding, uint16_t maxWait) // Set th
return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}
//AssistNow Autonomous support
//UBX-CFG-NAVX5 - get the AssistNow Autonomous configuration (aopCfg) - returns 255 if the sendCommand fails
uint8_t SFE_UBLOX_GNSS::getAopCfg(uint16_t maxWait)
{
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_NAVX5;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (255);
// Extract the aopCfg byte
// There are three versions of UBX-CFG-NAVX5 but aopCfg is always in byte 27
return (extractByte(&packetCfg, 27));
}
// Set the aopCfg byte and the aopOrdMaxErr word
bool SFE_UBLOX_GNSS::setAopCfg(uint8_t aopCfg, uint16_t aopOrbMaxErr, uint16_t maxWait)
{
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_NAVX5;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false);
// Set the aopCfg byte
// There are three versions of UBX-CFG-NAVX5 but aopCfg is always in byte 27 and aopOrbMaxErr is always in bytes 30 & 31
payloadCfg[27] = aopCfg;
payloadCfg[30] = (uint8_t)(aopOrbMaxErr & 0xFF); // aopOrbMaxErr LSB
payloadCfg[31] = (uint8_t)(aopOrbMaxErr >> 8); // aopOrbMaxErr MSB
// There are three versions of UBX-CFG-NAVX5 but the aop flag is always in bit 14 of mask1
payloadCfg[2] = 0x00; // Clear the LS byte of mask1
payloadCfg[3] = 0x40; // Set _only_ the aop flag = bit 14 of mask1 = bit 6 of the MS byte
payloadCfg[4] = 0x00; // Clear the LS byte of mask2, just in case
payloadCfg[5] = 0x00; // Clear the LS byte of mask2, just in case
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
src/SparkFun_u-blox_GNSS_Arduino_Library.h
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@@ -846,6 +846,11 @@ public:
uint8_t getAckAiding(uint16_t maxWait = defaultMaxWait); // Get the ackAiding byte - returns 255 if the sendCommand fails
bool setAckAiding(uint8_t ackAiding, uint16_t maxWait = defaultMaxWait); // Set the ackAiding byte
//AssistNow Autonomous support
//UBX-CFG-NAVX5 - get/set the aopCfg byte and set the aopOrdMaxErr word. If aopOrbMaxErr is 0 (default), the max orbit error is reset to the firmware default.
uint8_t getAopCfg(uint16_t maxWait = defaultMaxWait); // Get the AssistNow Autonomous configuration (aopCfg) - returns 255 if the sendCommand fails
bool setAopCfg(uint8_t aopCfg, uint16_t aopOrbMaxErr = 0, uint16_t maxWait = defaultMaxWait); // Set the aopCfg byte and the aopOrdMaxErr word
//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.