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Add support for older u-blox chips (7 series, 6 series). Fixes https:… #114

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Add support for older u-blox chips (7 series, 6 series). Fixes https:… #114

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138 changes: 125 additions & 13 deletions src/SparkFun_Ublox_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -938,6 +938,49 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
moduleQueried.headingOfMotion = true;
moduleQueried.pDOP = true;
}
else if (msg->id == UBX_NAV_TIMEUTC && msg->len == 20)
{
timeOfWeek = extractLong(0);
gpsMillisecond = extractLong(0) % 1000; //Get last three digits of iTOW
// extractLong(4); // time accuracy estimate
gpsYear = extractInt(12);
gpsMonth = extractByte(14);
gpsDay = extractByte(15);
gpsHour = extractByte(16);
gpsMinute = extractByte(17);
gpsSecond = extractByte(18);
gpsNanosecond = extractLong(8); //Includes milliseconds
uint8_t valid = extractByte(19);
bool gotTime = (valid & 4) ? true : false; // assume all other fields filled once we have TUTC

//Mark all datums as fresh (not read before)
moduleQueried.gpsiTOW = gotTime; // valid tow
moduleQueried.gpsYear = gotTime; // valid week num
moduleQueried.gpsMonth = gotTime;
moduleQueried.gpsDay = gotTime; // valid UTC
moduleQueried.gpsHour = gotTime;
moduleQueried.gpsMinute = gotTime;
moduleQueried.gpsSecond = gotTime;
moduleQueried.gpsNanosecond = gotTime;
}
else if (msg->id == UBX_NAV_POSLLH && msg->len == 28)
{
timeOfWeek = extractLong(0);
longitude = extractLong(4);
latitude = extractLong(8);
altitude = extractLong(12);
altitudeMSL = extractLong(16);
horizontalAccuracy = extractLong(20);
verticalAccuracy = extractLong(24);

moduleQueried.gpsiTOW = true;
moduleQueried.longitude = true;
moduleQueried.latitude = true;
moduleQueried.altitude = true;
moduleQueried.altitudeMSL = true;
highResModuleQueried.horizontalAccuracy = true;
highResModuleQueried.verticalAccuracy = true;
}
else if (msg->id == UBX_NAV_HPPOSLLH && msg->len == 36)
{
timeOfWeek = extractLong(4);
Expand Down Expand Up @@ -1002,6 +1045,13 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
_debugSerial->println(((float)(int32_t)extractLong(32)) / 10000.0f);
}
}
else {
if (_printDebug == true)
{
_debugSerial->print(F("Unexpected nav packet "));
_debugSerial->println(msg->id);
}
}
break;
}
}
Expand Down Expand Up @@ -2644,7 +2694,7 @@ int8_t SFE_UBLOX_GPS::extractSignedChar(uint8_t spotToStart)
uint16_t SFE_UBLOX_GPS::getYear(uint16_t maxWait)
{
if (moduleQueried.gpsYear == false)
getPVT(maxWait);
getTimeData(maxWait);
moduleQueried.gpsYear = false; //Since we are about to give this to user, mark this data as stale
return (gpsYear);
}
Expand All @@ -2653,7 +2703,7 @@ uint16_t SFE_UBLOX_GPS::getYear(uint16_t maxWait)
uint8_t SFE_UBLOX_GPS::getMonth(uint16_t maxWait)
{
if (moduleQueried.gpsMonth == false)
getPVT(maxWait);
getTimeData(maxWait);
moduleQueried.gpsMonth = false; //Since we are about to give this to user, mark this data as stale
return (gpsMonth);
}
Expand All @@ -2662,7 +2712,7 @@ uint8_t SFE_UBLOX_GPS::getMonth(uint16_t maxWait)
uint8_t SFE_UBLOX_GPS::getDay(uint16_t maxWait)
{
if (moduleQueried.gpsDay == false)
getPVT(maxWait);
getTimeData(maxWait);
moduleQueried.gpsDay = false; //Since we are about to give this to user, mark this data as stale
return (gpsDay);
}
Expand All @@ -2671,7 +2721,7 @@ uint8_t SFE_UBLOX_GPS::getDay(uint16_t maxWait)
uint8_t SFE_UBLOX_GPS::getHour(uint16_t maxWait)
{
if (moduleQueried.gpsHour == false)
getPVT(maxWait);
getTimeData(maxWait);
moduleQueried.gpsHour = false; //Since we are about to give this to user, mark this data as stale
return (gpsHour);
}
Expand All @@ -2680,7 +2730,7 @@ uint8_t SFE_UBLOX_GPS::getHour(uint16_t maxWait)
uint8_t SFE_UBLOX_GPS::getMinute(uint16_t maxWait)
{
if (moduleQueried.gpsMinute == false)
getPVT(maxWait);
getTimeData(maxWait);
moduleQueried.gpsMinute = false; //Since we are about to give this to user, mark this data as stale
return (gpsMinute);
}
Expand All @@ -2689,7 +2739,7 @@ uint8_t SFE_UBLOX_GPS::getMinute(uint16_t maxWait)
uint8_t SFE_UBLOX_GPS::getSecond(uint16_t maxWait)
{
if (moduleQueried.gpsSecond == false)
getPVT(maxWait);
getTimeData(maxWait);
moduleQueried.gpsSecond = false; //Since we are about to give this to user, mark this data as stale
return (gpsSecond);
}
Expand All @@ -2698,7 +2748,7 @@ uint8_t SFE_UBLOX_GPS::getSecond(uint16_t maxWait)
uint16_t SFE_UBLOX_GPS::getMillisecond(uint16_t maxWait)
{
if (moduleQueried.gpsiTOW == false)
getPVT(maxWait);
getTimeData(maxWait);
moduleQueried.gpsiTOW = false; //Since we are about to give this to user, mark this data as stale
return (gpsMillisecond);
}
Expand All @@ -2707,7 +2757,7 @@ uint16_t SFE_UBLOX_GPS::getMillisecond(uint16_t maxWait)
int32_t SFE_UBLOX_GPS::getNanosecond(uint16_t maxWait)
{
if (moduleQueried.gpsNanosecond == false)
getPVT(maxWait);
getTimeData(maxWait);
moduleQueried.gpsNanosecond = false; //Since we are about to give this to user, mark this data as stale
return (gpsNanosecond);
}
Expand Down Expand Up @@ -2762,10 +2812,72 @@ boolean SFE_UBLOX_GPS::getPVT(uint16_t maxWait)
}
}

// Update time info (using appropriate call for the chip series)
boolean SFE_UBLOX_GPS::getTimeData(uint16_t maxWait)
{
return getProtocolVersionHigh(maxWait) < 15 ? getTIMEUTC(maxWait) : getPVT(maxWait);
}

// Update position info (using appropriate call for the chip series)
boolean SFE_UBLOX_GPS::getPositionData(uint16_t maxWait)
{
return getProtocolVersionHigh(maxWait) < 20 ? getPOSLLH(maxWait) : getPVT(maxWait);
}

//Get time (for use on chips with protocol version 14 and earlier)
boolean SFE_UBLOX_GPS::getTIMEUTC(uint16_t maxWait)
{
debugPrintln((char *)F("getTIMEUTC: Polling"));

//The GPS is not automatically reporting navigation position so we have to poll explicitly
packetCfg.cls = UBX_CLASS_NAV;
packetCfg.id = UBX_NAV_TIMEUTC;
packetCfg.len = 0;
//packetCfg.startingSpot = 20; //Begin listening at spot 20 so we can record up to 20+MAX_PAYLOAD_SIZE = 84 bytes Note:now hard-coded in processUBX

//The data is parsed as part of processing the response
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);

if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
return (true);

if (_printDebug == true)
{
_debugSerial->print(F("getTIMEUTC retVal: "));
_debugSerial->println(statusString(retVal));
}
return (false);
}

//Get posllh (fos use on chips with protocol version 19 and earlier)
boolean SFE_UBLOX_GPS::getPOSLLH(uint16_t maxWait)
{
debugPrintln((char *)F("getPOSLLH: Polling"));

//The GPS is not automatically reporting navigation position so we have to poll explicitly
packetCfg.cls = UBX_CLASS_NAV;
packetCfg.id = UBX_NAV_POSLLH;
packetCfg.len = 0;
//packetCfg.startingSpot = 20; //Begin listening at spot 20 so we can record up to 20+MAX_PAYLOAD_SIZE = 84 bytes Note:now hard-coded in processUBX

//The data is parsed as part of processing the response
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);

if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
return (true);

if (_printDebug == true)
{
_debugSerial->print(F("getPOSLLH retVal: "));
_debugSerial->println(statusString(retVal));
}
return (false);
}

uint32_t SFE_UBLOX_GPS::getTimeOfWeek(uint16_t maxWait /* = 250*/)
{
if (moduleQueried.gpsiTOW == false)
getPVT(maxWait);
getTimeData(maxWait);
moduleQueried.gpsiTOW = false; //Since we are about to give this to user, mark this data as stale
return (timeOfWeek);
}
Expand Down Expand Up @@ -2895,7 +3007,7 @@ uint32_t SFE_UBLOX_GPS::getPositionAccuracy(uint16_t maxWait)
int32_t SFE_UBLOX_GPS::getLatitude(uint16_t maxWait)
{
if (moduleQueried.latitude == false)
getPVT(maxWait);
getPositionData(maxWait);
moduleQueried.latitude = false; //Since we are about to give this to user, mark this data as stale
moduleQueried.all = false;

Expand All @@ -2907,7 +3019,7 @@ int32_t SFE_UBLOX_GPS::getLatitude(uint16_t maxWait)
int32_t SFE_UBLOX_GPS::getLongitude(uint16_t maxWait)
{
if (moduleQueried.longitude == false)
getPVT(maxWait);
getPositionData(maxWait);
moduleQueried.longitude = false; //Since we are about to give this to user, mark this data as stale
moduleQueried.all = false;

Expand All @@ -2918,7 +3030,7 @@ int32_t SFE_UBLOX_GPS::getLongitude(uint16_t maxWait)
int32_t SFE_UBLOX_GPS::getAltitude(uint16_t maxWait)
{
if (moduleQueried.altitude == false)
getPVT(maxWait);
getPositionData(maxWait);
moduleQueried.altitude = false; //Since we are about to give this to user, mark this data as stale
moduleQueried.all = false;

Expand All @@ -2931,7 +3043,7 @@ int32_t SFE_UBLOX_GPS::getAltitude(uint16_t maxWait)
int32_t SFE_UBLOX_GPS::getAltitudeMSL(uint16_t maxWait)
{
if (moduleQueried.altitudeMSL == false)
getPVT(maxWait);
getPositionData(maxWait);
moduleQueried.altitudeMSL = false; //Since we are about to give this to user, mark this data as stale
moduleQueried.all = false;

Expand Down
9 changes: 7 additions & 2 deletions src/SparkFun_Ublox_Arduino_Library.h
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Original file line number Diff line number Diff line change
Expand Up @@ -531,9 +531,14 @@ class SFE_UBLOX_GPS

boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and PVT is send cyclically already
boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency
boolean getPVT(uint16_t maxWait = getPVTmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Retruns true if new PVT is available.
boolean getPVT(uint16_t maxWait = getPVTmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
boolean getTimeData(uint16_t maxWait = getPVTmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
boolean getPositionData(uint16_t maxWait = getPVTmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
boolean getTIMEUTC(uint16_t maxWait = getPVTmaxWait); //Query module for current time (for use with older chip series). Returns true if new data is available.
boolean getPOSLLH(uint16_t maxWait = getPVTmaxWait); //Query module for current position (for use with older chip series). Returns true if new data is available.

boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
boolean getHPPOSLLH(uint16_t maxWait = getHPPOSLLHmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Retruns true if new PVT is available.
boolean getHPPOSLLH(uint16_t maxWait = getHPPOSLLHmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
void flushPVT(); //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure

int32_t getLatitude(uint16_t maxWait = getPVTmaxWait); //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
Expand Down