Add setSurveyModeFull, enableSurveyModeFull, getSurveyInObservationTimeFull. See #117

Author: PaulZC

Diff for: examples/ZED-F9P/Example3_StartRTCMBase/Example3_StartRTCMBase.ino

@@ -107,6 +107,7 @@ void setup()
     //The ZED-F9P is slightly different than the NEO-M8P. See the Integration manual 3.5.8 for more info.
     //response = myGNSS.enableSurveyMode(300, 2.000); //Enable Survey in on NEO-M8P, 300 seconds, 2.0m
     response = myGNSS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
+    //response = myGNSS.enableSurveyModeFull(86400, 2.000); //Enable Survey in, 24 hours, 2.0m
     if (response == false)
     {
       Serial.println(F("Survey start failed. Freezing..."));
@@ -136,14 +137,14 @@ void setup()
     // From v2.0, the data from getSurveyStatus (UBX-NAV-SVIN) is returned in UBX_NAV_SVIN_t packetUBXNAVSVIN
     // Please see u-blox_structs.h for the full definition of UBX_NAV_SVIN_t
     // You can either read the data from packetUBXNAVSVIN directly
-    // or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; and getSurveyInMeanAccuracy
+    // or can use the helper functions: getSurveyInActive; getSurveyInValid; getSurveyInObservationTime; getSurveyInObservationTimeFull; and getSurveyInMeanAccuracy
     response = myGNSS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
 
     if (response == true) // Check if fresh data was received
     {
       Serial.print(F("Press x to end survey - "));
       Serial.print(F("Time elapsed: "));
-      Serial.print((String)myGNSS.getSurveyInObservationTime()); // Call the helper function
+      Serial.print((String)myGNSS.getSurveyInObservationTimeFull()); // Call the helper function
       Serial.print(F(" ("));
       Serial.print((String)myGNSS.packetUBXNAVSVIN->data.dur); // Read the survey-in duration directly from packetUBXNAVSVIN
 

Diff for: keywords.txt

@@ -145,7 +145,9 @@ disableRTCMmessage	KEYWORD2
 
 getSurveyMode	KEYWORD2
 setSurveyMode	KEYWORD2
+setSurveyModeFull	KEYWORD2
 enableSurveyMode	KEYWORD2
+enableSurveyModeFull	KEYWORD2
 disableSurveyMode	KEYWORD2
 setStaticPosition	KEYWORD2
 setDGNSSConfiguration	KEYWORD2
@@ -575,6 +577,7 @@ getMotionHeading	KEYWORD2
 getSurveyInActive	KEYWORD2
 getSurveyInValid	KEYWORD2
 getSurveyInObservationTime	KEYWORD2
+getSurveyInObservationTimeFull	KEYWORD2
 getSurveyInMeanAccuracy	KEYWORD2
 
 getRelPosN	KEYWORD2

Diff for: src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -6661,6 +6661,10 @@ bool SFE_UBLOX_GNSS::getSurveyMode(uint16_t maxWait)
 
 // Control Survey-In for NEO-M8P
 bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
+{
+  return (setSurveyModeFull(mode, (uint32_t)observationTime, requiredAccuracy, maxWait));
+}
+bool SFE_UBLOX_GNSS::setSurveyModeFull(uint8_t mode, uint32_t observationTime, float requiredAccuracy, uint16_t maxWait)
 {
   if (getSurveyMode(maxWait) == false) // Ask module for the current TimeMode3 settings. Loads into payloadCfg.
     return (false);
@@ -6673,26 +6677,30 @@ bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float
   // payloadCfg should be loaded with poll response. Now modify only the bits we care about
   payloadCfg[2] = mode; // Set mode. Survey-In and Disabled are most common. Use ECEF (not LAT/LON/ALT).
 
-  // svinMinDur is U4 (uint32_t) but we'll only use a uint16_t (waiting more than 65535 seconds seems excessive!)
+  // svinMinDur is U4 (uint32_t) in seconds
   payloadCfg[24] = observationTime & 0xFF; // svinMinDur in seconds
-  payloadCfg[25] = observationTime >> 8;   // svinMinDur in seconds
-  payloadCfg[26] = 0;                      // Truncate to 16 bits
-  payloadCfg[27] = 0;                      // Truncate to 16 bits
+  payloadCfg[25] = (observationTime >> 8) & 0xFF;
+  payloadCfg[26] = (observationTime >> 16) & 0xFF;
+  payloadCfg[27] = (observationTime >> 24) & 0xFF;
 
   // svinAccLimit is U4 (uint32_t) in 0.1mm.
   uint32_t svinAccLimit = (uint32_t)(requiredAccuracy * 10000.0); // Convert m to 0.1mm
   payloadCfg[28] = svinAccLimit & 0xFF;                           // svinAccLimit in 0.1mm increments
-  payloadCfg[29] = svinAccLimit >> 8;
-  payloadCfg[30] = svinAccLimit >> 16;
-  payloadCfg[31] = svinAccLimit >> 24;
+  payloadCfg[29] = (svinAccLimit >> 8) & 0xFF;
+  payloadCfg[30] = (svinAccLimit >> 16) & 0xFF;
+  payloadCfg[31] = (svinAccLimit >> 24) & 0xFF;
 
   return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 // Begin Survey-In for NEO-M8P
 bool SFE_UBLOX_GNSS::enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
 {
-  return (setSurveyMode(SVIN_MODE_ENABLE, observationTime, requiredAccuracy, maxWait));
+  return (setSurveyModeFull(SVIN_MODE_ENABLE, (uint32_t)observationTime, requiredAccuracy, maxWait));
+}
+bool SFE_UBLOX_GNSS::enableSurveyModeFull(uint32_t observationTime, float requiredAccuracy, uint16_t maxWait)
+{
+  return (setSurveyModeFull(SVIN_MODE_ENABLE, observationTime, requiredAccuracy, maxWait));
 }
 
 // Stop Survey-In for NEO-M8P
@@ -15554,7 +15562,7 @@ bool SFE_UBLOX_GNSS::getSurveyInValid(uint16_t maxWait)
   return ((bool)packetUBXNAVSVIN->data.valid);
 }
 
-uint16_t SFE_UBLOX_GNSS::getSurveyInObservationTime(uint16_t maxWait) // Truncated to 65535 seconds
+uint32_t SFE_UBLOX_GNSS::getSurveyInObservationTimeFull(uint16_t maxWait) // Return the full uint32_t
 {
   if (packetUBXNAVSVIN == NULL)
     initPacketUBXNAVSVIN();     // Check that RAM has been allocated for the SVIN data
@@ -15566,9 +15574,13 @@ uint16_t SFE_UBLOX_GNSS::getSurveyInObservationTime(uint16_t maxWait) // Truncat
   packetUBXNAVSVIN->moduleQueried.moduleQueried.bits.dur = false; // Since we are about to give this to user, mark this data as stale
   packetUBXNAVSVIN->moduleQueried.moduleQueried.bits.all = false;
 
-  // dur (Passed survey-in observation time) is U4 (uint32_t) seconds. We truncate to 16 bits
-  //(waiting more than 65535 seconds (18.2 hours) seems excessive!)
-  uint32_t tmpObsTime = packetUBXNAVSVIN->data.dur;
+  return (packetUBXNAVSVIN->data.dur);
+}
+
+uint16_t SFE_UBLOX_GNSS::getSurveyInObservationTime(uint16_t maxWait) // Truncated to 65535 seconds
+{
+  // dur (Passed survey-in observation time) is U4 (uint32_t) seconds. Here we truncate to 16 bits
+  uint32_t tmpObsTime = getSurveyInObservationTimeFull(maxWait);
   if (tmpObsTime <= 0xFFFF)
   {
     return ((uint16_t)tmpObsTime);

Diff for: src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -269,11 +269,11 @@ const uint8_t UBX_NMEA_GSVTALKERID_MAIN = 0x01;           // use the main Talker
 // Class: PUBX
 // The following are used to enable PUBX messages with configureMessage
 // See the M8 receiver description & protocol specification for more details
-const uint8_t UBX_PUBX_CONFIG   = 0x41; // Set protocols and baud rate
+const uint8_t UBX_PUBX_CONFIG = 0x41;   // Set protocols and baud rate
 const uint8_t UBX_PUBX_POSITION = 0x00; // Lat/Long position data
-const uint8_t UBX_PUBX_RATE     = 0x40; // Set/get NMEA message output rate
+const uint8_t UBX_PUBX_RATE = 0x40;     // Set/get NMEA message output rate
 const uint8_t UBX_PUBX_SVSTATUS = 0x03; // Satellite status
-const uint8_t UBX_PUBX_TIME     = 0x04; // Time of day and clock information
+const uint8_t UBX_PUBX_TIME = 0x04;     // Time of day and clock information
 
 // Class: HNR
 // The following are used to configure the HNR message rates
@@ -844,10 +844,12 @@ class SFE_UBLOX_GNSS
 
   // Functions used for RTK and base station setup
   // It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms.
-  bool getSurveyMode(uint16_t maxWait = 250);                                                                 // Get the current TimeMode3 settings
-  bool setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); // Control survey in mode
-  bool enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);            // Begin Survey-In for NEO-M8P
-  bool disableSurveyMode(uint16_t maxWait = 250);                                                             // Stop Survey-In mode
+  bool getSurveyMode(uint16_t maxWait = 250);                                                                     // Get the current TimeMode3 settings
+  bool setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);     // Control survey in mode
+  bool setSurveyModeFull(uint8_t mode, uint32_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); // Control survey in mode
+  bool enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);                // Begin Survey-In for NEO-M8P / ZED-F9x
+  bool enableSurveyModeFull(uint32_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);            // Begin Survey-In for NEO-M8P / ZED-F9x
+  bool disableSurveyMode(uint16_t maxWait = 250);                                                                 // Stop Survey-In mode
   // Given coordinates, put receiver into static position. Set latlong to true to pass in lat/long values instead of ecef.
   // For ECEF the units are: cm, 0.1mm, cm, 0.1mm, cm, 0.1mm
   // For Lat/Lon/Alt the units are: degrees^-7, degrees^-9, degrees^-7, degrees^-9, cm, 0.1mm
@@ -1362,8 +1364,9 @@ class SFE_UBLOX_GNSS
 
   bool getSurveyInActive(uint16_t maxWait = defaultMaxWait);
   bool getSurveyInValid(uint16_t maxWait = defaultMaxWait);
-  uint16_t getSurveyInObservationTime(uint16_t maxWait = defaultMaxWait); // Truncated to 65535 seconds
-  float getSurveyInMeanAccuracy(uint16_t maxWait = defaultMaxWait);       // Returned as m
+  uint16_t getSurveyInObservationTime(uint16_t maxWait = defaultMaxWait);     // Truncated to 65535 seconds
+  uint32_t getSurveyInObservationTimeFull(uint16_t maxWait = defaultMaxWait); // Return the full uint32_t
+  float getSurveyInMeanAccuracy(uint16_t maxWait = defaultMaxWait);           // Returned as m
 
   // Helper functions for TIMELS