Merge branch 'master' into dead_reckoning

Author: edspark

Diff for: README.md

@@ -44,17 +44,17 @@ Need a library for the Ublox and Particle? Checkout the [Particle library](https
 Repository Contents
 -------------------
 
-* **/examples** - Example sketches for the library (.ino). Run these from the Arduino IDE. 
+* **/examples** - Example sketches for the library (.ino). Run these from the Arduino IDE.
 * **/src** - Source files for the library (.cpp, .h).
-* **keywords.txt** - Keywords from this library that will be highlighted in the Arduino IDE. 
-* **library.properties** - General library properties for the Arduino package manager. 
+* **keywords.txt** - Keywords from this library that will be highlighted in the Arduino IDE.
+* **library.properties** - General library properties for the Arduino package manager.
 
 Documentation
 --------------
 
 * **[Installing an Arduino Library Guide](https://learn.sparkfun.com/tutorials/installing-an-arduino-library)** - Basic information on how to install an Arduino library.
 
-Polling vs. auto-reporting
+Polling vs. Auto-Reporting
 --------------------------
 
 This library supports two modes of operation for getting navigation information with the `getPVT`
@@ -85,11 +85,11 @@ As an example, assume that the GPS is set to produce 5 navigation
 solutions per second and that the sketch only calls getPVT once a second, then the GPS will queue 5
 packets in its internal buffer (about 500 bytes) and the library will read those when getPVT is
 called, update its internal copy of the nav data 5 times, and return `true` to the sketch. The
-skecth calls `getLatitude`, etc. and retrieve the data of the most recent of those 5 packets.
+sketch calls `getLatitude`, etc. and retrieve the data of the most recent of those 5 packets.
 
-Products That Use This Library 
+Products That Use This Library
 ---------------------------------
-
+* [GPS-16481](https://www.sparkfun.com/products/16481) - SparkFun GPS-RTK-SMA ZED-F9P
 * [GPS-15136](https://www.sparkfun.com/products/15136) - SparkFun GPS-RTK2 ZED-F9P
 * [GPS-15005](https://www.sparkfun.com/products/15005) - SparkFun GPS-RTK NEO-M8P-2
 * [GPS-15210](https://www.sparkfun.com/products/15210) - SparkFun GPS Breakout - Chip Antenna, SAM-M8Q (Qwiic)
@@ -102,7 +102,7 @@ Products That Use This Library
 License Information
 -------------------
 
-This product is _**open source**_! 
+This product is _**open source**_!
 
 Various bits of the code have different licenses applied. Anything SparkFun wrote is beerware; if you see me (or any other SparkFun employee) at the local, and you've found our code helpful, please buy us a round!
 
@@ -111,4 +111,3 @@ Please use, reuse, and modify these files as you see fit. Please maintain attrib
 Distributed as-is; no warranty is given.
 
 - Your friends at SparkFun.
-

Diff for: Theory.md

@@ -1,7 +1,7 @@
 How I2C (aka DDC) communication works with a uBlox module
 ===========================================================
 
-When the user calls one of the methods the library will poll the Ublox module for new data. 
+When the user calls one of the methods the library will poll the Ublox module for new data.
 
 * Wait for a minimum of 25 ms between polls (configured dynamically when update rate is set)
 * Write 0xFD to module
@@ -19,9 +19,14 @@ A method will call **sendCommand()**. This will begin waiting for a response wit
 
 Once **waitForACKResponse()** or **waitForNoACKResponse()** is called the library will start checking the ublox module for new bytes. These bytes may be part of a NMEA sentence, an RTCM sentence, or a UBX packet. The library will file each byte into the appropriate container. Once a given sentence or packet is complete, the appropriate processUBX(), processNMEA() will be called. These functions deal with specific processing for each type.
 
-Note: When interfacing to a ublox module over I2C the **checkUbloxI2C()** will read all bytes currently sitting in the I2C buffer. This may pick up multiple UBX packets. For example, an ACK for a VALSET may be mixed in with an auto-PVT response. We cannot tell **checkUbloxI2C()** to stop once a give ACK is found because we run the risk of leaving bytes in the I2C buffer and loosing them. We don't have this issue with **checkUbloxSerial()**.
+Note: When interfacing to a ublox module over I2C **checkUbloxI2C()** will read all bytes currently sitting in the I2C buffer. This may pick up multiple UBX packets. For example, an ACK for a VALSET may be mixed in with an auto-PVT response. We cannot tell **checkUbloxI2C()** to stop once a given ACK is found because we run the risk of leaving bytes in the I2C buffer and losing them. We don't have this issue with **checkUbloxSerial()**.
 
 **processUBX()** will check the CRC of the UBX packet. If validated, the packet will be marked as valid. Once a packet is marked as valid then **processUBXpacket()** is called to extract the contents. This is most commonly used to get the position, velocity, and time (PVT) out of the packet but is also used to check the nature of an ACK packet.
 
-Once a packet has been processed, **waitForACKResponse()/waitForNoACKResponse()** makes the appropriate decision what to do with it. If a packet satisfies the CLS/ID and characteristics of what **waitForACKResponse()/waitForNoACKResponse()** is waiting for, then it returns back to sendCommand. If the packet didn't match or was invalid then **waitForACKResponse()/waitForNoACKResponse()** will continue to wait until the correct packet is received or we time out. **sendCommand()** then returns with true/false depending on the success of **waitForACKResponse()/waitForNoACKResponse()**.
+Once a packet has been processed, **waitForACKResponse()/waitForNoACKResponse()** makes the appropriate decision what to do with it. If a packet satisfies the CLS/ID and characteristics of what **waitForACKResponse()/waitForNoACKResponse()** is waiting for, then it returns back to sendCommand. If the packet didn't match or was invalid then **waitForACKResponse()/waitForNoACKResponse()** will continue to wait until the correct packet is received or we time out. **sendCommand()** then returns with a value from the **sfe_ublox_status_e** enum depending on the success of **waitForACKResponse()/waitForNoACKResponse()**.
 
+If we are getting / polling data from the module, **sendCommand()** will return **SFE_UBLOX_STATUS_DATA_RECEIVED** if the get was successful.
+
+If we are setting / writing data to the module, **sendCommand()** will return **SFE_UBLOX_STATUS_DATA_SENT** if the set was successful.
+
+There are circumstances where the library can get the data it is expecting from the module, but it is overwritten (e.g. by an auto-PVT packet) before **sendCommand()** is able to return. In this case, **sendCommand()** will return the error **SFE_UBLOX_STATUS_DATA_OVERWRITTEN**. We should simply call the library function again, but we will need to reset the packet contents first as they will indeed have been overwritten as the error implies.

Diff for: examples/Example13_PVT/Example1_AutoPVT/Example1_AutoPVT.ino

@@ -75,6 +75,11 @@ void loop()
     Serial.print(F(" SIV: "));
     Serial.print(SIV);
 
+    int PDOP = myGPS.getPDOP();
+    Serial.print(F(" PDOP: "));
+    Serial.print(PDOP);
+    Serial.print(F(" (m * 10^-2)"));    
+
     Serial.println();
   } else {
     Serial.print(".");

Diff for: examples/Example17_Geofence/Example17_Geofence.ino

@@ -50,7 +50,7 @@ void setup()
   Serial.println();
 
   delay(1000); // Let the GPS power up
-  
+
   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."));
@@ -64,7 +64,7 @@ void setup()
 
   byte fixType = 0;
 
-  while (fixType != 3)
+  while (fixType < 3)
   {
     fixType = myGPS.getFixType(); // Get the fix type
     Serial.print(F("Fix: ")); // Print it
@@ -74,6 +74,7 @@ void setup()
     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();
     delay(1000);
   }
@@ -89,7 +90,7 @@ void setup()
   Serial.println(longitude);
 
   uint32_t radius = 500; // Set the radius to 5m (radius is in m * 10^-2 i.e. cm)
-  
+
   byte confidence = 2; // Set the confidence level: 0=none, 1=68%, 2=95%, 3=99.7%, 4=99.99%
 
   // Call clearGeofences() to clear all existing geofences.
@@ -99,18 +100,18 @@ void setup()
   // It is possible to define up to four geofences.
   // Call addGeofence up to four times to define them.
   Serial.println(F("Setting the geofences:"));
-  
+
   Serial.print(F("addGeofence for geofence 1 returned: "));
   Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
-  
+
   radius = 1000; // 10m
   Serial.print(F("addGeofence for geofence 2 returned: "));
   Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
-  
+
   radius = 1500; // 15m
   Serial.print(F("addGeofence for geofence 3 returned: "));
   Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
-  
+
   radius = 2000; // 20m
   Serial.print(F("addGeofence for geofence 4 returned: "));
   Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
@@ -130,16 +131,16 @@ void loop()
     Serial.println(F(".")); // Tidy up
     return; // and go round the loop again
   }
-  
+
   Serial.print(F(". status is: ")); // Print the status
   Serial.print(currentGeofenceState.status);
-  
+
   Serial.print(F(". numFences is: ")); // Print the numFences
   Serial.print(currentGeofenceState.numFences);
-  
+
   Serial.print(F(". combState is: ")); // Print the combined state
   Serial.print(currentGeofenceState.combState);
-  
+
   if (currentGeofenceState.combState == 0)
   {
     Serial.print(F(" = Unknown"));
@@ -163,6 +164,6 @@ void loop()
     Serial.print(currentGeofenceState.states[i]);
   }
   Serial.println();
-  
+
   delay(1000);
 }

Diff for: examples/Example18_PowerSaveMode/Example18_PowerSaveMode.ino

@@ -1,7 +1,7 @@
 /*
   Power Save Mode
   By: Paul Clark (PaulZC)
-  Date: December 18th, 2019
+  Date: April 22nd, 2020
 
   Based extensively on Example3_GetPosition
   By: Nathan Seidle
@@ -82,7 +82,7 @@ void loop()
       // Put the GNSS into power save mode
       // (If you want to disable power save mode, call myGPS.powerSaveMode(false) instead)
       // This will fail on the ZED (protocol version >= 27) as UBX-CFG-RXM is not supported
-      if (myGPS.powerSaveMode())
+      if (myGPS.powerSaveMode()) // Defaults to true
         Serial.println(F("Power Save Mode enabled."));
       else
         Serial.println(F("***!!! Power Save Mode FAILED !!!***"));
@@ -95,6 +95,34 @@ void loop()
       else
         Serial.println(F("***!!! Power Save Disable FAILED !!!***"));
     }
+
+    // Read and print the new low power mode
+    uint8_t lowPowerMode = myGPS.getPowerSaveMode();
+    if (lowPowerMode == 255)
+    {
+      Serial.println(F("***!!! getPowerSaveMode FAILED !!!***"));
+    }
+    else
+    {
+      Serial.print(F("The low power mode is: "));
+      Serial.print(lowPowerMode);
+      if (lowPowerMode == 0)
+      {
+        Serial.println(F(" (Continuous)"));
+      }
+      else if (lowPowerMode == 1)
+      {
+        Serial.println(F(" (Power Save)"));
+      }
+      else if (lowPowerMode == 4)
+      {
+        Serial.println(F(" (Continuous)"));
+      }
+      else
+      {
+        Serial.println(F(" (Unknown!)"));
+      }
+    }
   }
 
   //Query module every 10 seconds so it is easier to monitor the current draw
@@ -132,4 +160,4 @@ void loop()
 
     Serial.println();
   }
-}
+}

Diff for: examples/Example19_DynamicModel/Example19_DynamicModel.ino

@@ -1,8 +1,8 @@
 /*
   Set Dynamic Model
   By: Paul Clark (PaulZC)
-  Date: March 9th, 2020
-  
+  Date: April 22nd, 2020
+
   Based extensively on Example3_GetPosition
   By: Nathan Seidle
   SparkFun Electronics
@@ -18,7 +18,7 @@
   SEA, AIRBORNE1g, AIRBORNE2g, AIRBORNE4g, WRIST, BIKE
 
   Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
-  to something google maps understands simply divide the numbers by 10,000,000. We 
+  to something google maps understands simply divide the numbers by 10,000,000. We
   do this so that we don't have to use floating point numbers.
 
   Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
@@ -47,18 +47,19 @@ void setup()
   Serial.begin(115200);
   while (!Serial)
     ; //Wait for user to open terminal
-  Serial.println("SparkFun Ublox Example");
+  Serial.println(F("SparkFun Ublox Example"));
 
   Wire.begin();
 
+  //myGPS.enableDebugging(); // Uncomment this line to enable 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)
       ;
   }
 
-  //myGPS.enableDebugging(); // Uncomment this line to enable debug messages
   myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
 
   // If we are going to change the dynamic platform model, let's do it here.
@@ -67,11 +68,23 @@ void setup()
 
   if (myGPS.setDynamicModel(DYN_MODEL_PORTABLE) == false) // Set the dynamic model to PORTABLE
   {
-    Serial.println("***!!! Warning: setDynamicModel failed !!!***");
+    Serial.println(F("***!!! Warning: setDynamicModel failed !!!***"));
+  }
+  else
+  {
+    Serial.println(F("Dynamic platform model changed successfully!"));
+  }
+
+  // Let's read the new dynamic model to see if it worked
+  uint8_t newDynamicModel = myGPS.getDynamicModel();
+  if (newDynamicModel == 255)
+  {
+    Serial.println(F("***!!! Warning: getDynamicModel failed !!!***"));
   }
   else
   {
-    Serial.println("Dynamic platform model changed successfully!");
+    Serial.print(F("The new dynamic model is: "));
+    Serial.println(newDynamicModel);
   }
 
   //myGPS.saveConfigSelective(VAL_CFG_SUBSEC_NAVCONF); //Uncomment this line to save only the NAV settings to flash and BBR