Merge pull request #1 from sparkfun/release_candidate

Release candidate update

README.md

@@ -87,6 +87,7 @@ If you would like to learn more about how this library works, including the big
 * [GPS-15005](https://www.sparkfun.com/products/15005) - SparkFun GPS-RTK Board - NEO-M8P-2 (Qwiic)
 * [GPS-15210](https://www.sparkfun.com/products/15210) - SparkFun GPS Breakout - Chip Antenna, SAM-M8Q (Qwiic)
 * [GPS-15193](https://www.sparkfun.com/products/15193) - SparkFun GPS Breakout - Chip Antenna, ZOE-M8Q (Qwiic)
+* [GPS-17285](https://www.sparkfun.com/products/17285) - SparkFun GPS Breakout - NEO-M9N, SMA (Qwiic)
 * [GPS-15733](https://www.sparkfun.com/products/15733) - SparkFun GPS Breakout - NEO-M9N, Chip Antenna (Qwiic)
 * [GPS-15712](https://www.sparkfun.com/products/15712) - SparkFun GPS Breakout - NEO-M9N, U.FL (Qwiic)
 * [GPS-16329](https://www.sparkfun.com/products/16329) - SparkFun GPS Dead Reckoning Breakout - NEO-M8U (Qwiic)

examples/Example24_GetUnixEpochAndMicros/Example24_GetUnixEpochAndMicros.ino

@@ -8,6 +8,8 @@
   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.
 
+  Note: this example works best on modules like the ZED_F9P. Modules like the ZOE_M8Q do not support confirmedTime.
+
   Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
 
   Feel like supporting open source hardware?
@@ -30,8 +32,6 @@ SFE_UBLOX_GNSS myGNSS;
 
 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);
@@ -48,6 +48,9 @@ void setup()
       ;
   }
 
+  // Uncomment the next line if you need to completely reset your module
+  //myGNSS.factoryDefault(); delay(5000); // Reset everything and wait while the module restarts
+
   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
 
@@ -63,11 +66,15 @@ void loop()
   {
     lastTime = millis(); //Update the timer
 
-    byte SIV = myGNSS.getSIV();
-    Serial.print(F(" SIV: "));
-    Serial.print(SIV);
+    // getUnixEpoch marks the PVT data as stale so you will get Unix time and PVT time on alternate seconds
+
+    uint32_t us;  //microseconds returned by getUnixEpoch()
+    uint32_t epoch = myGNSS.getUnixEpoch(us);
+    Serial.print("Unix Epoch: ");
+    Serial.print(epoch, DEC);
+    Serial.print("  micros: ");
+    Serial.println(us, DEC);
 
-    Serial.print("  ");
     Serial.print(myGNSS.getYear());
     Serial.print("-");
     Serial.print(myGNSS.getMonth());
@@ -79,10 +86,6 @@ void loop()
     Serial.print(myGNSS.getMinute());
     Serial.print(":");
     Serial.print(myGNSS.getSecond());
-    Serial.print("  getUnixEpoch(micros): ");
-    Serial.print(myGNSS.getUnixEpoch(us));
-    Serial.print("  micros: ");
-    Serial.print(us, DEC);
     
     Serial.print("  Time is ");
     if (myGNSS.getTimeValid() == false)
@@ -98,6 +101,8 @@ void loop()
     }
     Serial.print("confirmed");
 
-    Serial.println();
+    byte SIV = myGNSS.getSIV();
+    Serial.print(F("  SIV: "));
+    Serial.println(SIV);
   }
 }

examples/Example25_MeasurementAndNavigationRate/Example25_MeasurementAndNavigationRate.ino

@@ -0,0 +1,123 @@
+/*
+  Demonstrate get/setMeasurementRate and get/setNavigationRate
+  By: Paul Clark
+  SparkFun Electronics
+  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 slow down the measurement and navigation rates.
+  This should run on any GNSS module but has only been tested on the ZED_F9P and ZOE_M8Q.
+
+  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;
+
+unsigned long lastTime = 0; //Simple local timer. Used to calc the message interval.
+
+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
+
+  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);
+  }
+
+  // Uncomment the next line if you need to completely reset your module
+  //myGNSS.factoryDefault(); delay(5000); // Reset everything and wait while the module restarts
+
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  // Begin by printing the current measurement rate and navigation rate
+
+  uint16_t rate = myGNSS.getMeasurementRate(); //Get the measurement rate of this module
+  Serial.print("Current measurement interval (ms): ");
+  Serial.println(rate);
+
+  rate = myGNSS.getNavigationRate(); //Get the navigation rate of this module
+  Serial.print("Current navigation ratio (cycles): ");
+  Serial.println(rate);
+
+  // The measurement rate is the elapsed time between GNSS measurements, which defines the rate
+  // e.g. 100 ms => 10 Hz, 1000 ms => 1 Hz, 10000 ms => 0.1 Hz.
+  // Let's set the measurement rate (interval) to 5 seconds = 5000 milliseconds
+  if (myGNSS.setMeasurementRate(5000) == false)
+  {
+    Serial.println(F("Could not set the measurement rate. Freezing."));
+    while (1);
+  }
+
+  // setMeasurementRate will set i2cPollingWait to a quarter of the interval
+  // Let's override that so we can poll the module more frequently and avoid timeouts
+  myGNSS.setI2CpollingWait(25); // Set i2cPollingWait to 25ms
+
+  // The navigation rate is the ratio between the number of measurements and the number of navigation solutions
+  // e.g. 5 means five measurements for every navigation solution. Maximum value is 127
+  // Let's set the navigation rate (ratio) to 12 to produce a solution every minute
+  if (myGNSS.setNavigationRate(12) == false)
+  {
+    Serial.println(F("Could not set the navigation rate. Freezing."));
+    while (1);
+  }
+
+  // Another trick we can use is to mark the CFG RATE data as stale so we can be sure we read fresh data
+  myGNSS.packetUBXCFGRATE->moduleQueried.moduleQueried.all = 0; // Mark all of the CFG RATE data as stale
+
+  // Read and print the updated measurement rate and navigation rate
+
+  rate = myGNSS.getMeasurementRate(); //Get the measurement rate of this module
+  Serial.print("New measurement interval (ms): ");
+  Serial.println(rate);
+
+  rate = myGNSS.getNavigationRate(); //Get the navigation rate of this module
+  Serial.print("New navigation ratio (cycles): ");
+  Serial.println(rate);
+
+  lastTime = millis();
+}
+
+void loop()
+{
+  // i2cPollingWait will prevent us from thrashing the I2C bus
+
+  if (myGNSS.getPVT()) //Check for new Position, Velocity, Time data. getPVT returns true if new data is available.
+  {    
+      long latitude = myGNSS.getLatitude();
+      Serial.print(F("Lat: "));
+      Serial.print(latitude);
+
+      long longitude = myGNSS.getLongitude();
+      Serial.print(F(" Long: "));
+      Serial.print(longitude);
+
+      //Calculate the interval since the last message
+      Serial.print(F(" Interval: "));
+      Serial.print(((float)(millis() - lastTime)) / 1000.0, 2);
+      Serial.print(F("s"));
+
+      Serial.println();
+
+      lastTime = millis(); //Update lastTime
+  }
+}

keywords.txt

@@ -84,6 +84,8 @@ setFileBufferSize	KEYWORD2
 extractFileBufferData	KEYWORD2
 fileBufferAvailable	KEYWORD2
 getMaxFileBufferAvail	KEYWORD2
+clearFileBuffer	KEYWORD2
+clearMaxFileBufferAvail	KEYWORD2
 
 getPortSettings	KEYWORD2
 setPortOutput	KEYWORD2
@@ -369,6 +371,10 @@ logHNRPVT	KEYWORD2
 
 setNavigationFrequency	KEYWORD2
 getNavigationFrequency	KEYWORD2
+setMeasurementRate	KEYWORD2
+getMeasurementRate	KEYWORD2
+setNavigationRate	KEYWORD2
+getNavigationRate	KEYWORD2
 
 getGeometricDOP	KEYWORD2
 getPositionDOP	KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.0.2
+version=2.0.4
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -3055,6 +3055,20 @@ uint16_t SFE_UBLOX_GNSS::getMaxFileBufferAvail(void)
   return (fileBufferMaxAvail);
 }
 
+// Clear the file buffer - discard all contents
+void SFE_UBLOX_GNSS::clearFileBuffer(void)
+{
+  if (fileBufferSize == 0) // Bail if the user has not called setFileBufferSize (probably redundant)
+    return;
+  fileBufferTail = fileBufferHead;
+}
+
+// Reset fileBufferMaxAvail
+void SFE_UBLOX_GNSS::clearMaxFileBufferAvail(void)
+{
+  fileBufferMaxAvail = 0;
+}
+
 // PRIVATE: Create the file buffer. Called by .begin
 boolean SFE_UBLOX_GNSS::createFileBuffer(void)
 {
@@ -8569,7 +8583,7 @@ boolean SFE_UBLOX_GNSS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait
   //Adjust the I2C polling timeout based on update rate
   i2cPollingWait = 1000 / (((int)navFreq) * 4); //This is the number of ms to wait between checks for new I2C data
 
-  //Query the module for the latest lat/long
+  //Query the module
   packetCfg.cls = UBX_CLASS_CFG;
   packetCfg.id = UBX_CFG_RATE;
   packetCfg.len = 0;
@@ -8606,6 +8620,79 @@ uint8_t SFE_UBLOX_GNSS::getNavigationFrequency(uint16_t maxWait)
   return (measurementRate);
 }
 
+//Set the elapsed time between GNSS measurements in milliseconds, which defines the rate
+boolean SFE_UBLOX_GNSS::setMeasurementRate(uint16_t rate, uint16_t maxWait)
+{
+  //Adjust the I2C polling timeout based on update rate
+  i2cPollingWait = rate / 4; //This is the number of ms to wait between checks for new I2C data
+
+  //Query the module
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RATE;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //This will load the payloadCfg array with current settings of the given register
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);                                                       //If command send fails then bail
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[0] = rate & 0xFF; //measRate LSB
+  payloadCfg[1] = rate >> 8;   //measRate MSB
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Return the elapsed time between GNSS measurements in milliseconds, which defines the rate
+uint16_t SFE_UBLOX_GNSS::getMeasurementRate(uint16_t maxWait)
+{
+  if (packetUBXCFGRATE == NULL) initPacketUBXCFGRATE(); //Check that RAM has been allocated for the RATE data
+  if (packetUBXCFGRATE == NULL) //Bail if the RAM allocation failed
+    return 0;
+
+  if (packetUBXCFGRATE->moduleQueried.moduleQueried.bits.measRate == false)
+    getNavigationFrequencyInternal(maxWait);
+  packetUBXCFGRATE->moduleQueried.moduleQueried.bits.measRate = false; //Since we are about to give this to user, mark this data as stale
+  packetUBXCFGRATE->moduleQueried.moduleQueried.bits.all = false;
+
+  return (packetUBXCFGRATE->data.measRate);
+}
+
+//Set the ratio between the number of measurements and the number of navigation solutions. Unit is cycles. Max is 127.
+boolean SFE_UBLOX_GNSS::setNavigationRate(uint16_t rate, uint16_t maxWait)
+{
+  //Query the module
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RATE;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //This will load the payloadCfg array with current settings of the given register
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);                                                       //If command send fails then bail
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[2] = rate & 0xFF; //navRate LSB
+  payloadCfg[3] = rate >> 8;   //navRate MSB
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Return the ratio between the number of measurements and the number of navigation solutions. Unit is cycles
+uint16_t SFE_UBLOX_GNSS::getNavigationRate(uint16_t maxWait)
+{
+  if (packetUBXCFGRATE == NULL) initPacketUBXCFGRATE(); //Check that RAM has been allocated for the RATE data
+  if (packetUBXCFGRATE == NULL) //Bail if the RAM allocation failed
+    return 0;
+
+  if (packetUBXCFGRATE->moduleQueried.moduleQueried.bits.navRate == false)
+    getNavigationFrequencyInternal(maxWait);
+  packetUBXCFGRATE->moduleQueried.moduleQueried.bits.navRate = false; //Since we are about to give this to user, mark this data as stale
+  packetUBXCFGRATE->moduleQueried.moduleQueried.bits.all = false;
+
+  return (packetUBXCFGRATE->data.navRate);
+}
+
 // ***** DOP Helper Functions
 
 uint16_t SFE_UBLOX_GNSS::getGeometricDOP(uint16_t maxWait)
@@ -8897,7 +8984,7 @@ uint32_t SFE_UBLOX_GNSS::getUnixEpoch(uint32_t& microsecond, uint16_t maxWait)
                       packetUBXNAVPVT->data.sec);
     int32_t us = packetUBXNAVPVT->data.nano / 1000;
     microsecond = (uint32_t)us;
-    // ajust t if nano is negative
+    // adjust t if nano is negative
     if(us < 0) {
       microsecond = (uint32_t)(us + 1000000);
       t--;
@@ -9664,7 +9751,7 @@ boolean SFE_UBLOX_GNSS::getSensorFusionMeasurement(UBX_ESF_MEAS_sensorData_t *se
   if (packetUBXESFMEAS == NULL) //Bail if the RAM allocation failed
     return (false);
 
-  if (packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data & (1 << sensor) == 0)
+  if (packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data & ((1 << sensor) == 0))
     getESFMEAS(maxWait);
   packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data &= ~(1 << sensor); //Since we are about to give this to user, mark this data as stale
   packetUBXESFMEAS->moduleQueried.moduleQueried.bits.all = false;
@@ -9684,7 +9771,7 @@ boolean SFE_UBLOX_GNSS::getRawSensorMeasurement(UBX_ESF_RAW_sensorData_t *sensor
   if (packetUBXESFRAW == NULL) //Bail if the RAM allocation failed
     return (false);
 
-  if (packetUBXESFRAW->moduleQueried.moduleQueried.bits.data & (1 << sensor) == 0)
+  if (packetUBXESFRAW->moduleQueried.moduleQueried.bits.data & ((1 << sensor) == 0))
     getESFRAW(maxWait);
   packetUBXESFRAW->moduleQueried.moduleQueried.bits.data &= ~(1 << sensor); //Since we are about to give this to user, mark this data as stale
   packetUBXESFRAW->moduleQueried.moduleQueried.bits.all = false;
@@ -9706,7 +9793,7 @@ boolean SFE_UBLOX_GNSS::getSensorFusionStatus(UBX_ESF_STATUS_sensorStatus_t *sen
   if (packetUBXESFSTATUS == NULL) //Bail if the RAM allocation failed
     return (false);
 
-  if (packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.status & (1 << sensor) == 0)
+  if (packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.status & ((1 << sensor) == 0))
     getESFSTATUS(maxWait);
   packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.status &= ~(1 << sensor); //Since we are about to give this to user, mark this data as stale
   packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.all = false;

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -567,6 +567,8 @@ public:
 	uint16_t extractFileBufferData(uint8_t *destination, uint16_t numBytes); // Extract numBytes of data from the file buffer. Copy it to destination. It is the user's responsibility to ensure destination is large enough.
 	uint16_t fileBufferAvailable(void);		// Returns the number of bytes available in file buffer which are waiting to be read
 	uint16_t getMaxFileBufferAvail(void);	// Returns the maximum number of bytes which the file buffer has contained. Handy for checking the buffer is large enough to handle all the incoming data.
+	void clearFileBuffer(void);				// Empty the file buffer - discard all contents
+	void clearMaxFileBufferAvail(void);		// Reset fileBufferMaxAvail
 
 	// Specific commands
 
@@ -904,6 +906,10 @@ public:
 
 	boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait);	//Set the number of nav solutions sent per second
 	uint8_t getNavigationFrequency(uint16_t maxWait = defaultMaxWait);					//Get the number of nav solutions sent per second currently being output by module
+	boolean setMeasurementRate(uint16_t rate, uint16_t maxWait = defaultMaxWait);		//Set the elapsed time between GNSS measurements in milliseconds, which defines the rate
+	uint16_t getMeasurementRate(uint16_t maxWait = defaultMaxWait);					 	//Return the elapsed time between GNSS measurements in milliseconds
+	boolean setNavigationRate(uint16_t rate, uint16_t maxWait = defaultMaxWait);		//Set the ratio between the number of measurements and the number of navigation solutions. Unit is cycles. Max is 127
+	uint16_t getNavigationRate(uint16_t maxWait = defaultMaxWait);					 	//Return the ratio between the number of measurements and the number of navigation solutions. Unit is cycles
 
 	// Helper functions for DOP
 
@@ -1175,7 +1181,7 @@ private:
 	//Limit checking of new data to every X ms
 	//If we are expecting an update every X Hz then we should check every half that amount of time
 	//Otherwise we may block ourselves from seeing new data
-	uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency() or setHNRNavigationRate()
+	uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency() or setHNRNavigationRate() or setMeasurementRate()
 
 	unsigned long lastCheck = 0;