PlatformIO-Libs/SparkFunGNSS
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Merge pull request #119 from sparkfun/release_candidate

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v2.2.2
This commit is contained in:
Paul
2022-02-28 09:22:59 +00:00
committed by GitHub
parent 50b2dc706f a2c595d4f2
commit fa501247e6
6 changed files with 52 additions and 23 deletions
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examples/ZED-F9P/Example3_StartRTCMBase/Example3_StartRTCMBase.ino
+3 -2
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@@ -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
+3
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@@ -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 -1
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@@ -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
+24 -12
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@@ -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[26] = 0; // Truncate to 16 bits
payloadCfg[27] = 0; // Truncate to 16 bits
payloadCfg[25] = (observationTime >> 8) & 0xFF;
payloadCfg[26] = (observationTime >> 16) & 0xFF;
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[30] = svinAccLimit >> 16;
payloadCfg[31] = svinAccLimit >> 24;
payloadCfg[29] = (svinAccLimit >> 8) & 0xFF;
payloadCfg[30] = (svinAccLimit >> 16) & 0xFF;
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
//(waiting more than 65535 seconds (18.2 hours) seems excessive!)
uint32_t tmpObsTime = packetUBXNAVSVIN->data.dur;
return (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
+14 -1
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@@ -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
+2 -2
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@@ -2129,8 +2129,8 @@ typedef struct
uint8_t dbdEntryChecksumB;
} UBX_MGA_DBD_data_t;
#if defined(ARDUINO_ARCH_AVR)
#define UBX_MGA_DBD_RINGBUFFER_LEN 190 // Fix to let the code compile on AVR platforms - including the UNO.
#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 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