Merge pull request #73 from sparkfun/release_candidate

v2.0.16

Author: PaulZC

Diff for: Utils/UBX_Integrity_Checker.py

@@ -1,10 +1,11 @@
 # Checks the integrity of u-blox binary files
 
 # Written by: Paul Clark
-# Last update: August 26th 2020
+# Last update: October 17th 2021
 
 # Reads a UBX file and checks the integrity of both UBX and NMEA data
 # Will rewind and re-sync if an error is found
+# Will create a repaired file if desired
 
 # SparkFun code, firmware, and software is released under the MIT License (http://opensource.org/licenses/MIT)
 #
@@ -70,6 +71,17 @@ def csum(byte, sum1, sum2):
 else:
     containsNMEA = False
 
+# Ask user if the file should be repaired
+response = input('Do you want to repair the file? (y/N): ') # Get the response
+if (response == '') or (response == 'N') or (response == 'n'):
+    repairFile = False
+else:
+    repairFile = True
+    if (filename[-4] == '.'):
+        repairFilename = filename[:-4] + '.repair' + filename[-4:]
+    else:
+        repairFilename = filename + '.repair'
+
 print()
 print('Processing',filename)
 print()
@@ -81,7 +93,14 @@ def csum(byte, sum1, sum2):
 except:
     raise Exception('Invalid file!')
 
-processed = -1 # The nunber of bytes processed
+# Try to open repair file for writing
+if (repairFile):
+    try:
+        fo = open(repairFilename,"wb")
+    except:
+        raise Exception('Could not open repair file!')
+
+processed = -1 # The number of bytes processed
 messages = {} # The collected message types
 longest = 0 # The length of the longest UBX message
 keepGoing = True
@@ -137,6 +156,9 @@ def csum(byte, sum1, sum2):
 resync_in_progress = False # Flag to indicate if a resync is in progress
 message_start_byte = 0 # Record where the latest message started (for resync reporting)
 
+rewind_repair_file_to = 0 # Keep a note of where to rewind the repair file to if sync is lost
+repaired_file_bytes = 0 # Keep a note of how many bytes have been written to the repair file
+
 try:
     while keepGoing:
 
@@ -149,6 +171,11 @@ def csum(byte, sum1, sum2):
 
         processed = processed + 1 # Keep a record of how many bytes have been read and processed
 
+        # Write the byte to the repair file if desired
+        if (repairFile):
+            fo.write(fileBytes)
+            repaired_file_bytes = repaired_file_bytes + 1
+
         # Process data bytes according to ubx_nmea_state
         # For UBX messages:
         # Sync Char 1: 0xB5
@@ -267,6 +294,18 @@ def csum(byte, sum1, sum2):
                     resyncs += 1 # Increment the number of successful resyncs
                     print("Sync successfully re-established at byte "+str(processed)+". The UBX message started at byte "+str(message_start_byte))
                     print()
+                    if (repairFile):
+                        fo.seek(rewind_repair_file_to) # Rewind the repaired file
+                        repaired_file_bytes = rewind_repair_file_to
+                        fi.seek(message_start_byte) # Copy the valid message into the repair file
+                        repaired_bytes_to_write = processed - message_start_byte
+                        fileBytes = fi.read(repaired_bytes_to_write)
+                        fo.write(fileBytes)
+                        repaired_file_bytes = repaired_file_bytes + repaired_bytes_to_write
+                else:
+                    if (repairFile):
+                        rewind_repair_file_to = repaired_file_bytes # Rewind repair file to here if sync is lost
+
         # NMEA messages
         elif (ubx_nmea_state == looking_for_asterix):
             nmea_length = nmea_length + 1 # Increase the message length count
@@ -359,6 +398,17 @@ def csum(byte, sum1, sum2):
                     resyncs += 1 # Increment the number of successful resyncs
                     print("Sync successfully re-established at byte "+str(processed)+". The NMEA message started at byte "+str(message_start_byte))
                     print()
+                    if (repairFile):
+                        fo.seek(rewind_repair_file_to) # Rewind the repaired file
+                        repaired_file_bytes = rewind_repair_file_to
+                        fi.seek(message_start_byte) # Copy the valid message into the repair file
+                        repaired_bytes_to_write = processed - message_start_byte
+                        fileBytes = fi.read(repaired_bytes_to_write)
+                        fo.write(fileBytes)
+                        repaired_file_bytes = repaired_file_bytes + repaired_bytes_to_write
+                else:
+                    if (repairFile):
+                        rewind_repair_file_to = repaired_file_bytes # Rewind repair file to here if sync is lost
 
         # Check if the end of the file has been reached
         if (processed >= filesize - 1): keepGoing = False
@@ -381,6 +431,9 @@ def csum(byte, sum1, sum2):
 finally:
     fi.close() # Close the file
 
+    if (repairFile):
+        fo.close()
+        
     # Print the file statistics
     print()
     processed += 1
@@ -396,4 +449,7 @@ def csum(byte, sum1, sum2):
     if (resyncs > 0):
         print('Number of successful resyncs:',resyncs)
     print()
+    if (repairFile):
+        print('Repaired data written to:', repairFilename)
+    print()
     print('Bye!')

Diff for: examples/Data_Logging/DataLoggingExample1_NAV_PVT/DataLoggingExample1_NAV_PVT.ino

@@ -2,7 +2,7 @@
   Configuring the GNSS to automatically send NAV PVT reports over I2C and log them to file on SD card
   By: Paul Clark
   SparkFun Electronics
-  Date: December 30th, 2020
+  Date: October 18th, 2021
   License: MIT. See license file for more information but you can
   basically do whatever you want with this code.
 
@@ -22,8 +22,10 @@
   Insert a formatted micro-SD card into the socket on the Carrier Board.
   Connect the Carrier Board to your computer using a USB-C cable.
   Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
-  This code has been tested using version 1.2.1 of the Apollo3 boards on Arduino IDE 1.8.13.
-  Select "SparkFun Artemis MicroMod" as the board type.
+  This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
+   - Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
+   - We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
+  Select "Artemis MicroMod Processor" as the board type.
   Press upload to upload the code onto the Artemis.
   Open the Serial Monitor at 115200 baud to see the output.
 
@@ -51,7 +53,20 @@ SFE_UBLOX_GNSS myGNSS;
 
 File myFile; //File that all GNSS data is written to
 
-#define sdChipSelect CS //Primary SPI Chip Select is CS for the MicroMod Artemis Processor. Adjust for your processor if necessary.
+//Define the microSD (SPI) Chip Select pin. Adjust for your processor if necessary.
+#if defined(ARDUINO_ARCH_APOLLO3) // Check for SparkFun Apollo3 (Artemis) v1 or v2
+  #if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB)      // Check for the Artemis MicroMod Processor Board on Apollo3 v2
+    #define sdChipSelect SPI_CS   // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v2
+  #elif defined(ARDUINO_AM_AP3_SFE_ARTEMIS_MICROMOD)  // Check for the Artemis MicroMod Processor Board on Apollo3 v1
+    #define sdChipSelect CS       // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v1
+  #else
+    #define sdChipSelect CS       // Catch-all for the other Artemis Boards - change this if required to match your hardware
+  #endif
+#else
+
+  #define sdChipSelect CS         // Catch-all for all non-Artemis boards - change this if required to match your hardware
+  
+#endif
 
 #define packetLength 100 // NAV PVT is 92 + 8 bytes in length (including the sync chars, class, id, length and checksum bytes)
 
@@ -107,8 +122,20 @@ void setup()
 
   Wire.begin(); // Start I2C communication with the GNSS
 
-#if defined(AM_PART_APOLLO3)
-  Wire.setPullups(0); // On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
+// On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
+#if defined(AM_PART_APOLLO3)                      // Check for SparkFun Apollo3 (Artemis) v1
+  Wire.setPullups(0);                             // Disable the internal I2C pull-ups on Apollo3 v1
+#elif defined(ARDUINO_ARCH_APOLLO3)               // Else check for SparkFun Apollo3 (Artemis) (v2)
+  #if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB)  // Check for the Artemis MicroMod Processor Board on Apollo3 v2
+    // On Apollo3 v2 we can still disable the pull-ups but we need to do it manually
+    // The IOM and pin numbers here are specific to the Artemis MicroMod Processor Board
+    am_hal_gpio_pincfg_t sclPinCfg = g_AM_BSP_GPIO_IOM4_SCL;  // Artemis MicroMod Processor Board uses IOM4 for I2C communication
+    am_hal_gpio_pincfg_t sdaPinCfg = g_AM_BSP_GPIO_IOM4_SDA;
+    sclPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE;          // Disable the pull-ups
+    sdaPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE;
+    pin_config(PinName(39), sclPinCfg);                       // Artemis MicroMod Processor Board uses Pin/Pad 39 for SCL
+    pin_config(PinName(40), sdaPinCfg);                       // Artemis MicroMod Processor Board uses Pin/Pad 40 for SDA
+  #endif
 #endif
 
   while (Serial.available()) // Make sure the Serial buffer is empty
@@ -199,7 +226,7 @@ void loop()
   if (Serial.available()) // Check if the user wants to stop logging
   {
     myFile.close(); // Close the data file
-    Serial.println(F("Logging stopped. Freezing..."));
+    Serial.println(F("\r\nLogging stopped. Freezing..."));
     while(1); // Do nothing more
   }
 

Diff for: examples/Data_Logging/DataLoggingExample2_TIM_TM2/DataLoggingExample2_TIM_TM2.ino

@@ -2,7 +2,7 @@
   Configuring the GNSS to automatically send TIM TM2 reports over I2C and log them to file on SD card
   By: Paul Clark
   SparkFun Electronics
-  Date: December 30th, 2020
+  Date: October 18th, 2021
   License: MIT. See license file for more information but you can
   basically do whatever you want with this code.
 
@@ -22,8 +22,10 @@
   Insert a formatted micro-SD card into the socket on the Carrier Board.
   Connect the Carrier Board to your computer using a USB-C cable.
   Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
-  This code has been tested using version 1.2.1 of the Apollo3 boards on Arduino IDE 1.8.13.
-  Select "SparkFun Artemis MicroMod" as the board type.
+  This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
+   - Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
+   - We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
+  Select "Artemis MicroMod Processor" as the board type.
   Press upload to upload the code onto the Artemis.
   Open the Serial Monitor at 115200 baud to see the output.
 
@@ -64,7 +66,20 @@ SFE_UBLOX_GNSS myGNSS;
 
 File myFile; //File that all GNSS data is written to
 
-#define sdChipSelect CS //Primary SPI Chip Select is CS for the MicroMod Artemis Processor. Adjust for your processor if necessary.
+//Define the microSD (SPI) Chip Select pin. Adjust for your processor if necessary.
+#if defined(ARDUINO_ARCH_APOLLO3) // Check for SparkFun Apollo3 (Artemis) v1 or v2
+  #if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB)      // Check for the Artemis MicroMod Processor Board on Apollo3 v2
+    #define sdChipSelect SPI_CS   // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v2
+  #elif defined(ARDUINO_AM_AP3_SFE_ARTEMIS_MICROMOD)  // Check for the Artemis MicroMod Processor Board on Apollo3 v1
+    #define sdChipSelect CS       // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v1
+  #else
+    #define sdChipSelect CS       // Catch-all for the other Artemis Boards - change this if required to match your hardware
+  #endif
+#else
+
+  #define sdChipSelect CS         // Catch-all for all non-Artemis boards - change this if required to match your hardware
+  
+#endif
 
 #define packetLength 36 // TIM TM2 is 28 + 8 bytes in length (including the sync chars, class, id, length and checksum bytes)
 
@@ -113,8 +128,20 @@ void setup()
 
   Wire.begin(); // Start I2C communication with the GNSS
 
-#if defined(AM_PART_APOLLO3)
-  Wire.setPullups(0); // On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
+// On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
+#if defined(AM_PART_APOLLO3)                      // Check for SparkFun Apollo3 (Artemis) v1
+  Wire.setPullups(0);                             // Disable the internal I2C pull-ups on Apollo3 v1
+#elif defined(ARDUINO_ARCH_APOLLO3)               // Else check for SparkFun Apollo3 (Artemis) (v2)
+  #if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB)  // Check for the Artemis MicroMod Processor Board on Apollo3 v2
+    // On Apollo3 v2 we can still disable the pull-ups but we need to do it manually
+    // The IOM and pin numbers here are specific to the Artemis MicroMod Processor Board
+    am_hal_gpio_pincfg_t sclPinCfg = g_AM_BSP_GPIO_IOM4_SCL;  // Artemis MicroMod Processor Board uses IOM4 for I2C communication
+    am_hal_gpio_pincfg_t sdaPinCfg = g_AM_BSP_GPIO_IOM4_SDA;
+    sclPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE;          // Disable the pull-ups
+    sdaPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE;
+    pin_config(PinName(39), sclPinCfg);                       // Artemis MicroMod Processor Board uses Pin/Pad 39 for SCL
+    pin_config(PinName(40), sdaPinCfg);                       // Artemis MicroMod Processor Board uses Pin/Pad 40 for SDA
+  #endif
 #endif
 
   while (Serial.available()) // Make sure the Serial buffer is empty
@@ -205,7 +232,7 @@ void loop()
   if (Serial.available()) // Check if the user wants to stop logging
   {
     myFile.close(); // Close the data file
-    Serial.println(F("Logging stopped. Freezing..."));
+    Serial.println(F("\r\nLogging stopped. Freezing..."));
     while(1); // Do nothing more
   }
 

Diff for: examples/Data_Logging/DataLoggingExample3_RXM_SFRBX_and_RAWX/DataLoggingExample3_RXM_SFRBX_and_RAWX.ino

@@ -2,7 +2,7 @@
   Configuring the GNSS to automatically send RXM SFRBX and RAWX reports over I2C and log them to file on SD card
   By: Paul Clark
   SparkFun Electronics
-  Date: December 30th, 2020
+  Date: October 18th, 2021
   License: MIT. See license file for more information but you can
   basically do whatever you want with this code.
 
@@ -34,8 +34,10 @@
   Insert a formatted micro-SD card into the socket on the Carrier Board.
   Connect the Carrier Board to your computer using a USB-C cable.
   Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
-  This code has been tested using version 1.2.1 of the Apollo3 boards on Arduino IDE 1.8.13.
-  Select "SparkFun Artemis MicroMod" as the board type.
+  This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
+   - Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
+   - We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
+  Select "Artemis MicroMod Processor" as the board type.
   Press upload to upload the code onto the Artemis.
   Open the Serial Monitor at 115200 baud to see the output.
 
@@ -57,7 +59,20 @@ SFE_UBLOX_GNSS myGNSS;
 
 File myFile; //File that all GNSS data is written to
 
-#define sdChipSelect CS //Primary SPI Chip Select is CS for the MicroMod Artemis Processor. Adjust for your processor if necessary.
+//Define the microSD (SPI) Chip Select pin. Adjust for your processor if necessary.
+#if defined(ARDUINO_ARCH_APOLLO3) // Check for SparkFun Apollo3 (Artemis) v1 or v2
+  #if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB)      // Check for the Artemis MicroMod Processor Board on Apollo3 v2
+    #define sdChipSelect SPI_CS   // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v2
+  #elif defined(ARDUINO_AM_AP3_SFE_ARTEMIS_MICROMOD)  // Check for the Artemis MicroMod Processor Board on Apollo3 v1
+    #define sdChipSelect CS       // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v1
+  #else
+    #define sdChipSelect CS       // Catch-all for the other Artemis Boards - change this if required to match your hardware
+  #endif
+#else
+
+  #define sdChipSelect CS         // Catch-all for all non-Artemis boards - change this if required to match your hardware
+  
+#endif
 
 #define sdWriteSize 512 // Write data to the SD card in blocks of 512 bytes
 #define fileBufferSize 16384 // Allocate 16KBytes of RAM for UBX message storage
@@ -106,8 +121,20 @@ void setup()
 
   Wire.begin(); // Start I2C communication
 
-#if defined(AM_PART_APOLLO3)
-  Wire.setPullups(0); // On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
+// On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
+#if defined(AM_PART_APOLLO3)                      // Check for SparkFun Apollo3 (Artemis) v1
+  Wire.setPullups(0);                             // Disable the internal I2C pull-ups on Apollo3 v1
+#elif defined(ARDUINO_ARCH_APOLLO3)               // Else check for SparkFun Apollo3 (Artemis) (v2)
+  #if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB)  // Check for the Artemis MicroMod Processor Board on Apollo3 v2
+    // On Apollo3 v2 we can still disable the pull-ups but we need to do it manually
+    // The IOM and pin numbers here are specific to the Artemis MicroMod Processor Board
+    am_hal_gpio_pincfg_t sclPinCfg = g_AM_BSP_GPIO_IOM4_SCL;  // Artemis MicroMod Processor Board uses IOM4 for I2C communication
+    am_hal_gpio_pincfg_t sdaPinCfg = g_AM_BSP_GPIO_IOM4_SDA;
+    sclPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE;          // Disable the pull-ups
+    sdaPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE;
+    pin_config(PinName(39), sclPinCfg);                       // Artemis MicroMod Processor Board uses Pin/Pad 39 for SCL
+    pin_config(PinName(40), sdaPinCfg);                       // Artemis MicroMod Processor Board uses Pin/Pad 40 for SDA
+  #endif
 #endif
 
   while (Serial.available()) // Make sure the Serial buffer is empty