PlatformIO-Libs/SparkFunGNSS
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Add setMainTalkerID and setHighPrecisionMode

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This commit is contained in:
PaulZC
2022-01-13 10:38:20 +00:00
parent 34b982841a
commit a1814e32ab
5 changed files with 115 additions and 34 deletions
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examples/Automatic_NMEA/Example1_getLatestNMEAGPGGA/Example1_getLatestNMEAGPGGA.ino
+15 -17
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@@ -14,6 +14,10 @@
1 if the data is valid but is stale (you have read it before)
2 if the data is valid and fresh
If the module is using multiple GNSS constellations, the GGA message will be prefixed with Talker ID "GN" instead of "GP".
The library includes a getLatestNMEAGNGGA function too.
This example shows how to use both functions - and how to change the Talker ID so the GNGGA messages become GPGGA.
This example turns off all sentences except for GPGGA.
Feel like supporting open source hardware?
@@ -59,7 +63,13 @@ void setup()
myGNSS.disableNMEAMessage(UBX_NMEA_VTG, COM_PORT_I2C);
myGNSS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C); // Leave only GGA enabled at current navigation rate
//myGNSS.saveConfiguration(); //Optional: Save these settings to NVM
// Set the Main Talker ID to "GP". The NMEA GGA messages will be GPGGA instead of GNGGA
myGNSS.setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
//myGNSS.setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_DEFAULT); // Uncomment this line to restore the default main talker ID
myGNSS.setHighPrecisionMode(true); // Enable High Precision Mode - include extra decimal places in the GGA messages
//myGNSS.saveConfiguration(VAL_CFG_SUBSEC_IOPORT | VAL_CFG_SUBSEC_MSGCONF); //Optional: Save only the ioPort and message settings to NVM
Serial.println(F("Messages configured"));
@@ -81,20 +91,14 @@ void loop()
{
Serial.println(F("GPGGA data is available but is stale"));
}
else if (result == 2)
else // if (result == 2)
{
// Data contains .length and .nmea
Serial.print(F("NMEA: Length: "));
Serial.print(F("Latest GPGGA: Length: "));
Serial.print(data.length);
Serial.print(F("\tData: "));
Serial.println((const char *)data.nmea); // .nmea is printable (NULL-terminated)
}
else
{
Serial.print(F("result == "));
Serial.print(result);
Serial.println(F(". This should be impossible!"));
}
result = myGNSS.getLatestNMEAGNGGA(&data); // Get the latest GNGGA data (if any)
@@ -106,20 +110,14 @@ void loop()
{
Serial.println(F("GNGGA data is available but is stale"));
}
else if (result == 2)
else // if (result == 2)
{
// Data contains .length and .nmea
Serial.print(F("NMEA: Length: "));
Serial.print(F("Latest GNGGA: Length: "));
Serial.print(data.length);
Serial.print(F("\tData: "));
Serial.println((const char *)data.nmea); // .nmea is printable (NULL-terminated)
}
else
{
Serial.print(F("result == "));
Serial.print(result);
Serial.println(F(". This should be impossible!"));
}
delay(250);
}
keywords.txt
+21 -5
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@@ -446,11 +446,6 @@ initPacketUBXHNRPVT KEYWORD2
flushHNRPVT KEYWORD2
logHNRPVT KEYWORD2
setNMEALoggingMask KEYWORD2
getNMEALoggingMask KEYWORD2
setProcessNMEAMask KEYWORD2
getProcessNMEAMask KEYWORD2
setNavigationFrequency KEYWORD2
getNavigationFrequency KEYWORD2
setMeasurementRate KEYWORD2
@@ -559,6 +554,19 @@ getHNRroll KEYWORD2
getHNRpitch KEYWORD2
getHNRheading KEYWORD2
setNMEALoggingMask KEYWORD2
getNMEALoggingMask KEYWORD2
setProcessNMEAMask KEYWORD2
getProcessNMEAMask KEYWORD2
setMainTalkerID KEYWORD2
setHighPrecisionMode KEYWORD2
getLatestNMEAGPGGA KEYWORD2
setNMEAGPGGAcallback KEYWORD2
getLatestNMEAGNGGA KEYWORD2
setNMEAGNGGAcallback KEYWORD2
extractLong KEYWORD2
extractSignedLong KEYWORD2
extractInt KEYWORD2
@@ -745,3 +753,11 @@ SFE_UBLOX_MGA_ACK_INFOCODE_SIZE_MISMATCH LITERAL1
SFE_UBLOX_MGA_ACK_INFOCODE_NOT_STORED LITERAL1
SFE_UBLOX_MGA_ACK_INFOCODE_NOT_READY LITERAL1
SFE_UBLOX_MGA_ACK_INFOCODE_TYPE_UNKNOWN LITERAL1
SFE_UBLOX_MAIN_TALKER_ID_DEFAULT LITERAL1
SFE_UBLOX_MAIN_TALKER_ID_GP LITERAL1
SFE_UBLOX_MAIN_TALKER_ID_GL LITERAL1
SFE_UBLOX_MAIN_TALKER_ID_GN LITERAL1
SFE_UBLOX_MAIN_TALKER_ID_GA LITERAL1
SFE_UBLOX_MAIN_TALKER_ID_GB LITERAL1
SFE_UBLOX_MAIN_TALKER_ID_GQ LITERAL1
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+50
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@@ -1707,7 +1707,9 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
{
uint8_t *lengthPtr = getNMEAWorkingLengthPtr(); // Get a pointer to the working copy length
uint8_t *nmeaPtr = getNMEAWorkingNMEAPtr(); // Get a pointer to the working copy NMEA data
uint8_t nmeaMaxLength = getNMEAMaxLength();
*lengthPtr = 6; // Set the working copy length
memset(nmeaPtr, 0, nmeaMaxLength); // Clear the working copy
memcpy(nmeaPtr, &nmeaAddressField[0], 6); // Copy the start character and address field into the working copy
}
@@ -12020,6 +12022,54 @@ void SFE_UBLOX_GNSS::logHNRPVT(bool enabled)
// ***** Helper Functions for NMEA Logging / Processing
// Set the mainTalkerId used by NMEA messages - allows all NMEA messages except GSV to be prefixed with GP instead of GN
bool SFE_UBLOX_GNSS::setMainTalkerID(sfe_ublox_talker_ids_e id, uint16_t maxWait)
{
//Get the current extended NMEA protocol configuration (V1)
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_NMEA;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
//Ask module for the current settings. Loads into payloadCfg.
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false);
payloadCfg[9] = (uint8_t)id;
packetCfg.len = 20;
packetCfg.startingSpot = 0;
return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}
// Enable/Disable NMEA High Precision Mode - include extra decimal places in the Lat and Lon
bool SFE_UBLOX_GNSS::setHighPrecisionMode(bool enable, uint16_t maxWait)
{
//Get the current extended NMEA protocol configuration (V1)
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_NMEA;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
//Ask module for the current settings. Loads into payloadCfg.
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false);
if (enable)
{
payloadCfg[3] |= (1 << 3); // Set the highPrec flag
payloadCfg[3] &= ~((1 << 0) | (1 << 2)); // Clear the compat and limit82 flags
}
else
payloadCfg[3] &= ~(1 << 3); // Clear the highPrec flag
packetCfg.len = 20;
packetCfg.startingSpot = 0;
return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}
// Log selected NMEA messages to file buffer - if the messages are enabled and if the file buffer exists
// User needs to call setFileBufferSize before .begin
void SFE_UBLOX_GNSS::setNMEALoggingMask(uint32_t messages)
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+26 -9
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@@ -522,6 +522,18 @@ enum sfe_ublox_mga_ack_infocode_e
SFE_UBLOX_MGA_ACK_INFOCODE_TYPE_UNKNOWN
};
// The mainTalkerId, set by UBX-CFG-NMEA setMainTalkerID
enum sfe_ublox_talker_ids_e
{
SFE_UBLOX_MAIN_TALKER_ID_DEFAULT,
SFE_UBLOX_MAIN_TALKER_ID_GP,
SFE_UBLOX_MAIN_TALKER_ID_GL,
SFE_UBLOX_MAIN_TALKER_ID_GN,
SFE_UBLOX_MAIN_TALKER_ID_GA,
SFE_UBLOX_MAIN_TALKER_ID_GB,
SFE_UBLOX_MAIN_TALKER_ID_GQ
};
//-=-=-=-=-
#ifndef MAX_PAYLOAD_SIZE
@@ -1167,14 +1179,6 @@ public:
void flushHNRPVT(); //Mark all the data as read/stale
void logHNRPVT(bool enabled = true); // Log data to file buffer
// Helper functions for NMEA logging
void setNMEALoggingMask(uint32_t messages = SFE_UBLOX_FILTER_NMEA_ALL); // Add selected NMEA messages to file buffer - if enabled. Default to adding ALL messages to the file buffer
uint32_t getNMEALoggingMask(); // Return which NMEA messages are selected for logging to the file buffer - if enabled
// Helper functions to control which NMEA messages are passed to processNMEA
void setProcessNMEAMask(uint32_t messages = SFE_UBLOX_FILTER_NMEA_ALL); // Control which NMEA messages are passed to processNMEA. Default to passing ALL messages
uint32_t getProcessNMEAMask(); // Return which NMEA messages are passed to processNMEA
// Helper functions for CFG RATE
bool setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait); //Set the number of nav solutions sent per second
@@ -1323,8 +1327,21 @@ public:
float getHNRpitch(uint16_t maxWait = defaultMaxWait); // Returned as degrees
float getHNRheading(uint16_t maxWait = defaultMaxWait); // Returned as degrees
// Set the mainTalkerId used by NMEA messages - allows all NMEA messages except GSV to be prefixed with GP instead of GN
bool setMainTalkerID(sfe_ublox_talker_ids_e id = SFE_UBLOX_MAIN_TALKER_ID_DEFAULT, uint16_t maxWait = defaultMaxWait);
// Enable/Disable NMEA High Precision Mode - include extra decimal places in the Lat and Lon
bool setHighPrecisionMode(bool enable = true, uint16_t maxWait = defaultMaxWait);
// Helper functions for NMEA logging
void setNMEALoggingMask(uint32_t messages = SFE_UBLOX_FILTER_NMEA_ALL); // Add selected NMEA messages to file buffer - if enabled. Default to adding ALL messages to the file buffer
uint32_t getNMEALoggingMask(); // Return which NMEA messages are selected for logging to the file buffer - if enabled
// Helper functions to control which NMEA messages are passed to processNMEA
void setProcessNMEAMask(uint32_t messages = SFE_UBLOX_FILTER_NMEA_ALL); // Control which NMEA messages are passed to processNMEA. Default to passing ALL messages
uint32_t getProcessNMEAMask(); // Return which NMEA messages are passed to processNMEA
// Support for "auto" storage of NMEA messages
uint8_t getLatestNMEAGPGGA(NMEA_GGA_data_t *data); // Return the most recent GPGGA: 0 = no data, 1 = stale data, 2 = fresh data
bool setNMEAGPGGAcallback(void (*callbackPointer)(NMEA_GGA_data_t)); //Enable a callback on the arrival of a GPGGA message
uint8_t getLatestNMEAGNGGA(NMEA_GGA_data_t *data); // Return the most recent GNGGA: 0 = no data, 1 = stale data, 2 = fresh data
src/u-blox_structs.h
+3 -3
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@@ -2250,11 +2250,11 @@ struct nmeaAutomaticFlags
};
// The max length for NMEA messages should be 82 bytes, but GGA messages can exceed that if they include the
// extra decimal places for "High Precision".
// extra decimal places for "High Precision Mode".
//
// To be safe, let's allocate 90 bytes to store the GGA message
// To be safe, let's allocate 100 bytes to store the GGA message
const uint8_t NMEA_GGA_MAX_LENGTH = 90;
const uint8_t NMEA_GGA_MAX_LENGTH = 100;
typedef struct
{