Higher datarate. Fix for CRC issues

examples/Example16_Nanosecond_MaxOutput/Example16_Nanosecond_MaxOutput.ino

@@ -0,0 +1,105 @@
+/*
+  Getting time and date using Ublox commands
+  By: davidallenmann
+  SparkFun Electronics
+  Date: April 16th, 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 query a Ublox module for the current time and date. We also
+  turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
+  dramatically.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  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 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;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(500000); //Increase serial speed to maximize 
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+  Wire.setClock(400000);
+
+  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.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration();        //Save the current settings to flash and BBR
+
+  //myGPS.enableDebugging(); //Enable debug messages over Serial (default)
+
+  myGPS.setNavigationFrequency(10); //Set output to 10 times a second
+  byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
+  Serial.print("Current update rate:");
+  Serial.println(rate);
+
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 10)
+  {
+    lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.print(myGPS.getYear());
+    Serial.print("-");
+    Serial.print(myGPS.getMonth());
+    Serial.print("-");
+    Serial.print(myGPS.getDay());
+    Serial.print(" ");
+    Serial.print(myGPS.getHour());
+    Serial.print(":");
+    Serial.print(myGPS.getMinute());
+    Serial.print(":");
+    Serial.print(myGPS.getSecond());
+    Serial.print(".");
+    Serial.print(myGPS.getNanosecond());
+
+    Serial.println();
+  }
+}

examples/Example16_PartialSecond_MaxOutput/Example16_PartialSecond_MaxOutput.ino

@@ -0,0 +1,114 @@
+/*
+  Getting time and date using Ublox commands
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: April 16th, 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 use the Millisecond and Nanosecond output as well as increase the
+  I2C speed (100 to 400kHz), and serial output (115200 to 500kbps).
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  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 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;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(500000); //Increase serial speed to maximize 
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+  Wire.setClock(400000);
+
+  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.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  //myGPS.enableDebugging(); //Enable debug messages over Serial (default)
+
+  myGPS.setNavigationFrequency(10); //Set output to 10 times a second
+  byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
+  Serial.print("Current update rate:");
+  Serial.println(rate);
+
+  myGPS.saveConfiguration();        //Save the current settings to flash and BBR
+
+  pinMode(2, OUTPUT); //For debug capture
+  digitalWrite(2, HIGH);
+}
+
+void loop()
+{
+  //Query module very often to get max update rate
+  if (millis() - lastTime > 10)
+  {
+    lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.print(" ");
+    Serial.print(myGPS.getYear());
+    Serial.print("-");
+    Serial.print(myGPS.getMonth());
+    Serial.print("-");
+    Serial.print(myGPS.getDay());
+    Serial.print(" ");
+    Serial.print(myGPS.getHour());
+    Serial.print(":");
+    Serial.print(myGPS.getMinute());
+    Serial.print(":");
+    Serial.print(myGPS.getSecond());
+    Serial.print(".");
+    //Pretty print leading zeros
+    int mseconds = myGPS.getMillisecond();
+    if(mseconds < 100) Serial.print("0");
+    if(mseconds < 10) Serial.print("0");
+    Serial.print(mseconds);
+
+    Serial.print(" nanoSeconds: ");    
+    Serial.print(myGPS.getNanosecond());
+
+    Serial.println();
+  }
+}

keywords.txt

@@ -95,6 +95,8 @@ getDay	KEYWORD2
 getHour	KEYWORD2
 getMinute	KEYWORD2
 getSecond	KEYWORD2
+getMillisecond   KEYWORD2
+getNanosecond   KEYWORD2
 
 getHPPOSLLH KEYWORD2
 getTimeOfWeek KEYWORD2

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -244,7 +244,7 @@ boolean SFE_UBLOX_GPS::checkUbloxI2C()
     while (bytesAvailable)
     {
       _i2cPort->beginTransmission(_gpsI2Caddress);
-      _i2cPort->write(0xFF);                     //0xFF is the register to read general NMEA data from
+      _i2cPort->write(0xFF);                     //0xFF is the register to read data from
       if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
         return (false);                          //Sensor did not ACK
 
@@ -253,12 +253,28 @@ boolean SFE_UBLOX_GPS::checkUbloxI2C()
       if (bytesToRead > I2C_BUFFER_LENGTH)
         bytesToRead = I2C_BUFFER_LENGTH;
 
+    TRY_AGAIN:
+
       _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)bytesToRead);
       if (_i2cPort->available())
       {
         for (uint16_t x = 0; x < bytesToRead; x++)
         {
-          process(_i2cPort->read()); //Grab the actual character and process it
+          uint8_t incoming = _i2cPort->read(); //Grab the actual character
+
+          //Check to see if the first read is 0x7F. If it is, the module is not ready
+          //to respond. Stop, wait, and try again
+          if (x == 0)
+          {
+            if (incoming == 0x7F)
+            {
+              debugPrintln("Module not ready with data");
+              delay(5); //In logic analyzation, the module starting responding after 1.48ms
+              goto TRY_AGAIN;
+            }
+          }
+
+          process(incoming); //Process this valid character
         }
       }
       else
@@ -479,15 +495,40 @@ void SFE_UBLOX_GPS::processUBX(uint8_t incoming, ubxPacket *incomingUBX)
     {
       if (_printDebug == true)
       {
-        _debugSerial->print("Received: ");
+        _debugSerial->print("Size: ");
+        _debugSerial->print(incomingUBX->len);
+        _debugSerial->print(" Received: ");
         printPacket(incomingUBX);
       }
       incomingUBX->valid = true;
       processUBXpacket(incomingUBX); //We've got a valid packet, now do something with it
     }
     else
     {
-      debugPrintln("Checksum failed. Response too big?");
+      if (_printDebug == true)
+      {
+        debugPrintln("Checksum failed. Response too big?");
+
+        digitalWrite(2, LOW);
+        delay(10);
+        digitalWrite(2, HIGH);
+
+        _debugSerial->print("Received: ");
+        printPacket(incomingUBX);
+
+        _debugSerial->print("Size: ");
+        _debugSerial->print(incomingUBX->len);
+        _debugSerial->print(" checksumA: ");
+        _debugSerial->print(incomingUBX->checksumA);
+        _debugSerial->print(" checksumB: ");
+        _debugSerial->print(incomingUBX->checksumB);
+
+        _debugSerial->print(" rollingChecksumA: ");
+        _debugSerial->print(rollingChecksumA);
+        _debugSerial->print(" rollingChecksumB: ");
+        _debugSerial->print(rollingChecksumB);
+        _debugSerial->println();
+      }
     }
   }
   else //Load this byte into the payload array
@@ -529,12 +570,14 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
       //Parse various byte fields into global vars
       constexpr int startingSpot = 0; //fixed value used in processUBX
 
+      gpsMillisecond = extractLong(0) % 1000; //Get last three digits of iTOW
       gpsYear = extractInt(4);
       gpsMonth = extractByte(6);
       gpsDay = extractByte(7);
       gpsHour = extractByte(8);
       gpsMinute = extractByte(9);
       gpsSecond = extractByte(10);
+      gpsNanosecond = extractLong(16); //Includes milliseconds
 
       fixType = extractByte(20 - startingSpot);
       carrierSolution = extractByte(21 - startingSpot) >> 6; //Get 6th&7th bits of this byte
@@ -554,6 +597,7 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
       moduleQueried.gpsHour = true;
       moduleQueried.gpsMinute = true;
       moduleQueried.gpsSecond = true;
+      moduleQueried.gpsNanosecond = true;
 
       moduleQueried.all = true;
       moduleQueried.longitude = true;
@@ -1307,7 +1351,7 @@ uint8_t SFE_UBLOX_GPS::getMonth(uint16_t maxWait)
   return (gpsMonth);
 }
 
-//Get the current year
+//Get the current day
 uint8_t SFE_UBLOX_GPS::getDay(uint16_t maxWait)
 {
   if (moduleQueried.gpsDay == false)
@@ -1316,7 +1360,7 @@ uint8_t SFE_UBLOX_GPS::getDay(uint16_t maxWait)
   return (gpsDay);
 }
 
-//Get the current year
+//Get the current hour
 uint8_t SFE_UBLOX_GPS::getHour(uint16_t maxWait)
 {
   if (moduleQueried.gpsHour == false)
@@ -1325,7 +1369,7 @@ uint8_t SFE_UBLOX_GPS::getHour(uint16_t maxWait)
   return (gpsHour);
 }
 
-//Get the current year
+//Get the current minute
 uint8_t SFE_UBLOX_GPS::getMinute(uint16_t maxWait)
 {
   if (moduleQueried.gpsMinute == false)
@@ -1334,7 +1378,7 @@ uint8_t SFE_UBLOX_GPS::getMinute(uint16_t maxWait)
   return (gpsMinute);
 }
 
-//Get the current year
+//Get the current second
 uint8_t SFE_UBLOX_GPS::getSecond(uint16_t maxWait)
 {
   if (moduleQueried.gpsSecond == false)
@@ -1343,6 +1387,24 @@ uint8_t SFE_UBLOX_GPS::getSecond(uint16_t maxWait)
   return (gpsSecond);
 }
 
+//Get the current millisecond
+uint16_t SFE_UBLOX_GPS::getMillisecond(uint16_t maxWait)
+{
+  if (moduleQueried.gpsiTOW == false)
+    getPVT();
+  moduleQueried.gpsiTOW = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsMillisecond);
+}
+
+//Get the current nanoseconds - includes milliseconds
+int32_t SFE_UBLOX_GPS::getNanosecond(uint16_t maxWait)
+{
+  if (moduleQueried.gpsNanosecond == false)
+    getPVT();
+  moduleQueried.gpsNanosecond = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsNanosecond);
+}
+
 //Get the latest Position/Velocity/Time solution and fill all global variables
 boolean SFE_UBLOX_GPS::getPVT(uint16_t maxWait)
 {