Merge pull request #119 from sparkfun/release_candidate

v2.2.2

examples/ZED-F9P/Example3_StartRTCMBase/Example3_StartRTCMBase.ino

@@ -107,6 +107,7 @@ void setup()
     //The ZED-F9P is slightly different than the NEO-M8P. See the Integration manual 3.5.8 for more info.
     //response = myGNSS.enableSurveyMode(300, 2.000); //Enable Survey in on NEO-M8P, 300 seconds, 2.0m
     response = myGNSS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
+    //response = myGNSS.enableSurveyModeFull(86400, 2.000); //Enable Survey in, 24 hours, 2.0m
     if (response == false)
     {
       Serial.println(F("Survey start failed. Freezing..."));
@@ -136,14 +137,14 @@ void setup()
     // From v2.0, the data from getSurveyStatus (UBX-NAV-SVIN) is returned in UBX_NAV_SVIN_t packetUBXNAVSVIN
     // Please see u-blox_structs.h for the full definition of UBX_NAV_SVIN_t
     // You can either read the data from packetUBXNAVSVIN directly
-    // or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; and getSurveyInMeanAccuracy
+    // or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; getSurveyInObservationTimeFull; and getSurveyInMeanAccuracy
     response = myGNSS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
     
     if (response == true) // Check if fresh data was received
     {
       Serial.print(F("Press x to end survey - "));
       Serial.print(F("Time elapsed: "));
-      Serial.print((String)myGNSS.getSurveyInObservationTime()); // Call the helper function
+      Serial.print((String)myGNSS.getSurveyInObservationTimeFull()); // Call the helper function
       Serial.print(F(" ("));
       Serial.print((String)myGNSS.packetUBXNAVSVIN->data.dur); // Read the survey-in duration directly from packetUBXNAVSVIN
 

keywords.txt

@@ -145,7 +145,9 @@ disableRTCMmessage	KEYWORD2
 
 getSurveyMode	KEYWORD2
 setSurveyMode	KEYWORD2
+setSurveyModeFull	KEYWORD2
 enableSurveyMode	KEYWORD2
+enableSurveyModeFull	KEYWORD2
 disableSurveyMode	KEYWORD2
 setStaticPosition	KEYWORD2
 setDGNSSConfiguration	KEYWORD2
@@ -575,6 +577,7 @@ getMotionHeading	KEYWORD2
 getSurveyInActive	KEYWORD2
 getSurveyInValid	KEYWORD2
 getSurveyInObservationTime	KEYWORD2
+getSurveyInObservationTimeFull	KEYWORD2
 getSurveyInMeanAccuracy	KEYWORD2
 
 getRelPosN	KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.2.1
+version=2.2.2
 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

@@ -6661,6 +6661,10 @@ bool SFE_UBLOX_GNSS::getSurveyMode(uint16_t maxWait)
 
 // Control Survey-In for NEO-M8P
 bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
+{
+  return (setSurveyModeFull(mode, (uint32_t)observationTime, requiredAccuracy, maxWait));
+}
+bool SFE_UBLOX_GNSS::setSurveyModeFull(uint8_t mode, uint32_t observationTime, float requiredAccuracy, uint16_t maxWait)
 {
   if (getSurveyMode(maxWait) == false) // Ask module for the current TimeMode3 settings. Loads into payloadCfg.
     return (false);
@@ -6673,18 +6677,18 @@ bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float
   // payloadCfg should be loaded with poll response. Now modify only the bits we care about
   payloadCfg[2] = mode; // Set mode. Survey-In and Disabled are most common. Use ECEF (not LAT/LON/ALT).
 
-  // svinMinDur is U4 (uint32_t) but we'll only use a uint16_t (waiting more than 65535 seconds seems excessive!)
+  // svinMinDur is U4 (uint32_t) in seconds
   payloadCfg[24] = observationTime & 0xFF; // svinMinDur in seconds
-  payloadCfg[25] = observationTime >> 8;   // svinMinDur in seconds
+  payloadCfg[25] = (observationTime >> 8) & 0xFF;
-  payloadCfg[26] = 0;                      // Truncate to 16 bits
+  payloadCfg[26] = (observationTime >> 16) & 0xFF;
-  payloadCfg[27] = 0;                      // Truncate to 16 bits
+  payloadCfg[27] = (observationTime >> 24) & 0xFF;
 
   // svinAccLimit is U4 (uint32_t) in 0.1mm.
   uint32_t svinAccLimit = (uint32_t)(requiredAccuracy * 10000.0); // Convert m to 0.1mm
   payloadCfg[28] = svinAccLimit & 0xFF;                           // svinAccLimit in 0.1mm increments
-  payloadCfg[29] = svinAccLimit >> 8;
+  payloadCfg[29] = (svinAccLimit >> 8) & 0xFF;
-  payloadCfg[30] = svinAccLimit >> 16;
+  payloadCfg[30] = (svinAccLimit >> 16) & 0xFF;
-  payloadCfg[31] = svinAccLimit >> 24;
+  payloadCfg[31] = (svinAccLimit >> 24) & 0xFF;
 
   return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
@@ -6692,7 +6696,11 @@ bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float
 // Begin Survey-In for NEO-M8P
 bool SFE_UBLOX_GNSS::enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
 {
-  return (setSurveyMode(SVIN_MODE_ENABLE, observationTime, requiredAccuracy, maxWait));
+  return (setSurveyModeFull(SVIN_MODE_ENABLE, (uint32_t)observationTime, requiredAccuracy, maxWait));
+}
+bool SFE_UBLOX_GNSS::enableSurveyModeFull(uint32_t observationTime, float requiredAccuracy, uint16_t maxWait)
+{
+  return (setSurveyModeFull(SVIN_MODE_ENABLE, observationTime, requiredAccuracy, maxWait));
 }
 
 // Stop Survey-In for NEO-M8P
@@ -15554,7 +15562,7 @@ bool SFE_UBLOX_GNSS::getSurveyInValid(uint16_t maxWait)
   return ((bool)packetUBXNAVSVIN->data.valid);
 }
 
-uint16_t SFE_UBLOX_GNSS::getSurveyInObservationTime(uint16_t maxWait) // Truncated to 65535 seconds
+uint32_t SFE_UBLOX_GNSS::getSurveyInObservationTimeFull(uint16_t maxWait) // Return the full uint32_t
 {
   if (packetUBXNAVSVIN == NULL)
     initPacketUBXNAVSVIN();     // Check that RAM has been allocated for the SVIN data
@@ -15566,9 +15574,13 @@ uint16_t SFE_UBLOX_GNSS::getSurveyInObservationTime(uint16_t maxWait) // Truncat
   packetUBXNAVSVIN->moduleQueried.moduleQueried.bits.dur = false; // Since we are about to give this to user, mark this data as stale
   packetUBXNAVSVIN->moduleQueried.moduleQueried.bits.all = false;
 
-  // dur (Passed survey-in observation time) is U4 (uint32_t) seconds. We truncate to 16 bits
+  return (packetUBXNAVSVIN->data.dur);
-  //(waiting more than 65535 seconds (18.2 hours) seems excessive!)
+}
-  uint32_t tmpObsTime = packetUBXNAVSVIN->data.dur;
+
+uint16_t SFE_UBLOX_GNSS::getSurveyInObservationTime(uint16_t maxWait) // Truncated to 65535 seconds
+{
+  // dur (Passed survey-in observation time) is U4 (uint32_t) seconds. Here we truncate to 16 bits
+  uint32_t tmpObsTime = getSurveyInObservationTimeFull(maxWait);
   if (tmpObsTime <= 0xFFFF)
   {
     return ((uint16_t)tmpObsTime);

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -192,6 +192,7 @@ const uint8_t UBX_CLASS_LOG = 0x21;  // Logging Messages: Log creation, deletion
 const uint8_t UBX_CLASS_SEC = 0x27;  // Security Feature Messages
 const uint8_t UBX_CLASS_HNR = 0x28;  //(NEO-M8P ONLY!!!) High Rate Navigation Results Messages: High rate time, position speed, heading
 const uint8_t UBX_CLASS_NMEA = 0xF0; // NMEA Strings: standard NMEA strings
+const uint8_t UBX_CLASS_PUBX = 0xF1; // Proprietary NMEA-format messages defined by u-blox
 
 // Class: CFG
 // The following are used for configuration. Descriptions are from the ZED-F9P Interface Description pg 33-34 and NEO-M9N Interface Description pg 47-48
@@ -265,6 +266,15 @@ const uint8_t UBX_NMEA_MAINTALKERID_GB = 0x05;            // main talker ID is B
 const uint8_t UBX_NMEA_GSVTALKERID_GNSS = 0x00;           // GNSS specific Talker ID (as defined by NMEA)
 const uint8_t UBX_NMEA_GSVTALKERID_MAIN = 0x01;           // use the main Talker ID
 
+// Class: PUBX
+// The following are used to enable PUBX messages with configureMessage
+// See the M8 receiver description & protocol specification for more details
+const uint8_t UBX_PUBX_CONFIG = 0x41;   // Set protocols and baud rate
+const uint8_t UBX_PUBX_POSITION = 0x00; // Lat/Long position data
+const uint8_t UBX_PUBX_RATE = 0x40;     // Set/get NMEA message output rate
+const uint8_t UBX_PUBX_SVSTATUS = 0x03; // Satellite status
+const uint8_t UBX_PUBX_TIME = 0x04;     // Time of day and clock information
+
 // Class: HNR
 // The following are used to configure the HNR message rates
 const uint8_t UBX_HNR_ATT = 0x01; // HNR Attitude
@@ -836,7 +846,9 @@ public:
   // It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms.
   bool getSurveyMode(uint16_t maxWait = 250);                                                                     // Get the current TimeMode3 settings
   bool setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);     // Control survey in mode
-  bool enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);            // Begin Survey-In for NEO-M8P
+  bool setSurveyModeFull(uint8_t mode, uint32_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); // Control survey in mode
+  bool enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);                // Begin Survey-In for NEO-M8P / ZED-F9x
+  bool enableSurveyModeFull(uint32_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);            // Begin Survey-In for NEO-M8P / ZED-F9x
   bool disableSurveyMode(uint16_t maxWait = 250);                                                                 // Stop Survey-In mode
   // Given coordinates, put receiver into static position. Set latlong to true to pass in lat/long values instead of ecef.
   // For ECEF the units are: cm, 0.1mm, cm, 0.1mm, cm, 0.1mm
@@ -1353,6 +1365,7 @@ public:
   bool getSurveyInActive(uint16_t maxWait = defaultMaxWait);
   bool getSurveyInValid(uint16_t maxWait = defaultMaxWait);
   uint16_t getSurveyInObservationTime(uint16_t maxWait = defaultMaxWait);     // Truncated to 65535 seconds
+  uint32_t getSurveyInObservationTimeFull(uint16_t maxWait = defaultMaxWait); // Return the full uint32_t
   float getSurveyInMeanAccuracy(uint16_t maxWait = defaultMaxWait);           // Returned as m
 
   // Helper functions for TIMELS

src/u-blox_structs.h

@@ -2129,8 +2129,8 @@ typedef struct
   uint8_t dbdEntryChecksumB;
 } UBX_MGA_DBD_data_t;
 
-#if defined(ARDUINO_ARCH_AVR)
+#if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_MEGAAVR)
-#define UBX_MGA_DBD_RINGBUFFER_LEN 190 // Fix to let the code compile on AVR platforms - including the UNO.
+#define UBX_MGA_DBD_RINGBUFFER_LEN 190 // Fix to let the code compile on AVR platforms - including the UNO and DxCore (DA/DB).
 #else
 #define UBX_MGA_DBD_RINGBUFFER_LEN 250 // Provide storage for MGA DBD packets. TO DO: confirm if 250 is large enough for all modules!
 #endif