Add TMODE3 struct and matching getSurveyMode

Author: PaulZC

keywords.txt

@@ -16,12 +16,18 @@ UBX_ESF_MEAS_sensorData_t	KEYWORD1
 UBX_ESF_RAW_sensorData_t	KEYWORD1
 UBX_ESF_STATUS_sensorStatus_t	KEYWORD1
 
+UBX_CFG_PRT_data_t	KEYWORD1
+UBX_CFG_RATE_data_t	KEYWORD1
+UBX_CFG_TP5_data_t	KEYWORD1
 UBX_CFG_ITFM_data_t	KEYWORD1
+UBX_CFG_TMODE3_data_t	KEYWORD1
+
 UBX_MON_RF_data_t	KEYWORD1
 UBX_MON_HW_data_t	KEYWORD1
 UBX_MON_HW2_data_t	KEYWORD1
 
 UBX_NAV_POSECEF_data_t	KEYWORD1
+UBX_NAV_POSLLH_data_t	KEYWORD1
 UBX_NAV_STATUS_data_t	KEYWORD1
 UBX_NAV_DOP_data_t	KEYWORD1
 UBX_NAV_ATT_data_t	KEYWORD1
@@ -32,8 +38,10 @@ UBX_NAV_VELNED_data_t	KEYWORD1
 UBX_NAV_HPPOSECEF_data_t	KEYWORD1
 UBX_NAV_HPPOSLLH_data_t	KEYWORD1
 UBX_NAV_PVAT_data_t	KEYWORD1
+UBX_NAV_TIMEUTC_data_t	KEYWORD1
 UBX_NAV_CLOCK_data_t	KEYWORD1
 UBX_NAV_SAT_data_t	KEYWORD1
+UBX_NAV_SVIN_data_t	KEYWORD1
 UBX_NAV_RELPOSNED_data_t	KEYWORD1
 UBX_NAV_TIMELS_data_t	KEYWORD1
 UBX_NAV_AOPSTATUS_data_t	KEYWORD1
@@ -52,6 +60,9 @@ UBX_ESF_MEAS_data_t	KEYWORD1
 UBX_ESF_RAW_data_t	KEYWORD1
 UBX_ESF_STATUS_data_t	KEYWORD1
 
+UBX_MGA_ACK_DATA0_t	KEYWORD1
+UBX_MGA_DBD_data_t	KEYWORD1
+
 UBX_HNR_PVT_data_t	KEYWORD1
 UBX_HNR_ATT_data_t	KEYWORD1
 UBX_HNR_INS_data_t	KEYWORD1

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.2.10
+version=2.2.11
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -7320,6 +7320,36 @@ bool SFE_UBLOX_GNSS::getSurveyMode(uint16_t maxWait)
   return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
 }
 
+// Get the current TimeMode3 settings - these contain survey in statuses
+bool SFE_UBLOX_GNSS::getSurveyMode(UBX_CFG_TMODE3_data_t *data, uint16_t maxWait)
+{
+  if (data == NULL) // Check if the user forgot to include the data pointer
+    return (false); // Bail
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_TMODE3;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  // Extract the data
+  data->version = extractByte(&packetCfg, 0);
+  data->flags.all = extractInt(&packetCfg, 2);
+  data->ecefXOrLat = extractSignedLong(&packetCfg, 4);
+  data->ecefYOrLon = extractSignedLong(&packetCfg, 8);
+  data->ecefZOrAlt = extractSignedLong(&packetCfg, 12);
+  data->ecefXOrLatHP = extractSignedChar(&packetCfg, 16);
+  data->ecefYOrLonHP = extractSignedChar(&packetCfg, 17);
+  data->ecefZOrAltHP = extractSignedChar(&packetCfg, 18);
+  data->fixedPosAcc = extractLong(&packetCfg, 20);
+  data->svinMinDur = extractLong(&packetCfg, 24);
+  data->svinAccLimit = extractLong(&packetCfg, 28);
+
+  return (true);
+}
+
 // Control Survey-In for NEO-M8P
 bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
 {

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -861,6 +861,7 @@ class SFE_UBLOX_GNSS
 
   // Functions used for RTK and base station setup
   bool getSurveyMode(uint16_t maxWait = defaultMaxWait);                                                                     // Get the current TimeMode3 settings
+  bool getSurveyMode(UBX_CFG_TMODE3_data_t *data = NULL, uint16_t maxWait = defaultMaxWait);                                    // Get the current TimeMode3 settings
   bool setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = defaultMaxWait);     // Control survey in mode
   bool setSurveyModeFull(uint8_t mode, uint32_t observationTime, float requiredAccuracy, uint16_t maxWait = defaultMaxWait); // Control survey in mode
   bool enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = defaultMaxWait);                // Begin Survey-In for NEO-M8P / ZED-F9x

src/u-blox_structs.h

@@ -1754,6 +1754,35 @@ typedef struct
   } config2;
 } UBX_CFG_ITFM_data_t;
 
+// UBX-CFG-TMODE3 (0x06 0x71): Time Mode Settings 3
+const uint16_t UBX_CFG_TMODE3_LEN = 40;
+
+typedef struct
+{
+  uint8_t version; // Message version (0x00 for this version)
+  uint8_t reserved1;
+  union
+  {
+    uint16_t all;
+    struct
+    {
+      uint16_t mode : 8; // Receiver Mode: 0 Disabled; 1 Survey In; 2 Fixed Mode (true ARP position information required); 3-255 Reserved
+      uint16_t lla : 1;  // Position is given in LAT/LON/ALT (default is ECEF)
+    } bits;
+  } flags;
+  int32_t ecefXOrLat;  // WGS84 ECEF X coordinate (or latitude) of the ARP position, depending on flags above: cm or deg*1e-7
+  int32_t ecefYOrLon;  // WGS84 ECEF Y coordinate (or latitude) of the ARP position, depending on flags above: cm or deg*1e-7
+  int32_t ecefZOrAlt;  // WGS84 ECEF Z coordinate (or altitude) of the ARP position, depending on flags above: cm
+  int8_t ecefXOrLatHP; // High-precision WGS84 ECEF X coordinate (or latitude) of the ARP position, depending on flags above: 0.1 mm or deg*1e-9
+  int8_t ecefYOrLonHP; // High-precision WGS84 ECEF Y coordinate (or longitude) of the ARP position, depending on flags above: 0.1 mm or deg*1e-9
+  int8_t ecefZOrAltHP; // High-precision WGS84 ECEF Z coordinate (or altitude) of the ARP position, depending on flags above: 0.1 mm
+  uint8_t reserved2;
+  uint32_t fixedPosAcc;  // Fixed position 3D accuracy: 0.1 mm
+  uint32_t svinMinDur;   // Survey-in minimum duration: s
+  uint32_t svinAccLimit; // Survey-in position accuracy limit: 0.1 mm
+  uint8_t reserved3[8];
+} UBX_CFG_TMODE3_data_t;
+
 // MON-specific structs
 
 // UBX-MON-HW (0x0A 0x09): Hardware status