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Add setPositionAssistanceXYZ, setPositionAssistanceLLH and a new example.

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This commit is contained in:
PaulZC
2021-11-29 13:48:15 +00:00
parent 7e37bf6192
commit cc27ec2746
6 changed files with 443 additions and 3 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+110
View File
@@ -4281,6 +4281,116 @@ bool SFE_UBLOX_GNSS::setUTCTimeAssistance(uint16_t year, uint8_t month, uint8_t
return (pushAssistNowDataInternal(0, false, iniTimeUTC, 32, mgaAck, maxWait) == 1);
}
// Provide initial position assistance
// The units for ecefX/Y/Z and posAcc (stddev) are cm.
bool SFE_UBLOX_GNSS::setPositionAssistanceXYZ(int32_t ecefX, int32_t ecefY, int32_t ecefZ, uint32_t posAcc, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
{
uint8_t iniPosXYZ[28]; // Create the UBX-MGA-INI-POS_XYZ message by hand
memset(iniPosXYZ, 0x00, 28); // Set all unused / reserved bytes and the checksum to zero
iniPosXYZ[0] = UBX_SYNCH_1; // Sync char 1
iniPosXYZ[1] = UBX_SYNCH_2; // Sync char 2
iniPosXYZ[2] = UBX_CLASS_MGA; // Class
iniPosXYZ[3] = UBX_MGA_INI_POS_XYZ; // ID
iniPosXYZ[4] = 20; // Length LSB
iniPosXYZ[5] = 0x00; // Length MSB
iniPosXYZ[6] = 0x00; // type
iniPosXYZ[7] = 0x00; // version
union // Use a union to convert from int32_t to uint32_t
{
int32_t signedLong;
uint32_t unsignedLong;
} signedUnsigned;
signedUnsigned.signedLong = ecefX;
iniPosXYZ[10] = (uint8_t)(signedUnsigned.unsignedLong & 0xFF); // LSB
iniPosXYZ[11] = (uint8_t)((signedUnsigned.unsignedLong >> 8) & 0xFF);
iniPosXYZ[12] = (uint8_t)((signedUnsigned.unsignedLong >> 16) & 0xFF);
iniPosXYZ[13] = (uint8_t)(signedUnsigned.unsignedLong >> 24); // MSB
signedUnsigned.signedLong = ecefY;
iniPosXYZ[14] = (uint8_t)(signedUnsigned.unsignedLong & 0xFF); // LSB
iniPosXYZ[15] = (uint8_t)((signedUnsigned.unsignedLong >> 8) & 0xFF);
iniPosXYZ[16] = (uint8_t)((signedUnsigned.unsignedLong >> 16) & 0xFF);
iniPosXYZ[17] = (uint8_t)(signedUnsigned.unsignedLong >> 24); // MSB
signedUnsigned.signedLong = ecefZ;
iniPosXYZ[18] = (uint8_t)(signedUnsigned.unsignedLong & 0xFF); // LSB
iniPosXYZ[19] = (uint8_t)((signedUnsigned.unsignedLong >> 8) & 0xFF);
iniPosXYZ[20] = (uint8_t)((signedUnsigned.unsignedLong >> 16) & 0xFF);
iniPosXYZ[21] = (uint8_t)(signedUnsigned.unsignedLong >> 24); // MSB
iniPosXYZ[22] = (uint8_t)(posAcc & 0xFF); // LSB
iniPosXYZ[23] = (uint8_t)((posAcc >> 8) & 0xFF);
iniPosXYZ[24] = (uint8_t)((posAcc >> 16) & 0xFF);
iniPosXYZ[25] = (uint8_t)(posAcc >> 24); // MSB
for (uint8_t i = 2; i < 26; i++) // Calculate the checksum
{
iniPosXYZ[26] += iniPosXYZ[i];
iniPosXYZ[27] += iniPosXYZ[26];
}
// Return true if the one packet was pushed successfully
return (pushAssistNowDataInternal(0, false, iniPosXYZ, 28, mgaAck, maxWait) == 1);
}
// The units for lat and lon are degrees * 1e-7 (WGS84)
// The units for alt (WGS84) and posAcc (stddev) are cm.
bool SFE_UBLOX_GNSS::setPositionAssistanceLLH(int32_t lat, int32_t lon, int32_t alt, uint32_t posAcc, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
{
uint8_t iniPosLLH[28]; // Create the UBX-MGA-INI-POS_LLH message by hand
memset(iniPosLLH, 0x00, 28); // Set all unused / reserved bytes and the checksum to zero
iniPosLLH[0] = UBX_SYNCH_1; // Sync char 1
iniPosLLH[1] = UBX_SYNCH_2; // Sync char 2
iniPosLLH[2] = UBX_CLASS_MGA; // Class
iniPosLLH[3] = UBX_MGA_INI_POS_LLH; // ID
iniPosLLH[4] = 20; // Length LSB
iniPosLLH[5] = 0x00; // Length MSB
iniPosLLH[6] = 0x01; // type
iniPosLLH[7] = 0x00; // version
union // Use a union to convert from int32_t to uint32_t
{
int32_t signedLong;
uint32_t unsignedLong;
} signedUnsigned;
signedUnsigned.signedLong = lat;
iniPosLLH[10] = (uint8_t)(signedUnsigned.unsignedLong & 0xFF); // LSB
iniPosLLH[11] = (uint8_t)((signedUnsigned.unsignedLong >> 8) & 0xFF);
iniPosLLH[12] = (uint8_t)((signedUnsigned.unsignedLong >> 16) & 0xFF);
iniPosLLH[13] = (uint8_t)(signedUnsigned.unsignedLong >> 24); // MSB
signedUnsigned.signedLong = lon;
iniPosLLH[14] = (uint8_t)(signedUnsigned.unsignedLong & 0xFF); // LSB
iniPosLLH[15] = (uint8_t)((signedUnsigned.unsignedLong >> 8) & 0xFF);
iniPosLLH[16] = (uint8_t)((signedUnsigned.unsignedLong >> 16) & 0xFF);
iniPosLLH[17] = (uint8_t)(signedUnsigned.unsignedLong >> 24); // MSB
signedUnsigned.signedLong = alt;
iniPosLLH[18] = (uint8_t)(signedUnsigned.unsignedLong & 0xFF); // LSB
iniPosLLH[19] = (uint8_t)((signedUnsigned.unsignedLong >> 8) & 0xFF);
iniPosLLH[20] = (uint8_t)((signedUnsigned.unsignedLong >> 16) & 0xFF);
iniPosLLH[21] = (uint8_t)(signedUnsigned.unsignedLong >> 24); // MSB
iniPosLLH[22] = (uint8_t)(posAcc & 0xFF); // LSB
iniPosLLH[23] = (uint8_t)((posAcc >> 8) & 0xFF);
iniPosLLH[24] = (uint8_t)((posAcc >> 16) & 0xFF);
iniPosLLH[25] = (uint8_t)(posAcc >> 24); // MSB
for (uint8_t i = 2; i < 26; i++) // Calculate the checksum
{
iniPosLLH[26] += iniPosLLH[i];
iniPosLLH[27] += iniPosLLH[26];
}
// Return true if the one packet was pushed successfully
return (pushAssistNowDataInternal(0, false, iniPosLLH, 28, mgaAck, maxWait) == 1);
}
// Find the start of the AssistNow Offline (UBX_MGA_ANO) data for the chosen day
// The daysIntoFture parameter makes it easy to get the data for (e.g.) tomorrow based on today's date
// Returns numDataBytes if unsuccessful
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+7
View File
@@ -726,6 +726,13 @@ public:
#define defaultMGAINITIMEsource 0 // Set default source to none, i.e. on receipt of message (will be inaccurate!)
bool setUTCTimeAssistance(uint16_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t minute, uint8_t second, uint32_t nanos = 0, uint16_t tAccS = defaultMGAINITIMEtAccS, uint32_t tAccNs = defaultMGAINITIMEtAccNs, uint8_t source = defaultMGAINITIMEsource, sfe_ublox_mga_assist_ack_e mgaAck = SFE_UBLOX_MGA_ASSIST_ACK_NO, uint16_t maxWait = defaultMGAdelay);
// Provide initial position assistance
// The units for ecefX/Y/Z and posAcc (stddev) are cm.
bool setPositionAssistanceXYZ(int32_t ecefX, int32_t ecefY, int32_t ecefZ, uint32_t posAcc, sfe_ublox_mga_assist_ack_e mgaAck = SFE_UBLOX_MGA_ASSIST_ACK_NO, uint16_t maxWait = defaultMGAdelay);
// The units for lat and lon are degrees * 1e-7 (WGS84)
// The units for alt (WGS84) and posAcc (stddev) are cm.
bool setPositionAssistanceLLH(int32_t lat, int32_t lon, int32_t alt, uint32_t posAcc, sfe_ublox_mga_assist_ack_e mgaAck = SFE_UBLOX_MGA_ASSIST_ACK_NO, uint16_t maxWait = defaultMGAdelay);
// Find the start of the AssistNow Offline (UBX_MGA_ANO) data for the chosen day
// The daysIntoFture parameter makes it easy to get the data for (e.g.) tomorrow based on today's date
// Returns numDataBytes if unsuccessful