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Merge pull request #17 from sparkfun/release_candidate
v2.0.4
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Diff for: ‎examples/Callbacks/CallbackExample6_RAWX/CallbackExample6_RAWX.ino

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/*
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Configuring the GNSS to automatically send RXM RZWX reports over I2C and display them using a callback
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By: Paul Clark
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SparkFun Electronics
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Date: March 11th, 2021
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example shows how to configure the u-blox GNSS to send RXM RAWX reports automatically
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and access the data via a callback. No more polling!
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/15136
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Hardware Connections:
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Plug a Qwiic cable into the GPS and a BlackBoard
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GPS
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS;
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// Callback: newRAWX will be called when new RXM RAWX data arrives
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// See u-blox_structs.h for the full definition of UBX_RXMRAWX_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoRXMRAWXcallback
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// / _____ This _must_ be UBX_RXM_RAWX_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void newRAWX(UBX_RXM_RAWX_data_t ubxDataStruct)
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{
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Serial.println();
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Serial.print(F("New RAWX data received. It contains "));
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Serial.print(ubxDataStruct.header.numMeas); // Print numMeas (Number of measurements / blocks)
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Serial.println(F(" data blocks:"));
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for (uint8_t block = 0; block < ubxDataStruct.header.numMeas; block++) // For each block
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{
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Serial.print(F("GNSS ID: "));
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if (ubxDataStruct.blocks[block].gnssId < 100) Serial.print(F(" ")); // Align the gnssId
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if (ubxDataStruct.blocks[block].gnssId < 10) Serial.print(F(" ")); // Align the gnssId
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Serial.print(ubxDataStruct.blocks[block].gnssId);
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Serial.print(F(" SV ID: "));
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if (ubxDataStruct.blocks[block].svId < 100) Serial.print(F(" ")); // Align the svId
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if (ubxDataStruct.blocks[block].svId < 10) Serial.print(F(" ")); // Align the svId
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Serial.print(ubxDataStruct.blocks[block].svId);
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if (sizeof(double) == 8) // Check if our processor supports 64-bit double
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{
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// Convert prMes from uint8_t[8] to 64-bit double
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// prMes is little-endian
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double pseudorange;
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memcpy(&pseudorange, &ubxDataStruct.blocks[block].prMes, 8);
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Serial.print(F(" PR: "));
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Serial.print(pseudorange, 3);
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// Convert cpMes from uint8_t[8] to 64-bit double
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// cpMes is little-endian
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double carrierPhase;
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memcpy(&carrierPhase, &ubxDataStruct.blocks[block].cpMes, 8);
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Serial.print(F(" m CP: "));
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Serial.print(carrierPhase, 3);
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Serial.print(F(" cycles"));
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}
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Serial.println();
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}
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}
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println("SparkFun u-blox Example");
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Wire.begin();
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//myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
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myGNSS.disableUBX7Fcheck(); // RAWX data can legitimately contain 0x7F, so we need to disable the "7F" check in checkUbloxI2C
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if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
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{
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Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
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myGNSS.setNavigationFrequency(1); //Produce one solution per second (RAWX produces a _lot_ of data!)
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myGNSS.setAutoRXMRAWXcallback(&newRAWX); // Enable automatic RXM RAWX messages with callback to newRAWX
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}
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void loop()
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{
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myGNSS.checkUblox(); // Check for the arrival of new data and process it.
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myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
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Serial.print(".");
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delay(50);
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}

Diff for: ‎examples/Example24_GetUnixEpochAndMicros/Example24_GetUnixEpochAndMicros.ino

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/*
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Getting Unix Epoch Time and micros using u-blox commands
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By: UT2UH
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Date: March 30th, 2021
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example shows how to query a u-blox module for the current time and date as Unix Epoch uint32_t type to avoid time.h dependency.
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We also turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic dramatically.
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Note: this example works best on modules like the ZED_F9P. Modules like the ZOE_M8Q do not support confirmedTime.
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Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/15136
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NEO-M8P RTK: https://www.sparkfun.com/products/15005
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SAM-M8Q: https://www.sparkfun.com/products/15106
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Hardware Connections:
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Plug a Qwiic cable into the GNSS and a BlackBoard
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GNSS
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS;
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long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to u-blox module.
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void setup()
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{
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Serial.begin(115200);
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while (!Serial)
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; //Wait for user to open terminal
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Serial.println("SparkFun u-blox Example");
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Wire.begin();
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if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
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{
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Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
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while (1)
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;
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}
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// Uncomment the next line if you need to completely reset your module
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//myGNSS.factoryDefault(); delay(5000); // Reset everything and wait while the module restarts
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myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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//myGNSS.saveConfiguration(); //Optional: Save the current settings to flash and BBR
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Serial.println("Compare Unix Epoch given with reference one from https://www.epochconverter.com/");
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}
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void loop()
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{
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//Query module only every second. Doing it more often will just cause I2C traffic.
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//The module only responds when a new position is available
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if (millis() - lastTime > 1000)
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{
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lastTime = millis(); //Update the timer
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// getUnixEpoch marks the PVT data as stale so you will get Unix time and PVT time on alternate seconds
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uint32_t us; //microseconds returned by getUnixEpoch()
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uint32_t epoch = myGNSS.getUnixEpoch(us);
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Serial.print("Unix Epoch: ");
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Serial.print(epoch, DEC);
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Serial.print(" micros: ");
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Serial.println(us, DEC);
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Serial.print(myGNSS.getYear());
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Serial.print("-");
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Serial.print(myGNSS.getMonth());
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Serial.print("-");
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Serial.print(myGNSS.getDay());
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Serial.print(" ");
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Serial.print(myGNSS.getHour());
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Serial.print(":");
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Serial.print(myGNSS.getMinute());
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Serial.print(":");
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Serial.print(myGNSS.getSecond());
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Serial.print(" Time is ");
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if (myGNSS.getTimeValid() == false)
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{
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Serial.print("not ");
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}
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Serial.print("valid ");
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if (myGNSS.getConfirmedTime() == false)
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{
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Serial.print("but not ");
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} else {
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Serial.print("and ");
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}
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Serial.print("confirmed");
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byte SIV = myGNSS.getSIV();
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Serial.print(F(" SIV: "));
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Serial.println(SIV);
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}
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}

Diff for: ‎examples/Example25_MeasurementAndNavigationRate/Example25_MeasurementAndNavigationRate.ino

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/*
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Demonstrate get/setMeasurementRate and get/setNavigationRate
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By: Paul Clark
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SparkFun Electronics
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Date: March 30th, 2021
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example shows how to slow down the measurement and navigation rates.
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This should run on any GNSS module but has only been tested on the ZED_F9P and ZOE_M8Q.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/15136
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NEO-M8P RTK: https://www.sparkfun.com/products/15005
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SAM-M8Q: https://www.sparkfun.com/products/15106
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Hardware Connections:
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Plug a Qwiic cable into the GNSS and a BlackBoard
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GNSS
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS;
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unsigned long lastTime = 0; //Simple local timer. Used to calc the message interval.
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println("SparkFun u-blox Example");
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Wire.begin();
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//myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
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if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
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{
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Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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// Uncomment the next line if you need to completely reset your module
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//myGNSS.factoryDefault(); delay(5000); // Reset everything and wait while the module restarts
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myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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// Begin by printing the current measurement rate and navigation rate
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uint16_t rate = myGNSS.getMeasurementRate(); //Get the measurement rate of this module
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Serial.print("Current measurement interval (ms): ");
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Serial.println(rate);
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rate = myGNSS.getNavigationRate(); //Get the navigation rate of this module
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Serial.print("Current navigation ratio (cycles): ");
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Serial.println(rate);
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// The measurement rate is the elapsed time between GNSS measurements, which defines the rate
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// e.g. 100 ms => 10 Hz, 1000 ms => 1 Hz, 10000 ms => 0.1 Hz.
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// Let's set the measurement rate (interval) to 5 seconds = 5000 milliseconds
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if (myGNSS.setMeasurementRate(5000) == false)
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{
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Serial.println(F("Could not set the measurement rate. Freezing."));
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while (1);
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}
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// setMeasurementRate will set i2cPollingWait to a quarter of the interval
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// Let's override that so we can poll the module more frequently and avoid timeouts
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myGNSS.setI2CpollingWait(25); // Set i2cPollingWait to 25ms
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// The navigation rate is the ratio between the number of measurements and the number of navigation solutions
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// e.g. 5 means five measurements for every navigation solution. Maximum value is 127
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// Let's set the navigation rate (ratio) to 12 to produce a solution every minute
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if (myGNSS.setNavigationRate(12) == false)
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{
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Serial.println(F("Could not set the navigation rate. Freezing."));
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while (1);
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}
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// Another trick we can use is to mark the CFG RATE data as stale so we can be sure we read fresh data
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myGNSS.packetUBXCFGRATE->moduleQueried.moduleQueried.all = 0; // Mark all of the CFG RATE data as stale
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// Read and print the updated measurement rate and navigation rate
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rate = myGNSS.getMeasurementRate(); //Get the measurement rate of this module
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Serial.print("New measurement interval (ms): ");
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Serial.println(rate);
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rate = myGNSS.getNavigationRate(); //Get the navigation rate of this module
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Serial.print("New navigation ratio (cycles): ");
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Serial.println(rate);
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lastTime = millis();
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}
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void loop()
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{
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// i2cPollingWait will prevent us from thrashing the I2C bus
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if (myGNSS.getPVT()) //Check for new Position, Velocity, Time data. getPVT returns true if new data is available.
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{
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long latitude = myGNSS.getLatitude();
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Serial.print(F("Lat: "));
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Serial.print(latitude);
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long longitude = myGNSS.getLongitude();
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Serial.print(F(" Long: "));
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Serial.print(longitude);
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//Calculate the interval since the last message
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Serial.print(F(" Interval: "));
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Serial.print(((float)(millis() - lastTime)) / 1000.0, 2);
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Serial.print(F("s"));
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Serial.println();
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lastTime = millis(); //Update lastTime
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}
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}

Diff for: ‎keywords.txt

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extractFileBufferData KEYWORD2
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fileBufferAvailable KEYWORD2
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getMaxFileBufferAvail KEYWORD2
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clearFileBuffer KEYWORD2
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clearMaxFileBufferAvail KEYWORD2
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getPortSettings KEYWORD2
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setPortOutput KEYWORD2
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setNavigationFrequency KEYWORD2
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getNavigationFrequency KEYWORD2
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setMeasurementRate KEYWORD2
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getMeasurementRate KEYWORD2
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setNavigationRate KEYWORD2
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getNavigationRate KEYWORD2
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getGeometricDOP KEYWORD2
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getPositionDOP KEYWORD2
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getSecond KEYWORD2
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getMillisecond KEYWORD2
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getNanosecond KEYWORD2
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getUnixEpoch KEYWORD2
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getDateValid KEYWORD2
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getTimeValid KEYWORD2
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getConfirmedDate KEYWORD2
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getConfirmedTime KEYWORD2
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getFixType KEYWORD2
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getGnssFixOk KEYWORD2
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getDiffSoln KEYWORD2
@@ -602,3 +611,5 @@ SFE_UBLOX_GNSS_ID_BEIDOU LITERAL1
602611
SFE_UBLOX_GNSS_ID_IMES LITERAL1
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SFE_UBLOX_GNSS_ID_QZSS LITERAL1
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SFE_UBLOX_GNSS_ID_GLONASS LITERAL1
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DAYS_SINCE_MONTH LITERAL1

Diff for: ‎library.properties

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name=SparkFun u-blox GNSS Arduino Library
2-
version=2.0.3
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version=2.0.4
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author=SparkFun Electronics <[email protected]>
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maintainer=SparkFun Electronics <sparkfun.com>
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sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>

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