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1 change: 1 addition & 0 deletions README.md
Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,7 @@ If you would like to learn more about how this library works, including the big
* [GPS-15005](https://www.sparkfun.com/products/15005) - SparkFun GPS-RTK Board - NEO-M8P-2 (Qwiic)
* [GPS-15210](https://www.sparkfun.com/products/15210) - SparkFun GPS Breakout - Chip Antenna, SAM-M8Q (Qwiic)
* [GPS-15193](https://www.sparkfun.com/products/15193) - SparkFun GPS Breakout - Chip Antenna, ZOE-M8Q (Qwiic)
* [GPS-17285](https://www.sparkfun.com/products/17285) - SparkFun GPS Breakout - NEO-M9N, SMA (Qwiic)
* [GPS-15733](https://www.sparkfun.com/products/15733) - SparkFun GPS Breakout - NEO-M9N, Chip Antenna (Qwiic)
* [GPS-15712](https://www.sparkfun.com/products/15712) - SparkFun GPS Breakout - NEO-M9N, U.FL (Qwiic)
* [GPS-16329](https://www.sparkfun.com/products/16329) - SparkFun GPS Dead Reckoning Breakout - NEO-M8U (Qwiic)
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,8 @@
This example shows how to query a u-blox module for the current time and date as Unix Epoch uint32_t type to avoid time.h dependency.
We also turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic dramatically.

Note: this example works best on modules like the ZED_F9P. Modules like the ZOE_M8Q do not support confirmedTime.

Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!

Feel like supporting open source hardware?
Expand All @@ -29,8 +31,6 @@ SFE_UBLOX_GNSS myGNSS;


long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to u-blox module.

uint32_t us; //microseconds returned by getUnixEpoch()

void setup()
{
Expand All @@ -48,6 +48,9 @@ void setup()
;
}

// Uncomment the next line if you need to completely reset your module
//myGNSS.factoryDefault(); delay(5000); // Reset everything and wait while the module restarts

myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
//myGNSS.saveConfiguration(); //Optional: Save the current settings to flash and BBR

Expand All @@ -63,11 +66,15 @@ void loop()
{
lastTime = millis(); //Update the timer

byte SIV = myGNSS.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
// getUnixEpoch marks the PVT data as stale so you will get Unix time and PVT time on alternate seconds

uint32_t us; //microseconds returned by getUnixEpoch()
uint32_t epoch = myGNSS.getUnixEpoch(us);
Serial.print("Unix Epoch: ");
Serial.print(epoch, DEC);
Serial.print(" micros: ");
Serial.println(us, DEC);

Serial.print(" ");
Serial.print(myGNSS.getYear());
Serial.print("-");
Serial.print(myGNSS.getMonth());
Expand All @@ -79,10 +86,6 @@ void loop()
Serial.print(myGNSS.getMinute());
Serial.print(":");
Serial.print(myGNSS.getSecond());
Serial.print(" getUnixEpoch(micros): ");
Serial.print(myGNSS.getUnixEpoch(us));
Serial.print(" micros: ");
Serial.print(us, DEC);

Serial.print(" Time is ");
if (myGNSS.getTimeValid() == false)
Expand All @@ -98,6 +101,8 @@ void loop()
}
Serial.print("confirmed");

Serial.println();
byte SIV = myGNSS.getSIV();
Serial.print(F(" SIV: "));
Serial.println(SIV);
}
}
}
Original file line number Diff line number Diff line change
@@ -0,0 +1,123 @@
/*
Demonstrate get/setMeasurementRate and get/setNavigationRate
By: Paul Clark
SparkFun Electronics
Date: March 30th, 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 slow down the measurement and navigation rates.
This should run on any GNSS module but has only been tested on the ZED_F9P and ZOE_M8Q.

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;

unsigned long lastTime = 0; //Simple local timer. Used to calc the message interval.

void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun u-blox Example");

Wire.begin();

//myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial

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);
}

// Uncomment the next line if you need to completely reset your module
//myGNSS.factoryDefault(); delay(5000); // Reset everything and wait while the module restarts

myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)

// Begin by printing the current measurement rate and navigation rate

uint16_t rate = myGNSS.getMeasurementRate(); //Get the measurement rate of this module
Serial.print("Current measurement interval (ms): ");
Serial.println(rate);

rate = myGNSS.getNavigationRate(); //Get the navigation rate of this module
Serial.print("Current navigation ratio (cycles): ");
Serial.println(rate);

// The measurement rate is the elapsed time between GNSS measurements, which defines the rate
// e.g. 100 ms => 10 Hz, 1000 ms => 1 Hz, 10000 ms => 0.1 Hz.
// Let's set the measurement rate (interval) to 5 seconds = 5000 milliseconds
if (myGNSS.setMeasurementRate(5000) == false)
{
Serial.println(F("Could not set the measurement rate. Freezing."));
while (1);
}

// setMeasurementRate will set i2cPollingWait to a quarter of the interval
// Let's override that so we can poll the module more frequently and avoid timeouts
myGNSS.setI2CpollingWait(25); // Set i2cPollingWait to 25ms

// The navigation rate is the ratio between the number of measurements and the number of navigation solutions
// e.g. 5 means five measurements for every navigation solution. Maximum value is 127
// Let's set the navigation rate (ratio) to 12 to produce a solution every minute
if (myGNSS.setNavigationRate(12) == false)
{
Serial.println(F("Could not set the navigation rate. Freezing."));
while (1);
}

// Another trick we can use is to mark the CFG RATE data as stale so we can be sure we read fresh data
myGNSS.packetUBXCFGRATE->moduleQueried.moduleQueried.all = 0; // Mark all of the CFG RATE data as stale

// Read and print the updated measurement rate and navigation rate

rate = myGNSS.getMeasurementRate(); //Get the measurement rate of this module
Serial.print("New measurement interval (ms): ");
Serial.println(rate);

rate = myGNSS.getNavigationRate(); //Get the navigation rate of this module
Serial.print("New navigation ratio (cycles): ");
Serial.println(rate);

lastTime = millis();
}

void loop()
{
// i2cPollingWait will prevent us from thrashing the I2C bus

if (myGNSS.getPVT()) //Check for new Position, Velocity, Time data. getPVT returns true if new data is available.
{
long latitude = myGNSS.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);

long longitude = myGNSS.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);

//Calculate the interval since the last message
Serial.print(F(" Interval: "));
Serial.print(((float)(millis() - lastTime)) / 1000.0, 2);
Serial.print(F("s"));

Serial.println();

lastTime = millis(); //Update lastTime
}
}
10 changes: 8 additions & 2 deletions keywords.txt
Original file line number Diff line number Diff line change
Expand Up @@ -84,6 +84,8 @@ setFileBufferSize KEYWORD2
extractFileBufferData KEYWORD2
fileBufferAvailable KEYWORD2
getMaxFileBufferAvail KEYWORD2
clearFileBuffer KEYWORD2
clearMaxFileBufferAvail KEYWORD2

getPortSettings KEYWORD2
setPortOutput KEYWORD2
Expand Down Expand Up @@ -369,6 +371,10 @@ logHNRPVT KEYWORD2

setNavigationFrequency KEYWORD2
getNavigationFrequency KEYWORD2
setMeasurementRate KEYWORD2
getMeasurementRate KEYWORD2
setNavigationRate KEYWORD2
getNavigationRate KEYWORD2

getGeometricDOP KEYWORD2
getPositionDOP KEYWORD2
Expand All @@ -391,7 +397,7 @@ getMinute KEYWORD2
getSecond KEYWORD2
getMillisecond KEYWORD2
getNanosecond KEYWORD2
getUnixEpoch KEYWORD2
getUnixEpoch KEYWORD2
getDateValid KEYWORD2
getTimeValid KEYWORD2
getConfirmedDate KEYWORD2
Expand Down Expand Up @@ -606,4 +612,4 @@ SFE_UBLOX_GNSS_ID_IMES LITERAL1
SFE_UBLOX_GNSS_ID_QZSS LITERAL1
SFE_UBLOX_GNSS_ID_GLONASS LITERAL1

DAYS_SINCE_MONTH LITERAL1
DAYS_SINCE_MONTH LITERAL1
2 changes: 1 addition & 1 deletion library.properties
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=SparkFun u-blox GNSS Arduino Library
version=2.0.2
version=2.0.4
author=SparkFun Electronics <[email protected]>
maintainer=SparkFun Electronics <sparkfun.com>
sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>
Expand Down
97 changes: 92 additions & 5 deletions src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -3055,6 +3055,20 @@ uint16_t SFE_UBLOX_GNSS::getMaxFileBufferAvail(void)
return (fileBufferMaxAvail);
}

// Clear the file buffer - discard all contents
void SFE_UBLOX_GNSS::clearFileBuffer(void)
{
if (fileBufferSize == 0) // Bail if the user has not called setFileBufferSize (probably redundant)
return;
fileBufferTail = fileBufferHead;
}

// Reset fileBufferMaxAvail
void SFE_UBLOX_GNSS::clearMaxFileBufferAvail(void)
{
fileBufferMaxAvail = 0;
}

// PRIVATE: Create the file buffer. Called by .begin
boolean SFE_UBLOX_GNSS::createFileBuffer(void)
{
Expand Down Expand Up @@ -8569,7 +8583,7 @@ boolean SFE_UBLOX_GNSS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait
//Adjust the I2C polling timeout based on update rate
i2cPollingWait = 1000 / (((int)navFreq) * 4); //This is the number of ms to wait between checks for new I2C data

//Query the module for the latest lat/long
//Query the module
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_RATE;
packetCfg.len = 0;
Expand Down Expand Up @@ -8606,6 +8620,79 @@ uint8_t SFE_UBLOX_GNSS::getNavigationFrequency(uint16_t maxWait)
return (measurementRate);
}

//Set the elapsed time between GNSS measurements in milliseconds, which defines the rate
boolean SFE_UBLOX_GNSS::setMeasurementRate(uint16_t rate, uint16_t maxWait)
{
//Adjust the I2C polling timeout based on update rate
i2cPollingWait = rate / 4; //This is the number of ms to wait between checks for new I2C data

//Query the module
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_RATE;
packetCfg.len = 0;
packetCfg.startingSpot = 0;

//This will load the payloadCfg array with current settings of the given register
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false); //If command send fails then bail

//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[0] = rate & 0xFF; //measRate LSB
payloadCfg[1] = rate >> 8; //measRate MSB

return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Return the elapsed time between GNSS measurements in milliseconds, which defines the rate
uint16_t SFE_UBLOX_GNSS::getMeasurementRate(uint16_t maxWait)
{
if (packetUBXCFGRATE == NULL) initPacketUBXCFGRATE(); //Check that RAM has been allocated for the RATE data
if (packetUBXCFGRATE == NULL) //Bail if the RAM allocation failed
return 0;

if (packetUBXCFGRATE->moduleQueried.moduleQueried.bits.measRate == false)
getNavigationFrequencyInternal(maxWait);
packetUBXCFGRATE->moduleQueried.moduleQueried.bits.measRate = false; //Since we are about to give this to user, mark this data as stale
packetUBXCFGRATE->moduleQueried.moduleQueried.bits.all = false;

return (packetUBXCFGRATE->data.measRate);
}

//Set the ratio between the number of measurements and the number of navigation solutions. Unit is cycles. Max is 127.
boolean SFE_UBLOX_GNSS::setNavigationRate(uint16_t rate, uint16_t maxWait)
{
//Query the module
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_RATE;
packetCfg.len = 0;
packetCfg.startingSpot = 0;

//This will load the payloadCfg array with current settings of the given register
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false); //If command send fails then bail

//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[2] = rate & 0xFF; //navRate LSB
payloadCfg[3] = rate >> 8; //navRate MSB

return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Return the ratio between the number of measurements and the number of navigation solutions. Unit is cycles
uint16_t SFE_UBLOX_GNSS::getNavigationRate(uint16_t maxWait)
{
if (packetUBXCFGRATE == NULL) initPacketUBXCFGRATE(); //Check that RAM has been allocated for the RATE data
if (packetUBXCFGRATE == NULL) //Bail if the RAM allocation failed
return 0;

if (packetUBXCFGRATE->moduleQueried.moduleQueried.bits.navRate == false)
getNavigationFrequencyInternal(maxWait);
packetUBXCFGRATE->moduleQueried.moduleQueried.bits.navRate = false; //Since we are about to give this to user, mark this data as stale
packetUBXCFGRATE->moduleQueried.moduleQueried.bits.all = false;

return (packetUBXCFGRATE->data.navRate);
}

// ***** DOP Helper Functions

uint16_t SFE_UBLOX_GNSS::getGeometricDOP(uint16_t maxWait)
Expand Down Expand Up @@ -8897,7 +8984,7 @@ uint32_t SFE_UBLOX_GNSS::getUnixEpoch(uint32_t& microsecond, uint16_t maxWait)
packetUBXNAVPVT->data.sec);
int32_t us = packetUBXNAVPVT->data.nano / 1000;
microsecond = (uint32_t)us;
// ajust t if nano is negative
// adjust t if nano is negative
if(us < 0) {
microsecond = (uint32_t)(us + 1000000);
t--;
Expand Down Expand Up @@ -9664,7 +9751,7 @@ boolean SFE_UBLOX_GNSS::getSensorFusionMeasurement(UBX_ESF_MEAS_sensorData_t *se
if (packetUBXESFMEAS == NULL) //Bail if the RAM allocation failed
return (false);

if (packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data & (1 << sensor) == 0)
if (packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data & ((1 << sensor) == 0))
getESFMEAS(maxWait);
packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data &= ~(1 << sensor); //Since we are about to give this to user, mark this data as stale
packetUBXESFMEAS->moduleQueried.moduleQueried.bits.all = false;
Expand All @@ -9684,7 +9771,7 @@ boolean SFE_UBLOX_GNSS::getRawSensorMeasurement(UBX_ESF_RAW_sensorData_t *sensor
if (packetUBXESFRAW == NULL) //Bail if the RAM allocation failed
return (false);

if (packetUBXESFRAW->moduleQueried.moduleQueried.bits.data & (1 << sensor) == 0)
if (packetUBXESFRAW->moduleQueried.moduleQueried.bits.data & ((1 << sensor) == 0))
getESFRAW(maxWait);
packetUBXESFRAW->moduleQueried.moduleQueried.bits.data &= ~(1 << sensor); //Since we are about to give this to user, mark this data as stale
packetUBXESFRAW->moduleQueried.moduleQueried.bits.all = false;
Expand All @@ -9706,7 +9793,7 @@ boolean SFE_UBLOX_GNSS::getSensorFusionStatus(UBX_ESF_STATUS_sensorStatus_t *sen
if (packetUBXESFSTATUS == NULL) //Bail if the RAM allocation failed
return (false);

if (packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.status & (1 << sensor) == 0)
if (packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.status & ((1 << sensor) == 0))
getESFSTATUS(maxWait);
packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.status &= ~(1 << sensor); //Since we are about to give this to user, mark this data as stale
packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.all = false;
Expand Down
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