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Add auto support for NAV SAT. Add NAV SAT callback example. Add final AssistNow Autonomous examples.

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PaulZC
2021-12-01 12:16:31 +00:00
parent 235df31840
commit ef5abaccbd
11 changed files with 1117 additions and 51 deletions
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examples/AssistNow/AssistNow_Autonomous/Example1_AssistNowAutonomous/Example1_AssistNowAutonomous.ino
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/*
Monitor AssistNow Autonomous data collection
By: SparkFun Electronics / Paul Clark
Date: November 29th, 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 enable and monitor AssistNow Autonomous data collection by the module.
A callback is used to monitor AssistNow Autonomous data availability for each satellite.
A second callback is used to print the AOPSTATUS status.
If your GNSS board has battery-backup for the RAM - and all SparkFun boards do! - then you can:
wait until the module has AssistNow Autonomous data for a few satellites;
power-cycle the board;
watch how fast it gets its first fix!
Note: this example will only work on boards which have plenty of RAM available.
The UBX-NAV-SAT information occupies several kBytes.
Feel like supporting open source hardware?
Buy a board from SparkFun!
SparkFun Thing Plus - ESP32 WROOM: https://www.sparkfun.com/products/15663
ZED-F9P RTK2: https://www.sparkfun.com/products/16481
SparkFun GPS Breakout - ZOE-M8Q (Qwiic): https://www.sparkfun.com/products/15193
Hardware Connections:
Plug a Qwiic cable into the GNSS and a ESP32 Thing Plus
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 <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GNSS myGNSS;
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: printSATdata will be called when new NAV SAT data arrives
// See u-blox_structs.h for the full definition of UBX_NAV_SAT_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVSATcallback
// / _____ This _must_ be UBX_NAV_SAT_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printSATdata(UBX_NAV_SAT_data_t ubxDataStruct)
{
//Serial.println();
Serial.print(F("UBX-NAV-SAT contains data for "));
Serial.print(ubxDataStruct.header.numSvs);
if (ubxDataStruct.header.numSvs == 1)
Serial.println(F(" SV"));
else
Serial.println(F(" SVs"));
uint16_t numAopAvail = 0; // Count how many SVs have AssistNow Autonomous data available
for (uint16_t block = 0; block < ubxDataStruct.header.numSvs; block++) // For each SV
{
if (ubxDataStruct.blocks[block].flags.bits.aopAvail == 1) // If the aopAvail bit is set
numAopAvail++; // Increment the number of SVs
}
Serial.print(F("AssistNow Autonomous data is available for "));
Serial.print(numAopAvail);
if (numAopAvail == 1)
Serial.println(F(" SV"));
else
Serial.println(F(" SVs"));
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: printAOPstatus will be called when new NAV AOPSTATUS data arrives
// See u-blox_structs.h for the full definition of UBX_NAV_AOPSTATUS_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVAOPSTATUScallback
// / _____ This _must_ be UBX_NAV_AOPSTATUS_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printAOPstatus(UBX_NAV_AOPSTATUS_data_t ubxDataStruct)
{
//Serial.println();
Serial.print(F("AOPSTATUS status is "));
Serial.println(ubxDataStruct.status);
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: printPVTdata will be called when new NAV PVT data arrives
// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setAutoPVTcallback
// / _____ This _must_ be UBX_NAV_PVT_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
{
// Print the UBX-NAV-PVT data so we can see how quickly the fixType goes to 3D
Serial.println();
long latitude = ubxDataStruct.lat; // Print the latitude
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = ubxDataStruct.lon; // Print the longitude
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte fixType = ubxDataStruct.fixType; // Print the fix type
Serial.print(F(" Fix: "));
if(fixType == 0) Serial.print(F("No fix"));
else if(fixType == 1) Serial.print(F("Dead reckoning"));
else if(fixType == 2) Serial.print(F("2D"));
else if(fixType == 3) Serial.print(F("3D"));
else if(fixType == 4) Serial.print(F("GNSS + Dead reckoning"));
else if(fixType == 5) Serial.print(F("Time only"));
Serial.println();
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
void setup()
{
delay(1000);
Serial.begin(115200);
Serial.println(F("AssistNow Example"));
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Start I2C. Connect to the GNSS.
Wire.begin(); //Start I2C
//myGNSS.enableDebugging(Serial, true); // Uncomment this line to see the 'major' debug messages on Serial
if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
Serial.println(F("u-blox module connected"));
myGNSS.setI2COutput(COM_TYPE_UBX); //Turn off NMEA noise
myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Enable AssistNow Autonomous data collection.
if (myGNSS.setAopCfg(1) == true)
{
Serial.println(F("aopCfg enabled"));
}
else
{
Serial.println(F("Could not enable aopCfg. Please check wiring. Freezing."));
while (1);
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Enable automatic UBX-NAV-SAT and UBX-NAV-AOPSTATUS messages and set up the callbacks
myGNSS.setNavigationFrequency(1); //Produce one solution per second
myGNSS.setAutoNAVSATcallback(&printSATdata); // Enable automatic NAV SAT messages with callback to printSATdata
myGNSS.setAutoAOPSTATUScallback(&printAOPstatus); // Enable automatic NAV AOPSTATUS messages with callback to printAOPstatus
myGNSS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
void loop()
{
myGNSS.checkUblox(); // Check for the arrival of new data and process it.
myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
Serial.print(".");
delay(50);
}
examples/AssistNow/AssistNow_Autonomous/Example1_AssistNowAutonomous_Read/Example1_AssistNowAutonomous_Read.ino → examples/AssistNow/AssistNow_Autonomous/Example2_AssistNowAutonomous_DatabaseRead/Example2_AssistNowAutonomous_DatabaseRead.ino
+88 -35
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@@ -1,5 +1,5 @@
/*
Read the AssistNow Autonomous data from the module
Read the AssistNow Autonomous database from the module
By: SparkFun Electronics / Paul Clark
Date: November 29th, 2021
License: MIT. See license file for more information but you can
@@ -8,8 +8,7 @@
This example shows how to enable, check the status of, and read the AssistNow Autonomous data from the module.
Note: this example will only work on boards which have plenty of RAM available.
The database can be several kBytes in length and needs to be stored twice:
once inside the library (by readNavigationDatabase); and again in this example code.
The database can be several kBytes in length.
Feel like supporting open source hardware?
Buy a board from SparkFun!
@@ -28,6 +27,59 @@ SFE_UBLOX_GNSS myGNSS;
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: printSATdata will be called when new NAV SAT data arrives
// See u-blox_structs.h for the full definition of UBX_NAV_SAT_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVSATcallback
// / _____ This _must_ be UBX_NAV_SAT_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printSATdata(UBX_NAV_SAT_data_t ubxDataStruct)
{
Serial.println();
Serial.print(F("UBX-NAV-SAT contains data for "));
Serial.print(ubxDataStruct.header.numSvs);
if (ubxDataStruct.header.numSvs == 1)
Serial.println(F(" SV"));
else
Serial.println(F(" SVs"));
uint16_t numAopAvail = 0; // Count how many SVs have AssistNow Autonomous data available
for (uint16_t block = 0; block < ubxDataStruct.header.numSvs; block++) // For each SV
{
if (ubxDataStruct.blocks[block].flags.bits.aopAvail == 1) // If the aopAvail bit is set
numAopAvail++; // Increment the number of SVs
}
Serial.print(F("AssistNow Autonomous data is available for "));
Serial.print(numAopAvail);
if (numAopAvail == 1)
Serial.println(F(" SV"));
else
Serial.println(F(" SVs"));
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: printAOPstatus will be called when new NAV AOPSTATUS data arrives
// See u-blox_structs.h for the full definition of UBX_NAV_AOPSTATUS_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVAOPSTATUScallback
// / _____ This _must_ be UBX_NAV_AOPSTATUS_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printAOPstatus(UBX_NAV_AOPSTATUS_data_t ubxDataStruct)
{
//Serial.println();
Serial.print(F("AOPSTATUS status is "));
Serial.println(ubxDataStruct.status);
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
void setup()
{
delay(1000);
@@ -69,39 +121,40 @@ void setup()
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Keep calling getAOPSTATUSstatus until it returns zero (indicating AssistNow Autonomous data collection is complete)
// or the user presses a key
// Enable automatic UBX-NAV-SAT and UBX-NAV-AOPSTATUS messages and set up the callbacks
Serial.println(F("AssistNow Autonomous data collection is in progress. Press any key to quit."));
Serial.println(F("NAV AOPSTATUS status indicates when the AssistNow Autonomous subsystem is idle (0) or running (not 0)."));
myGNSS.setNavigationFrequency(1); //Produce one solution per second
bool keepGoing = true;
int zerosSeen = 0; // Keep track of how many times aopStatus has been zero
while (Serial.available()) Serial.read(); // Empty the serial buffer
while (keepGoing && !Serial.available()) // Wait for keepGoing to go false, or for the arrival of a keypress
{
delay(1000);
uint8_t aopStatus = myGNSS.getAOPSTATUSstatus();
Serial.print(F("NAV AOPSTATUS status is: "));
Serial.println(aopStatus);
if (aopStatus == 0) // aopStatus will be zero when the AssistNow Autonomous subsystem is idle - i.e. data collection is complete
{
zerosSeen++; // Keep track of how long aopStatus has been zero
if (zerosSeen >= 30)
keepGoing = false; // Stop after seeing 30 consecutive zeros
}
else
{
zerosSeen = 0; // Reset the number of zeros seen
}
}
if (!keepGoing)
Serial.println(F("AssistNow Autonomous data collection is complete!"));
myGNSS.setAutoNAVSATcallback(&printSATdata); // Enable automatic NAV SAT messages with callback to printSATdata
myGNSS.setAutoAOPSTATUScallback(&printAOPstatus); // Enable automatic NAV AOPSTATUS messages with callback to printAOPstatus
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Read the AssistNow Autonomous data from the module and pretty-print it (so it can be copied and pasted into Example2)
// Keep displaying NAV SAT and AOPSTATUS until the user presses a key
Serial.println(F("AssistNow Autonomous data collection is in progress. Press any key to quit and read the database."));
while (Serial.available()) Serial.read(); // Empty the serial buffer
while (!Serial.available()) // Wait for the arrival of a keypress
{
myGNSS.checkUblox(); // Check for the arrival of new data and process it.
myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
Serial.print(".");
delay(50);
}
Serial.println();
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Disable the automatic UBX-NAV-SAT and UBX-NAV-AOPSTATUS messages
myGNSS.setAutoNAVSAT(false);
myGNSS.setAutoAOPSTATUS(false);
delay(1100);
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Read the AssistNow Autonomous database from the module and pretty-print it (so it can be copied and pasted into the next example)
#define MAX_DATABASE_LENGTH 32768 // Allocate 32kBytes to store the navigation database
size_t maxDatabaseLen = MAX_DATABASE_LENGTH;
@@ -117,8 +170,8 @@ void setup()
if (actualDatabaseLen == maxDatabaseLen)
Serial.println(F("There was not enough memory to store the entire database. Some data will have been lost!"));
// Pretty-print the database so it can be copied into Example2
Serial.println(F("Copy and paste the following into Example2, so you can write it back to the module:"));
// Pretty-print the database so it can be copied into the next example
Serial.println(F("Copy and paste the following into the next example, so you can write it back to the module:"));
Serial.println();
Serial.print(F("size_t databaseLen = "));
Serial.print(actualDatabaseLen);
@@ -150,4 +203,4 @@ void setup()
void loop()
{
// Nothing to do here
}
}
examples/AssistNow/AssistNow_Autonomous/Example3_AssistNowAutonomous_DatabaseWrite/Example3_AssistNowAutonomous_DatabaseWrite.ino
+187
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@@ -0,0 +1,187 @@
/*
Write the AssistNow Autonomous database data to the module
By: SparkFun Electronics / Paul Clark
Date: December 1st, 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 write the AssistNow Autonomous database date back to the module.
This example is written for the ESP32. A WiFi connection is used to get network time to pass to the module.
(You could use an RTC instead.)
Copy and paste the database data from the previous example into database.h.
Update secrets.h with your:
- WiFi credentials
Note: this example works best if you have the GNSS RAM battery-backup disabled.
All SparkFun boards have battery-backup for the RAM which will means the database is retained if you disconnect the power.
The module will use the database data from the battery-backed RAM when you turn the power back on.
You will only see the improvement in the time-to-first-fix if you disable the battery first - or you are using a non-SparkFun
board that does not have the backup battery.
Feel like supporting open source hardware?
Buy a board from SparkFun!
SparkFun Thing Plus - ESP32 WROOM: https://www.sparkfun.com/products/15663
ZED-F9P RTK2: https://www.sparkfun.com/products/16481
SparkFun GPS Breakout - ZOE-M8Q (Qwiic): https://www.sparkfun.com/products/15193
Hardware Connections:
Plug a Qwiic cable into the GNSS and a ESP32 Thing Plus
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 "database.h" // <- Copy and paste the database data from the previous example into database.h
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
#include <WiFi.h>
#include <HTTPClient.h>
#include "secrets.h"
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GNSS myGNSS;
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
#include "time.h"
const char* ntpServer = "pool.ntp.org"; // The Network Time Protocol Server
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
void setup()
{
delay(1000);
Serial.begin(115200);
Serial.println(F("AssistNow Example"));
while (Serial.available()) Serial.read(); // Empty the serial buffer
Serial.println(F("Press any key to begin..."));
while (!Serial.available()); // Wait for a keypress
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Start I2C. Connect to the GNSS.
Wire.begin(); //Start I2C
if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}
Serial.println(F("u-blox module connected"));
myGNSS.setI2COutput(COM_TYPE_UBX); //Turn off NMEA noise
//myGNSS.enableDebugging(Serial, true); // Uncomment this line to see helpful debug messages on Serial
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Connect to WiFi.
Serial.print(F("Connecting to local WiFi"));
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED)
{
delay(500);
Serial.print(F("."));
}
Serial.println();
Serial.println(F("WiFi connected!"));
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Set the RTC using network time. (Code taken from the SimpleTime example.)
// Request the time from the NTP server and use it to set the ESP32's RTC.
configTime(0, 0, ntpServer); // Set the GMT and daylight offsets to zero. We need UTC, not local time.
struct tm timeinfo;
if(!getLocalTime(&timeinfo))
{
Serial.println("Failed to obtain time");
}
else
{
Serial.println(&timeinfo, "Time is: %A, %B %d %Y %H:%M:%S");
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Push the RTC time to the module
// Uncomment the next line to enable the 'major' debug messages on Serial so you can see what AssistNow data is being sent
//myGNSS.enableDebugging(Serial, true);
if(getLocalTime(&timeinfo))
{
// setUTCTimeAssistance uses a default time accuracy of 2 seconds which should be OK here.
// Have a look at the library source code for more details.
myGNSS.setUTCTimeAssistance(timeinfo.tm_year + 1900, timeinfo.tm_mon + 1, timeinfo.tm_mday,
timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec);
}
else
{
Serial.println("Failed to obtain time. This will not work well. The GNSS needs accurate time to start up quickly.");
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Push the AssistNow Autonomous data to the module
size_t bytesPushed = myGNSS.pushAssistNowData(database, databaseLen);
Serial.print(F("Pushed "));
Serial.print(bytesPushed);
Serial.println(F(" bytes of AssistNow Autonomous data to the module"));
if (bytesPushed != databaseLen)
Serial.println(F("Warning: bytesPushed does not match databaseLen! Maybe the database contains bad data? Or there was a communication error?"));
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Disconnect the WiFi as it's no longer needed
WiFi.disconnect(true);
WiFi.mode(WIFI_OFF);
Serial.println(F("WiFi disconnected"));
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
void loop()
{
// Print the UBX-NAV-PVT data so we can see how quickly the fixType goes to 3D
long latitude = myGNSS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = myGNSS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
Serial.print(F(" (degrees * 10^-7)"));
long altitude = myGNSS.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
byte SIV = myGNSS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
byte fixType = myGNSS.getFixType();
Serial.print(F(" Fix: "));
if(fixType == 0) Serial.print(F("No fix"));
else if(fixType == 1) Serial.print(F("Dead reckoning"));
else if(fixType == 2) Serial.print(F("2D"));
else if(fixType == 3) Serial.print(F("3D"));
else if(fixType == 4) Serial.print(F("GNSS + Dead reckoning"));
else if(fixType == 5) Serial.print(F("Time only"));
Serial.println();
}
examples/AssistNow/AssistNow_Autonomous/Example3_AssistNowAutonomous_DatabaseWrite/database.h
+177
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@@ -0,0 +1,177 @@
// Paste the AssistNow Autonomous database data from the previous example here:
size_t databaseLen = 5480;
const uint8_t database[5480] = {
0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00, 0x00, 0x02, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x01, 0x08, 0xC4, 0x04, 0x26, 0xFE, 0x02, 0x54, 0xBA, 0xA9,
0xFF, 0xDA, 0x8C, 0x05, 0xA3, 0xC1, 0xCD, 0x85, 0x86, 0x0A, 0x14, 0x20, 0xAA, 0xE6, 0xB4, 0xD3, 0x4F, 0x27, 0x12, 0xE0, 0xE6, 0xC3, 0xE4, 0x79, 0x0E, 0xA1, 0xD3, 0x49, 0xF4, 0xFF, 0xAF, 0xF7,
0x67, 0x2E, 0x93, 0xF9, 0x6A, 0x1B, 0x2D, 0x10, 0xD3, 0x49, 0xBD, 0xFF, 0x26, 0x01, 0x00, 0x1E, 0x81, 0x22, 0xA1, 0xE4, 0x2A, 0x00, 0x10, 0x50, 0x04, 0x00, 0xB7, 0xBF, 0xB5, 0x62, 0x13, 0x80,
0x54, 0x00, 0x01, 0x00, 0x00, 0x05, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x04, 0x1E, 0xC4, 0x44, 0x72, 0x2F, 0x02, 0x71, 0xAD, 0xA4, 0xFF, 0xE8, 0xAE, 0xFA,
0x42, 0x25, 0xD1, 0x0F, 0x0D, 0x03, 0xCB, 0x71, 0xCF, 0x12, 0x6F, 0x89, 0x0F, 0x27, 0xF3, 0x49, 0x7B, 0x29, 0x4B, 0xF1, 0x0C, 0xA1, 0xD4, 0x49, 0xF5, 0xFF, 0xB6, 0x03, 0x98, 0x36, 0xA0, 0x03,
0xBB, 0x0F, 0x72, 0x1D, 0xD4, 0x49, 0xEE, 0xFF, 0x17, 0x00, 0x00, 0xC0, 0x85, 0x22, 0x2F, 0xF0, 0x3D, 0x00, 0x3C, 0x50, 0x04, 0x00, 0x1A, 0x35, 0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00,
0x00, 0x07, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x06, 0x5B, 0xC4, 0x44, 0xD8, 0xEC, 0x02, 0x4E, 0x79, 0xAC, 0xFF, 0xE8, 0x8A, 0x1D, 0xBC, 0x9F, 0xE8, 0x86,
0xD9, 0x07, 0x45, 0xD0, 0x05, 0x6A, 0x05, 0x06, 0xC3, 0x26, 0xB5, 0x7D, 0x4A, 0xA2, 0x86, 0xCA, 0x0D, 0xA1, 0xD4, 0x49, 0x2B, 0x00, 0x62, 0x07, 0x63, 0x2F, 0xF5, 0x05, 0x1E, 0x1A, 0x98, 0x10,
0xD4, 0x49, 0x38, 0x00, 0xBA, 0xFF, 0x00, 0xCB, 0xBE, 0x22, 0xF4, 0x59, 0x09, 0x00, 0xB6, 0x50, 0x04, 0x00, 0x2E, 0x9B, 0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00, 0x00, 0x09, 0x15, 0x0C,
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0xF0, 0x59, 0x45, 0x5C, 0xCE, 0x39, 0x75, 0x99, 0xF7, 0x10, 0x1B, 0x7B, 0xFF, 0x78, 0x18, 0x5D, 0xFE, 0x00, 0x00, 0xE8, 0x55, 0x07, 0xC8, 0x8F, 0xB5, 0x62, 0x13, 0x80, 0x38, 0x00, 0x01, 0x00,
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};
examples/AssistNow/AssistNow_Autonomous/Example3_AssistNowAutonomous_DatabaseWrite/secrets.h
+6
View File
@@ -0,0 +1,6 @@
//Your WiFi credentials
const char ssid[] = "TRex";
const char password[] = "hasBigTeeth";
//Your AssistNow token
const char myAssistNowToken[] = "58XXXXXXXXXXXXXXXXXXYQ";
examples/AssistNow/README.md
+15 -2
View File
@@ -118,6 +118,8 @@ The const uint8_t * function declarations are:
* <b>uint8_t getAckAiding(uint16_t maxWait);</b>
```pushAssistNowData``` returns the number of _bytes_ pushed (not the number of _packets_). The return value should be equal to ```numDataBytes``` if all data was valid and pushed successfully.
AssistNow Online data is valid for 2-4 hours. 'Stale' data can be re-used but:
* ```pushAssistNowData``` needs to be told to skip the time information contained in the AssistNow data
@@ -176,7 +178,7 @@ AssistNow Autonomous is disabled by default. You can enable it by calling ```set
* set ```aopCfg``` to 1 to enable AssistNow Autonomous, or 0 to disable it
* ```aopOrbMaxErr``` is used to set the 'lifetime' of the AssistNow data. It is recommended to set aopOrbMaxErr to 0 (the default value). This instructs the module to use the firmware default value that corresponds to a default orbit data validity of approximately three days (for GPS satellites observed once) and up to six days (for GPS and GLONASS satellites observed multiple times over a period of at least half a day).
Once AssistNow Autonomous is enabled, you can monitor its progress via the ```status``` field in the UBX-NAV-AOPSTATUS message. You can read the ```status``` by calling the helper function ```getAOPSTATUSstatus```. It will return zero when the AssistNow Autonomous data collection is idle. Non-zero values indicate that data collection is in progress.
Once AssistNow Autonomous is enabled, you can monitor its status via the ```status``` field in the UBX-NAV-AOPSTATUS message. You can read the ```status``` by calling the helper function ```getAOPSTATUSstatus```. It will return zero when the AssistNow Autonomous data collection is idle. Non-zero values indicate that data collection is in progress. Only power-off the receiver when the subsystem is idle (that is, when the status shows a steady zero).
* <b>uint8_t getAOPSTATUSstatus(uint16_t maxWait);</b>
* <b>uint8_t getAOPSTATUSuseAOP(uint16_t maxWait);</b>
@@ -190,7 +192,18 @@ We have included full 'auto' support for UBX-NAV-AOPSTATUS, so you can have the
* <b>bool setAutoAOPSTATUScallback(void (*callbackPointer)(UBX_NAV_AOPSTATUS_data_t), uint16_t maxWait);</b>
* <b>bool assumeAutoAOPSTATUS(bool enabled, bool implicitUpdate);</b>
* <b>void flushAOPSTATUS();</b>
* <b>void logNAVAOPSTATUS(bool enabled);</b>
* <b>void logAOPSTATUS(bool enabled);</b>
You can also monitor the AssistNow Autonomous satellite information via the UBX-NAV-SAT message. Again, we have included full 'auto' support for UBX-NAV-SAT. UBX-NAV-SAT contains useful information for each individual satellite which the module has aquired: carrier to noise ratio (signal strength); elevation; azimuth; pseudorange residual; quality indication, health; ephemeris available; almanac available; **AssistNow Offline data availability**; and more. The data can be analyzed using a callback. Please see the AssistNowAutonomous examples for more details.
* <b>bool getNAVSAT(uint16_t maxWait);</b>
* <b>bool setAutoNAVSAT(bool enabled, uint16_t maxWait);</b>
* <b>bool setAutoNAVSAT(bool enabled, bool implicitUpdate, uint16_t maxWait);</b>
* <b>bool setAutoNAVSATrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait);</b>
* <b>bool setAutoNAVSATcallback(void (*callbackPointer)(UBX_NAV_NAVSAT_data_t), uint16_t maxWait);</b>
* <b>bool assumeAutoNAVSAT(bool enabled, bool implicitUpdate);</b>
* <b>void flushNAVSAT();</b>
* <b>void logNAVSAT(bool enabled);</b>
The AssistNow Autonomous data is stored in the module's RAM memory. If that RAM is Battery-Backed - all SparkFun GNSS boards include battery back-up - then the data will be available after the module is powered down and powered back up again. However, you can also read (poll) the navigation database and store the contents in processor memory. ```readNavigationDatabase``` allows you to do that: