Merge pull request #2 from sparkfun/release_candidate

v2.0.1 : Adding time pulse examples
2021-01-14 09:12:40 +00:00
parent e3e9b83d4d c3c5c1f9ec
commit c31fe53a1e
7 changed files with 444 additions and 1 deletions
@@ -0,0 +1,120 @@
+/*
+  Time Pulse Parameters - Bullet Time (https://en.wikipedia.org/wiki/Bullet_time)
+  By: Paul Clark (PaulZC)
+  Date: January 13th, 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 change the time pulse parameters and configure the TIMEPULSE (PPS)
+  pin to produce a pulse once per second but with an adjustable delay. You could use this to
+  trigger multiple cameras and replicate the "bullet time" effect.
+
+  The SparkFun GPS-RTK-SMA Breakout - ZED-F9P (Qwiic) (https://www.sparkfun.com/products/16481)
+  has solder pads which will let you connect an SMA connector to the TIMEPULSE signal. Need an
+  accurate timelapse camera shutter signal? This is the product for you!
+
+  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;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println(F("SparkFun u-blox Example"));
+
+  Wire.begin();
+
+  //myGNSS.enableDebugging(); // Uncomment this line to enable debug messages
+
+  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)
+
+  // Create storage for the time pulse parameters
+  UBX_CFG_TP5_data_t timePulseParameters;
+
+  // Get the time pulse parameters
+  if (myGNSS.getTimePulseParameters(&timePulseParameters) == false)
+  {
+    Serial.println(F("getTimePulseParameters failed! Freezing..."));
+    while (1) ; // Do nothing more
+  }
+
+  // Print the CFG TP5 version
+  Serial.print(F("UBX_CFG_TP5 version: "));
+  Serial.println(timePulseParameters.version);
+
+  timePulseParameters.tpIdx = 0; // Select the TIMEPULSE pin
+  //timePulseParameters.tpIdx = 1; // Or we could select the TIMEPULSE2 pin instead, if the module has one
+
+  // We can configure the time pulse pin to produce a defined frequency or period
+  // Here is how to set the period:
+
+  // Let's say that we want our pulse-per-second to be as accurate as possible. So, let's tell the module
+  // to generate no signal while it is _locking_ to GNSS time. We want the signal to start only when the module is
+  // _locked_ to GNSS time.
+  timePulseParameters.freqPeriod = 0; // Set the frequency/period to zero
+  timePulseParameters.pulseLenRatio = 0; // Set the pulse ratio to zero
+
+  // When the module is _locked_ to GNSS time, make it generate a 0.1 second pulse once per second
+  timePulseParameters.freqPeriodLock = 1000000; // Set the period to 1,000,000 us
+  timePulseParameters.pulseLenRatioLock = 100000; // Set the pulse length to 0.1s (100,000 us)
+  timePulseParameters.flags.bits.polarity = 1; // Set the polarity to "1" (high for 0.1s, low for 0.9s, rising edge at top of second)
+
+  // We can use userConfigDelay to delay the pulse for each camera. The delay needs to be negative for this example.
+  // We can delay the pulse by +/- 2^31 nanoseconds (+/- 2.147 seconds)
+  //timePulseParameters.userConfigDelay = 0; // Camera 1: delay the pulse by 0ns
+  //timePulseParameters.userConfigDelay = -100000000; // Camera 2: delay the pulse by 0.1s (100,000,000 ns)
+  //timePulseParameters.userConfigDelay = -200000000; // Camera 3: delay the pulse by 0.2s (200,000,000 ns)
+  timePulseParameters.userConfigDelay = -300000000; // Camera 4: delay the pulse by 0.3s (300,000,000 ns)
+  //timePulseParameters.userConfigDelay = -400000000; // Camera 5: delay the pulse by 0.4s (400,000,000 ns)
+  //timePulseParameters.userConfigDelay = -500000000; // Camera 6: delay the pulse by 0.5s (500,000,000 ns)
+  //timePulseParameters.userConfigDelay = -600000000; // Camera 7: delay the pulse by 0.6s (600,000,000 ns)
+  //timePulseParameters.userConfigDelay = -700000000; // Camera 8: delay the pulse by 0.7s (700,000,000 ns)
+  //timePulseParameters.userConfigDelay = -800000000; // Camera 9: delay the pulse by 0.8s (800,000,000 ns)
+  //timePulseParameters.userConfigDelay = -900000000; // Camera 10: delay the pulse by 0.9s (900,000,000 ns)
+
+  timePulseParameters.flags.bits.active = 1; // Make sure the active flag is set to enable the time pulse. (Set to 0 to disable.)
+  timePulseParameters.flags.bits.lockedOtherSet = 1; // Tell the module to use freqPeriod while locking and freqPeriodLock when locked to GNSS time
+  timePulseParameters.flags.bits.isFreq = 0; // Tell the module that we want to set the period (not the frequency)
+  timePulseParameters.flags.bits.isLength = 1; // Tell the module that pulseLenRatio is a length (in us) - not a duty cycle
+
+  // Now set the time pulse parameters
+  if (myGNSS.setTimePulseParameters(&timePulseParameters) == false)
+  {
+    Serial.println(F("setTimePulseParameters failed!"));
+  }
+  else
+  {
+    Serial.println(F("Success!"));
+  }
+
+  // Finally, save the time pulse parameters in battery-backed memory so the pulse will automatically restart at power on
+  myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_NAVCONF); // Save the configuration
+}
+
+void loop()
+{
+  // Nothing to do here
+}
@@ -0,0 +1,101 @@
+/*
+  Time Pulse Parameters - Frequency
+  By: Paul Clark (PaulZC)
+  Date: January 13th, 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 change the time pulse parameters and configure the TIMEPULSE (PPS)
+  pin to produce a 1kHz squarewave
+
+  The SparkFun GPS-RTK-SMA Breakout - ZED-F9P (Qwiic) (https://www.sparkfun.com/products/16481)
+  has solder pads which will let you connect an SMA connector to the TIMEPULSE signal. Need an
+  accurate frequency or clock source for your latest project? This is the product for you!
+
+  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;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println(F("SparkFun u-blox Example"));
+
+  Wire.begin();
+
+  //myGNSS.enableDebugging(); // Uncomment this line to enable debug messages
+
+  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)
+
+  // Create storage for the time pulse parameters
+  UBX_CFG_TP5_data_t timePulseParameters;
+
+  // Get the time pulse parameters
+  if (myGNSS.getTimePulseParameters(&timePulseParameters) == false)
+  {
+    Serial.println(F("getTimePulseParameters failed! Freezing..."));
+    while (1) ; // Do nothing more
+  }
+
+  // Print the CFG TP5 version
+  Serial.print(F("UBX_CFG_TP5 version: "));
+  Serial.println(timePulseParameters.version);
+
+  timePulseParameters.tpIdx = 0; // Select the TIMEPULSE pin
+  //timePulseParameters.tpIdx = 1; // Or we could select the TIMEPULSE2 pin instead, if the module has one
+
+  // We can configure the time pulse pin to produce a defined frequency or period
+  // Here is how to set the frequency:
+
+  // While the module is _locking_ to GNSS time, make it generate 2kHz
+  timePulseParameters.freqPeriod = 2000; // Set the frequency/period to 2000Hz
+  timePulseParameters.pulseLenRatio = 0x55555555; // Set the pulse ratio to 1/3 * 2^32 to produce 33:67 mark:space
+
+  // When the module is _locked_ to GNSS time, make it generate 1kHz
+  timePulseParameters.freqPeriodLock = 1000; // Set the frequency/period to 1000Hz
+  timePulseParameters.pulseLenRatioLock = 0x80000000; // Set the pulse ratio to 1/2 * 2^32 to produce 50:50 mark:space
+
+  timePulseParameters.flags.bits.active = 1; // Make sure the active flag is set to enable the time pulse. (Set to 0 to disable.)
+  timePulseParameters.flags.bits.lockedOtherSet = 1; // Tell the module to use freqPeriod while locking and freqPeriodLock when locked to GNSS time
+  timePulseParameters.flags.bits.isFreq = 1; // Tell the module that we want to set the frequency (not the period)
+  timePulseParameters.flags.bits.isLength = 0; // Tell the module that pulseLenRatio is a ratio / duty cycle (* 2^-32) - not a length (in us)
+  timePulseParameters.flags.bits.polarity = 1; // Tell the module that we want the rising edge at the top of second. (Set to 0 for falling edge.)
+
+  // Now set the time pulse parameters
+  if (myGNSS.setTimePulseParameters(&timePulseParameters) == false)
+  {
+    Serial.println(F("setTimePulseParameters failed!"));
+  }
+  else
+  {
+    Serial.println(F("Success!"));
+  }
+}
+
+void loop()
+{
+  // Nothing to do here
+}
@@ -0,0 +1,108 @@
+/*
+  Time Pulse Parameters - Period
+  By: Paul Clark (PaulZC)
+  Date: January 13th, 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 change the time pulse parameters and configure the TIMEPULSE (PPS)
+  pin to produce a 1 second pulse every 30 seconds. What's really cool is that if you run this
+  example on two GNSS boards, the pulses are precisely synchronised!
+
+  The SparkFun GPS-RTK-SMA Breakout - ZED-F9P (Qwiic) (https://www.sparkfun.com/products/16481)
+  has solder pads which will let you connect an SMA connector to the TIMEPULSE signal. Need an
+  accurate timelapse camera shutter signal? This is the product for you!
+
+  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;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println(F("SparkFun u-blox Example"));
+
+  Wire.begin();
+
+  //myGNSS.enableDebugging(); // Uncomment this line to enable debug messages
+
+  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)
+
+  // Create storage for the time pulse parameters
+  UBX_CFG_TP5_data_t timePulseParameters;
+
+  // Get the time pulse parameters
+  if (myGNSS.getTimePulseParameters(&timePulseParameters) == false)
+  {
+    Serial.println(F("getTimePulseParameters failed! Freezing..."));
+    while (1) ; // Do nothing more
+  }
+
+  // Print the CFG TP5 version
+  Serial.print(F("UBX_CFG_TP5 version: "));
+  Serial.println(timePulseParameters.version);
+
+  timePulseParameters.tpIdx = 0; // Select the TIMEPULSE pin
+  //timePulseParameters.tpIdx = 1; // Or we could select the TIMEPULSE2 pin instead, if the module has one
+
+  // We can configure the time pulse pin to produce a defined frequency or period
+  // Here is how to set the period:
+
+  // Let's say that we want our 1 pulse every 30 seconds to be as accurate as possible. So, let's tell the module
+  // to generate no signal while it is _locking_ to GNSS time. We want the signal to start only when the module is
+  // _locked_ to GNSS time.
+  timePulseParameters.freqPeriod = 0; // Set the frequency/period to zero
+  timePulseParameters.pulseLenRatio = 0; // Set the pulse ratio to zero
+
+  // When the module is _locked_ to GNSS time, make it generate a 1 second pulse every 30 seconds
+  // (Although the period can be a maximum of 2^32 microseconds (over one hour), the upper limit appears to be around 33 seconds)
+  timePulseParameters.freqPeriodLock = 30000000; // Set the period to 30,000,000 us
+  timePulseParameters.pulseLenRatioLock = 1000000; // Set the pulse length to 1,000,000 us
+
+  timePulseParameters.flags.bits.active = 1; // Make sure the active flag is set to enable the time pulse. (Set to 0 to disable.)
+  timePulseParameters.flags.bits.lockedOtherSet = 1; // Tell the module to use freqPeriod while locking and freqPeriodLock when locked to GNSS time
+  timePulseParameters.flags.bits.isFreq = 0; // Tell the module that we want to set the period (not the frequency)
+  timePulseParameters.flags.bits.isLength = 1; // Tell the module that pulseLenRatio is a length (in us) - not a duty cycle
+  timePulseParameters.flags.bits.polarity = 1; // Tell the module that we want the rising edge at the top of second. (Set to 0 for falling edge.)
+
+  // Now set the time pulse parameters
+  if (myGNSS.setTimePulseParameters(&timePulseParameters) == false)
+  {
+    Serial.println(F("setTimePulseParameters failed!"));
+  }
+  else
+  {
+    Serial.println(F("Success!"));
+  }
+
+  // Finally, save the time pulse parameters in battery-backed memory so the pulse will automatically restart at power on
+  myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_NAVCONF); // Save the configuration
+}
+
+void loop()
+{
+  // Nothing to do here
+}
@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.0.0
+version=2.0.1
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C and Serial Communication with u-blox modules
@@ -4252,6 +4252,81 @@ boolean SFE_UBLOX_GNSS::resetIMUalignment(uint16_t maxWait)
  return (sendCommand(&packetCfg, maxWait, true) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }

+//Get the time pulse parameters using UBX_CFG_TP5
+boolean SFE_UBLOX_GNSS::getTimePulseParameters(UBX_CFG_TP5_data_t *data, uint16_t maxWait)
+{
+  if (data == NULL) // Check if the user forgot to include the data pointer
+    return (false); // Bail
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_TP5;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  // Extract the data
+  data->tpIdx = extractByte(&packetCfg, 0);
+  data->version = extractByte(&packetCfg, 1);
+  data->antCableDelay = extractSignedInt(&packetCfg, 4);
+  data->rfGroupDelay = extractSignedInt(&packetCfg, 6);
+  data->freqPeriod = extractLong(&packetCfg, 8);
+  data->freqPeriodLock = extractLong(&packetCfg, 12);
+  data->pulseLenRatio = extractLong(&packetCfg, 16);
+  data->pulseLenRatioLock = extractLong(&packetCfg, 20);
+  data->userConfigDelay = extractSignedLong(&packetCfg, 24);
+  data->flags.all = extractLong(&packetCfg, 28);
+
+  return(true);
+}
+
+//Set the time pulse parameters using UBX_CFG_TP5
+boolean SFE_UBLOX_GNSS::setTimePulseParameters(UBX_CFG_TP5_data_t *data, uint16_t maxWait)
+{
+  if (data == NULL) // Check if the user forgot to include the data pointer
+    return (false); // Bail
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_TP5;
+  packetCfg.len = UBX_CFG_TP5_LEN;
+  packetCfg.startingSpot = 0;
+
+  // Insert the data
+  payloadCfg[0] = data->tpIdx;
+  payloadCfg[1] = data->version;
+  payloadCfg[4] = data->antCableDelay & 0xFF; // Little Endian
+  payloadCfg[5] = data->antCableDelay >> 8;
+  payloadCfg[6] = data->rfGroupDelay & 0xFF; // Little Endian
+  payloadCfg[7] = data->rfGroupDelay >> 8;
+  payloadCfg[8] = data->freqPeriod & 0xFF; // Little Endian
+  payloadCfg[9] = (data->freqPeriod >> 8) & 0xFF;
+  payloadCfg[10] = (data->freqPeriod >> 16) & 0xFF;
+  payloadCfg[11] = (data->freqPeriod >> 24) & 0xFF;
+  payloadCfg[12] = data->freqPeriodLock & 0xFF; // Little Endian
+  payloadCfg[13] = (data->freqPeriodLock >> 8) & 0xFF;
+  payloadCfg[14] = (data->freqPeriodLock >> 16) & 0xFF;
+  payloadCfg[15] = (data->freqPeriodLock >> 24) & 0xFF;
+  payloadCfg[16] = data->pulseLenRatio & 0xFF; // Little Endian
+  payloadCfg[17] = (data->pulseLenRatio >> 8) & 0xFF;
+  payloadCfg[18] = (data->pulseLenRatio >> 16) & 0xFF;
+  payloadCfg[19] = (data->pulseLenRatio >> 24) & 0xFF;
+  payloadCfg[20] = data->pulseLenRatioLock & 0xFF; // Little Endian
+  payloadCfg[21] = (data->pulseLenRatioLock >> 8) & 0xFF;
+  payloadCfg[22] = (data->pulseLenRatioLock >> 16) & 0xFF;
+  payloadCfg[23] = (data->pulseLenRatioLock >> 24) & 0xFF;
+  payloadCfg[24] = data->userConfigDelay & 0xFF; // Little Endian
+  payloadCfg[25] = (data->userConfigDelay >> 8) & 0xFF;
+  payloadCfg[26] = (data->userConfigDelay >> 16) & 0xFF;
+  payloadCfg[27] = (data->userConfigDelay >> 24) & 0xFF;
+  payloadCfg[28] = data->flags.all & 0xFF; // Little Endian
+  payloadCfg[29] = (data->flags.all >> 8) & 0xFF;
+  payloadCfg[30] = (data->flags.all >> 16) & 0xFF;
+  payloadCfg[31] = (data->flags.all >> 24) & 0xFF;
+
+  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
@@ -645,6 +645,10 @@ public:
 	//Reset ESF automatic IMU-mount alignment
 	boolean resetIMUalignment(uint16_t maxWait = defaultMaxWait);

+	//Configure Time Pulse Parameters
+	boolean getTimePulseParameters(UBX_CFG_TP5_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Get the time pulse parameters using UBX_CFG_TP5
+	boolean setTimePulseParameters(UBX_CFG_TP5_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Set the time pulse parameters using UBX_CFG_TP5
+
 	//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.
@@ -1789,4 +1789,39 @@ typedef struct
  UBX_HNR_INS_data_t  *callbackData;
 } UBX_HNR_INS_t;

+// UBX-CFG-TP5 (0x06 0x31): Time pulse parameters
+const uint16_t UBX_CFG_TP5_LEN = 32;
+
+typedef struct
+{
+  uint8_t tpIdx; // Time pulse selection (0 = TIMEPULSE, 1 = TIMEPULSE2)
+  uint8_t version; // Message version (0x01 for this version)
+  uint8_t reserved1[2];
+  int16_t antCableDelay; // Antenna cable delay: ns
+  int16_t rfGroupDelay; // RF group delay: ns
+  uint32_t freqPeriod; // Frequency or period time, depending on setting of bit 'isFreq': Hz_or_us
+  uint32_t freqPeriodLock; // Frequency or period time when locked to GNSS time, only used if 'lockedOtherSet' is set: Hz_or_us
+  uint32_t pulseLenRatio; // Pulse length or duty cycle, depending on 'isLength': us_or_2^-32
+  uint32_t pulseLenRatioLock; // Pulse length or duty cycle when locked to GNSS time, only used if 'lockedOtherSet' is set: us_or_2^-32
+  int32_t userConfigDelay; // User-configurable time pulse delay: ns
+  union
+  {
+    uint32_t all;
+    struct
+    {
+      uint32_t active : 1; // If set enable time pulse; if pin assigned to another function, other function takes precedence.
+      uint32_t lockGnssFreq : 1; // If set, synchronize time pulse to GNSS as soon as GNSS time is valid. If not set, or before GNSS time is valid, use local clock.
+      uint32_t lockedOtherSet : 1; // If set the receiver switches between the timepulse settings given by 'freqPeriodLocked' & 'pulseLenLocked' and those given by 'freqPeriod' & 'pulseLen'.
+      uint32_t isFreq : 1; // If set 'freqPeriodLock' and 'freqPeriod' are interpreted as frequency, otherwise interpreted as period.
+      uint32_t isLength : 1; // If set 'pulseLenRatioLock' and 'pulseLenRatio' interpreted as pulse length, otherwise interpreted as duty cycle.
+      uint32_t alignToTow : 1; // Align pulse to top of second (period time must be integer fraction of 1s). Also set 'lockGnssFreq' to use this feature.
+      uint32_t polarity : 1; // Pulse polarity: 0: falling edge at top of second; 1: rising edge at top of second
+      uint32_t gridUtcGnss : 4; // Timegrid to use: 0: UTC; 1: GPS; 2: GLONASS; 3: BeiDou; 4: Galileo
+      uint32_t syncMode : 3; // Sync Manager lock mode to use:
+                             // 0: switch to 'freqPeriodLock' and 'pulseLenRatioLock' as soon as Sync Manager has an accurate time, never switch back to 'freqPeriod' and 'pulseLenRatio'
+                             // 1: switch to 'freqPeriodLock' and 'pulseLenRatioLock' as soon as Sync Manager has an accurate time, and switch back to 'freqPeriod' and 'pulseLenRatio' as soon as time gets inaccurate
+    } bits;
+  } flags;
+} UBX_CFG_TP5_data_t;
+
 #endif