getUnixEpoch() method added

examples/Example24_GetUnixEpochAndMicros/Example24_GetUnixEpochAndMicros.ino

@@ -0,0 +1,109 @@
+/*
+  Getting Unix Epoch Time and micros using u-blox commands
+  By: UT2UH
+  Date: March 30th, 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 query a u-blox module for the current time and date as Unix Epoch uint32_t type to avoid time.h dependency.
+  We also turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic dramatically.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  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 <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;
+
+#include <ezTime.h> //https://github.com/ropg/ezTime
+#include <WiFi.h>
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to u-blox module.
+
+uint32_t us;  //microseconds returned by getUnixEpoch()
+  
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun u-blox Example");
+
+  Wire.begin();
+  
+  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)
+  //myGNSS.saveConfiguration();        //Optional: Save the current settings to flash and BBR
+
+  Serial.println("Compare Unix Epoch given with reference one from https://www.epochconverter.com/");
+
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+
+    byte SIV = myGNSS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.print("  ");
+    Serial.print(myGNSS.getYear());
+    Serial.print("-");
+    Serial.print(myGNSS.getMonth());
+    Serial.print("-");
+    Serial.print(myGNSS.getDay());
+    Serial.print(" ");
+    Serial.print(myGNSS.getHour());
+    Serial.print(":");
+    Serial.print(myGNSS.getMinute());
+    Serial.print(":");
+    Serial.print(myGNSS.getSecond());
+    Serial.print("  makeTime(tm): ");
+    Serial.print(makeTime(myGNSS.getHour(), myGNSS.getMinute(), myGNSS.getSecond(), myGNSS.getDay(), myGNSS.getMonth(), myGNSS.getYear()));
+    Serial.print(" micros: ");
+    Serial.print((int32_t)(myGNSS.getNanosecond() / 1000));
+    Serial.print("  getUnixEpoch(micros): ");
+    Serial.print(myGNSS.getUnixEpoch(us));
+    Serial.print("  micros: ");
+    Serial.print(us, DEC);
+    
+    Serial.print("  Time is ");
+    if (myGNSS.getTimeValid() == false)
+    {
+      Serial.print("not ");
+    }
+    Serial.print("valid ");
+    if (myGNSS.getConfirmedTime() == false)
+    {
+      Serial.print("but not ");
+    } else {
+      Serial.print("and ");
+    }
+    Serial.print("confirmed");
+
+    Serial.println();
+  }
+}

keywords.txt

@@ -391,6 +391,7 @@ getMinute	KEYWORD2
 getSecond	KEYWORD2
 getMillisecond	KEYWORD2
 getNanosecond	KEYWORD2
+getUnixEpoch    KEYWORD2
 getDateValid	KEYWORD2
 getTimeValid	KEYWORD2
 getConfirmedDate	KEYWORD2
@@ -604,3 +605,5 @@ SFE_UBLOX_GNSS_ID_BEIDOU	LITERAL1
 SFE_UBLOX_GNSS_ID_IMES	LITERAL1
 SFE_UBLOX_GNSS_ID_QZSS	LITERAL1
 SFE_UBLOX_GNSS_ID_GLONASS	LITERAL1
+
+DAYS_SINCE_MONTH    LITERAL1

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -8867,6 +8867,45 @@ int32_t SFE_UBLOX_GNSS::getNanosecond(uint16_t maxWait)
   return (packetUBXNAVPVT->data.nano);
 }
 
+//Get the current Unix epoch - includes microseconds
+uint32_t SFE_UBLOX_GNSS::getUnixEpoch(uint32_t& microsecond, uint16_t maxWait)
+{
+  if (packetUBXNAVPVT == NULL) initPacketUBXNAVPVT(); //Check that RAM has been allocated for the PVT data
+  if (packetUBXNAVPVT == NULL) //Bail if the RAM allocation failed
+    return 0;
+
+  if (packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.confirmedTime == false)
+    getPVT(maxWait);
+  packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.confirmedTime = false;
+  packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.year = false;
+  packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.month = false;
+  packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.day = false;
+  packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.hour = false;
+  packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.min = false;
+  packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.sec = false;
+  packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.nano = false;
+  packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.all = false;
+  uint32_t t = 0;
+  if((bool)packetUBXNAVPVT->data.flags2.bits.confirmedTime)
+  {
+    // assemble time elements into time_t - credits to Thomas Roell @ https://github.com/GrumpyOldPizza
+    t = (uint32_t)(((((((packetUBXNAVPVT->data.year - 1970) * 365) + (((packetUBXNAVPVT->data.year - 1970) + 3) / 4)) + 
+                              DAYS_SINCE_MONTH[(packetUBXNAVPVT->data.year - 1970) & 3][packetUBXNAVPVT->data.month] +
+                            (packetUBXNAVPVT->data.day - 1)) * 24 +
+                          packetUBXNAVPVT->data.hour) * 60 +
+                        packetUBXNAVPVT->data.min) * 60 +
+                      packetUBXNAVPVT->data.sec);
+    int32_t us = packetUBXNAVPVT->data.nano / 1000;
+    microsecond = (uint32_t)us;
+    // ajust t if nano is negative
+    if(us < 0) {
+      microsecond = (uint32_t)(us + 1000000);
+      t--;
+    }
+  }
+  return t;
+}
+
 //Get the current date validity
 bool SFE_UBLOX_GNSS::getDateValid(uint16_t maxWait)
 {

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -454,6 +454,14 @@ typedef struct
 	bool moduleQueried;
 } moduleSWVersion_t;
 
+const uint16_t DAYS_SINCE_MONTH[4][16] = 
+{
+    {   0,   0,  31,  60,  91, 121, 152, 182, 213, 244, 274, 305, 335, 335, 335, 335 },
+    {   0,   0,  31,  59,  90, 120, 151, 181, 212, 243, 273, 304, 334, 334, 334, 334 },
+    {   0,   0,  31,  59,  90, 120, 151, 181, 212, 243, 273, 304, 334, 334, 334, 334 },
+    {   0,   0,  31,  59,  90, 120, 151, 181, 212, 243, 273, 304, 334, 334, 334, 334 },
+};
+
 class SFE_UBLOX_GNSS
 {
 public:
@@ -924,6 +932,7 @@ public:
 	uint8_t getSecond(uint16_t maxWait = defaultMaxWait);
 	uint16_t getMillisecond(uint16_t maxWait = defaultMaxWait);
 	int32_t getNanosecond(uint16_t maxWait = defaultMaxWait);
+	uint32_t getUnixEpoch(uint32_t& microsecond, uint16_t maxWait = defaultMaxWait);
 
 	bool getDateValid(uint16_t maxWait = defaultMaxWait);
 	bool getTimeValid(uint16_t maxWait = defaultMaxWait);