Merge pull request #137 from sparkfun/release_candidate

v1.8.7 Release candidate

Author: nseidle

Diff for: examples/ZED-F9P/Example8_GetHighPrecisionPositionAndAccuracy/Example8_GetHighPrecisionPositionAndAccuracy.ino renamed to examples/ZED-F9P/Example10_GetHighPrecisionPositionAndAccuracy/Example10_GetHighPrecisionPositionAndAccuracy.ino

@@ -0,0 +1,118 @@
+/*
+  Configuring the GPS to automatically send HPPOSLLH position reports over I2C
+  By: Paul Clark
+  Date: October 27th 2020
+
+  Based on an earlier example:
+  By: Nathan Seidle and Thorsten von Eicken
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the U-Blox GPS the send navigation reports automatically
+  and retrieving the latest one via getHPPOSLLH. This eliminates the blocking in getHPPOSLLH while the GPS
+  produces a fresh navigation solution at the expense of returning a slighly old solution.
+
+  This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
+  simply outputs the UBX_NAV_HPPOSLLH packet. With I2C it queues it into its internal I2C buffer (4KB in
+  size?) where it can be retrieved in the next I2C poll.
+
+  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
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS 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 GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable lots of helpful debug messages
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  // Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
+  //myGPS.factoryDefault(); delay(5000);
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
+  
+  myGPS.setNavigationFrequency(1); //Produce one solution per second
+  
+
+  // The acid test: all four of these combinations should work seamlessly :-)
+  
+  //myGPS.setAutoPVT(false); // Library will poll each reading
+  //myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
+  
+  //myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
+  //myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
+
+  //myGPS.setAutoPVT(false); // Library will poll each reading
+  //myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
+  
+  myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
+  myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
+}
+
+void loop()
+{
+  // Calling getHPPOSLLH returns true if there actually is a fresh navigation solution available.
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  if ((myGPS.getHPPOSLLH()) || (myGPS.getPVT()))
+  {
+    Serial.println();
+      
+    long highResLatitude = myGPS.getHighResLatitude();
+    Serial.print(F("Hi Res Lat: "));
+    Serial.print(highResLatitude);
+  
+    int highResLatitudeHp = myGPS.getHighResLatitudeHp();
+    Serial.print(F(" "));
+    Serial.print(highResLatitudeHp);
+  
+    long highResLongitude = myGPS.getHighResLongitude();
+    Serial.print(F(" Hi Res Long: "));
+    Serial.print(highResLongitude);
+  
+    int highResLongitudeHp = myGPS.getHighResLongitudeHp();
+    Serial.print(F(" "));
+    Serial.print(highResLongitudeHp);
+  
+    unsigned long horizAccuracy = myGPS.getHorizontalAccuracy();
+    Serial.print(F(" Horiz accuracy: "));
+    Serial.print(horizAccuracy);
+  
+    long latitude = myGPS.getLatitude();
+    Serial.print(F(" Lat: "));
+    Serial.print(latitude);
+  
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.println(longitude);
+  }
+  else
+  {
+    Serial.print(".");
+    delay(50);
+  }
+}

Diff for: examples/ZED-F9P/Example9_GetHighPrecisionPositionUsingDouble/Example9_GetHighPrecisionPositionUsingDouble.ino renamed to examples/ZED-F9P/Example11_GetHighPrecisionPositionUsingDouble/Example11_GetHighPrecisionPositionUsingDouble.ino

@@ -0,0 +1,73 @@
+/*
+  Set the static position of the receiver.
+  By: SparkFun Electronics / Nathan Seidle
+  Date: September 26th, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to set the static position of a receiver
+  using an Earth-Centered, Earth-Fixed (ECEF) location. This is the
+  output from a long (24 hour+) survey-in. Setting the static position
+  immediately causes the receiver to begin outputting RTCM data (if
+  enabled), perfect for setting up your own RTCM NTRIP caster or CORS.
+
+  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
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS 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 GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200); // You may need to increase this for high navigation rates!
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println(F("SparkFun u-blox Example"));
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable debug messages
+
+  if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  //-1280208.308,-4716803.847,4086665.811 is SparkFun HQ so...
+
+  //Units are cm so 1234 = 12.34m
+  //myGPS.setStaticPosition(-128020831, -471680385, 408666581);
+
+  //Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
+  myGPS.setStaticPosition(-128020830, -80, -471680384, -70, 408666581, 10); //With high precision 0.1mm parts
+
+  //We can also set via lat/long
+  //40.09029751,-105.18507900,1560.238
+  //myGPS.setStaticPosition(400902975, -1051850790, 156024, true); //True at end enables lat/long input
+  //myGPS.setStaticPosition(400902975, 10, -1051850790, 0, 156023, 80, true);
+
+  //Now let's use getVals to read back the data
+  //long ecefX = myGPS.getVal32(0x40030003);
+  //Serial.print("ecefX: ");
+  //Serial.println(ecefX);
+
+  Serial.println(F("Done!"));
+}
+
+void loop()
+{
+}

Diff for: examples/ZED-F9P/Example11_autoHPPOSLLH/Example11_autoHPPOSLLH.ino

@@ -1,12 +1,12 @@
 /*
-  Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
+  Get a device's I2C address using advanced getVal method
   By: Nathan Seidle
   SparkFun Electronics
   Date: January 9th, 2019
   License: MIT. See license file for more information but you can
   basically do whatever you want with this code.
 
-  Ublox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
+  u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
   UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
   commands instead. This example shows how to use this new command structure.
 
@@ -32,27 +32,29 @@ long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox m
 void setup()
 {
   Serial.begin(115200);
-  while (!Serial); //Wait for user to open terminal
-  Serial.println("Ublox getVal example");
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("u-blox getVal example");
 
   Wire.begin();
   Wire.setClock(400000); //Increase I2C clock speed to 400kHz
 
   if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
   {
-    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
-    while (1);
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
   }
 
   myGPS.enableDebugging(); //Enable debug messages over Serial (default)
   //myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
 
-  uint8_t currentI2Caddress = myGPS.getVal8(0x20510001);
+  uint8_t currentI2Caddress = myGPS.getVal8(UBLOX_CFG_I2C_ADDRESS);
   Serial.print("Current I2C address (should be 0x42): 0x");
   Serial.println(currentI2Caddress >> 1, HEX); //Ublox module returns a shifted 8-bit address. Make it 7-bit unshifted.
 
-  while(1);
-
+  while (1)
+    ;
 }
 
 void loop()
@@ -83,4 +85,4 @@ void loop()
 
     Serial.println();
   }
-}
+}

Diff for: examples/ZED-F9P/Example11_setStaticPosition/Example11_setStaticPosition.ino

@@ -1,12 +1,12 @@
 /*
-  Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
+  Send UBX binary commands to enable RTCM sentences on u-blox ZED-F9P module
   By: Nathan Seidle
   SparkFun Electronics
   Date: January 9th, 2019
   License: MIT. See license file for more information but you can
   basically do whatever you want with this code.
 
-  Ublox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
+  u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
   UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
   commands instead. This example shows how to use this new command structure.
 
@@ -27,49 +27,50 @@
 #include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
 SFE_UBLOX_GPS myGPS;
 
-long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to u-blox module.
 
 void setup()
 {
   Serial.begin(115200);
-  while (!Serial); //Wait for user to open terminal
-  Serial.println("Ublox getVal example");
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("u-blox getVal example");
 
   Wire.begin();
   Wire.setClock(400000); //Increase I2C clock speed to 400kHz
 
-  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
   {
-    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
-    while (1);
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
   }
 
   myGPS.enableDebugging(); //Enable debug messages over Serial (default)
   //myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
 
   bool setValueSuccess;
 
-  //These key values are hard coded. You can obtain them from the ZED-F9P interface description doc
+  //These key values are hard coded and defined in u-blox_config_keys.h.
+  //You can obtain them from the ZED-F9P interface description doc
   //or from u-center's Messages->CFG->VALSET window. Keys must be 32-bit.
-  //setValueSuccess = myGPS.setVal(0x10930006, 0); //Enable high precision NMEA
-  setValueSuccess = myGPS.setVal(0x30210001, 100); //Set measurement rate to 100ms (10Hz update rate)
-  //setValueSuccess = myGPS.setVal(0x30210001, 1000); //Set measurement rate to 1000ms (1Hz update rate)
+  //setValueSuccess = myGPS.setVal(UBLOX_CFG_NMEA_HIGHPREC, 0); //Enable high precision NMEA
+  setValueSuccess = myGPS.setVal(UBLOX_CFG_RATE_MEAS, 100); //Set measurement rate to 100ms (10Hz update rate)
+  //setValueSuccess = myGPS.setVal(UBLOX_CFG_RATE_MEAS, 1000); //Set measurement rate to 1000ms (1Hz update rate)
 
   //Below is the original way we enabled the RTCM message on the I2C port. After that, we show how to do the same
   //but with setVal().
   //Original: myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
   //setValueSuccess = myGPS.setVal(0x209102bd, 1); //Set output rate of msg 1005 over the I2C port to once per second
 
-  if(setValueSuccess == true)
+  if (setValueSuccess == true)
   {
     Serial.println("Value was successfully set");
   }
   else
     Serial.println("Value set failed");
-    
 }
 
 void loop()
 {
-
 }