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Merge pull request #168 from sparkfun/release_candidate

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v2.2.20
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Paul
2022-11-25 11:21:18 +00:00
committed by GitHub
parent 89ecefc29a e7e82f7459
commit b2f5f0f2bb
3 changed files with 114 additions and 35 deletions
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examples/ZED-F9P/Example23_getRXMRAWX/Example23_getRXMRAWX.ino
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@@ -0,0 +1,105 @@
/*
Polling RXM RAWX reports over I2C
By: Paul Clark
SparkFun Electronics
Date: November 25th, 2022
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example shows how to poll RXM RAWX reports from the u-blox module.
Feel like supporting open source hardware?
Buy a board from SparkFun!
ZED-F9P RTK2: https://www.sparkfun.com/products/15136
Hardware Connections:
Plug a Qwiic cable into the GPS 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 GPS
#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("SparkFun u-blox Example");
Wire.begin();
//myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
// Because we are polling RAWX, we need to increase the size of packetCfg.payload
// RAWX packets can be over 2K bytes so let's allocate 3K bytes
if (!myGNSS.setPacketCfgPayloadSize(3000))
{
Serial.println(F("setPacketCfgPayloadSize failed. You will not be able to poll RAWX data. Freezing."));
while (1); // Do nothing more
}
while (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
{
Serial.println(F("u-blox GNSS not detected at default I2C address. Retrying..."));
delay(1000);
}
Serial.println(F("u-blox GNSS detected."));
myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
myGNSS.setNavigationFrequency(1); //Produce one solution per second (RAWX produces a _lot_ of data!)
}
void loop()
{
if (myGNSS.getRXMRAWX()) // Poll RAWX data
{
// Print the RAWX data, using a pointer to the RXM RAWX data stored in packetUBXRXMRAWX
printRAWX(&myGNSS.packetUBXRXMRAWX->data);
}
}
void printRAWX(UBX_RXM_RAWX_data_t *ubxDataStruct)
{
Serial.println();
Serial.print(F("New RAWX data received. It contains "));
Serial.print(ubxDataStruct->header.numMeas); // Print numMeas (Number of measurements / blocks)
Serial.println(F(" data blocks:"));
for (uint8_t block = 0; block < ubxDataStruct->header.numMeas; block++) // For each block
{
Serial.print(F("GNSS ID: "));
if (ubxDataStruct->blocks[block].gnssId < 100) Serial.print(F(" ")); // Align the gnssId
if (ubxDataStruct->blocks[block].gnssId < 10) Serial.print(F(" ")); // Align the gnssId
Serial.print(ubxDataStruct->blocks[block].gnssId);
Serial.print(F(" SV ID: "));
if (ubxDataStruct->blocks[block].svId < 100) Serial.print(F(" ")); // Align the svId
if (ubxDataStruct->blocks[block].svId < 10) Serial.print(F(" ")); // Align the svId
Serial.print(ubxDataStruct->blocks[block].svId);
if (sizeof(double) == 8) // Check if our processor supports 64-bit double
{
// Convert prMes from uint8_t[8] to 64-bit double
// prMes is little-endian
double pseudorange;
memcpy(&pseudorange, &ubxDataStruct->blocks[block].prMes, 8);
Serial.print(F(" PR: "));
Serial.print(pseudorange, 3);
// Convert cpMes from uint8_t[8] to 64-bit double
// cpMes is little-endian
double carrierPhase;
memcpy(&carrierPhase, &ubxDataStruct->blocks[block].cpMes, 8);
Serial.print(F(" m CP: "));
Serial.print(carrierPhase, 3);
Serial.print(F(" cycles"));
}
Serial.println();
}
}
library.properties
+1 -1
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@@ -1,5 +1,5 @@
name=SparkFun u-blox GNSS Arduino Library
version=2.2.19
version=2.2.20
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
+8 -34
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@@ -10377,10 +10377,7 @@ bool SFE_UBLOX_GNSS::getNAVEOE(uint16_t maxWait)
}
else
{
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEOE: Polling"));
// }
// Note to self: NAV-EOE is "Periodic" (only). Not sure if it can be polled?
// The GPS is not automatically reporting navigation position so we have to poll explicitly
packetCfg.cls = UBX_CLASS_NAV;
@@ -10396,18 +10393,9 @@ bool SFE_UBLOX_GNSS::getNAVEOE(uint16_t maxWait)
if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
{
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEOE: data in packetCfg was OVERWRITTEN by another message (but that's OK)"));
// }
return (true);
}
// if (_printDebug == true)
// {
// _debugSerial->print(F("getEOE retVal: "));
// _debugSerial->println(statusString(retVal));
// }
return (false);
}
}
@@ -13487,14 +13475,14 @@ bool SFE_UBLOX_GNSS::initPacketUBXRXMCOR()
bool SFE_UBLOX_GNSS::getRXMSFRBX(uint16_t maxWait)
{
if (packetUBXRXMSFRBX == NULL)
initPacketUBXRXMSFRBX(); // Check that RAM has been allocated for the TM2 data
initPacketUBXRXMSFRBX(); // Check that RAM has been allocated for the SFRBX data
if (packetUBXRXMSFRBX == NULL) // Bail if the RAM allocation failed
return (false);
if (packetUBXRXMSFRBX->automaticFlags.flags.bits.automatic && packetUBXRXMSFRBX->automaticFlags.flags.bits.implicitUpdate)
{
// The GPS is automatically reporting, we just check whether we got unread data
checkUbloxInternal(&packetCfg, UBX_CLASS_TIM, UBX_TIM_TM2);
checkUbloxInternal(&packetCfg, UBX_CLASS_RXM, UBX_RXM_SFRBX);
return packetUBXRXMSFRBX->moduleQueried;
}
else if (packetUBXRXMSFRBX->automaticFlags.flags.bits.automatic && !packetUBXRXMSFRBX->automaticFlags.flags.bits.implicitUpdate)
@@ -13504,23 +13492,9 @@ bool SFE_UBLOX_GNSS::getRXMSFRBX(uint16_t maxWait)
}
else
{
// The GPS is not automatically reporting navigation position so we have to poll explicitly
packetCfg.cls = UBX_CLASS_RXM;
packetCfg.id = UBX_RXM_SFRBX;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// The data is parsed as part of processing the response
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
return (true);
if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
{
return (true);
}
// SFRBX is output-only. It cannot be polled...
// Strictly, getRXMSFRBX should be deprecated. But, to keep the library backward compatible, return(false) here.
// See issue #167 for details
return (false);
}
}
@@ -13679,14 +13653,14 @@ void SFE_UBLOX_GNSS::logRXMSFRBX(bool enabled)
bool SFE_UBLOX_GNSS::getRXMRAWX(uint16_t maxWait)
{
if (packetUBXRXMRAWX == NULL)
initPacketUBXRXMRAWX(); // Check that RAM has been allocated for the TM2 data
initPacketUBXRXMRAWX(); // Check that RAM has been allocated for the RAWX data
if (packetUBXRXMRAWX == NULL) // Bail if the RAM allocation failed
return (false);
if (packetUBXRXMRAWX->automaticFlags.flags.bits.automatic && packetUBXRXMRAWX->automaticFlags.flags.bits.implicitUpdate)
{
// The GPS is automatically reporting, we just check whether we got unread data
checkUbloxInternal(&packetCfg, UBX_CLASS_TIM, UBX_TIM_TM2);
checkUbloxInternal(&packetCfg, UBX_CLASS_RXM, UBX_RXM_RAWX);
return packetUBXRXMRAWX->moduleQueried;
}
else if (packetUBXRXMRAWX->automaticFlags.flags.bits.automatic && !packetUBXRXMRAWX->automaticFlags.flags.bits.implicitUpdate)