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Add auto support for NAV SAT. Add NAV SAT callback example. Add final AssistNow Autonomous examples.
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Diff for: ‎examples/AssistNow/AssistNow_Autonomous/Example1_AssistNowAutonomous/Example1_AssistNowAutonomous.ino

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/*
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Monitor AssistNow Autonomous data collection
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By: SparkFun Electronics / Paul Clark
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Date: November 29th, 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 enable and monitor AssistNow Autonomous data collection by the module.
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A callback is used to monitor AssistNow Autonomous data availability for each satellite.
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A second callback is used to print the AOPSTATUS status.
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If your GNSS board has battery-backup for the RAM - and all SparkFun boards do! - then you can:
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wait until the module has AssistNow Autonomous data for a few satellites;
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power-cycle the board;
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watch how fast it gets its first fix!
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Note: this example will only work on boards which have plenty of RAM available.
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The UBX-NAV-SAT information occupies several kBytes.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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SparkFun Thing Plus - ESP32 WROOM: https://www.sparkfun.com/products/15663
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ZED-F9P RTK2: https://www.sparkfun.com/products/16481
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SparkFun GPS Breakout - ZOE-M8Q (Qwiic): https://www.sparkfun.com/products/15193
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Hardware Connections:
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Plug a Qwiic cable into the GNSS and a ESP32 Thing Plus
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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 <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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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printSATdata will be called when new NAV SAT data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_SAT_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVSATcallback
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// / _____ This _must_ be UBX_NAV_SAT_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 printSATdata(UBX_NAV_SAT_data_t ubxDataStruct)
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{
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//Serial.println();
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Serial.print(F("UBX-NAV-SAT contains data for "));
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Serial.print(ubxDataStruct.header.numSvs);
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if (ubxDataStruct.header.numSvs == 1)
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Serial.println(F(" SV"));
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else
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Serial.println(F(" SVs"));
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uint16_t numAopAvail = 0; // Count how many SVs have AssistNow Autonomous data available
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for (uint16_t block = 0; block < ubxDataStruct.header.numSvs; block++) // For each SV
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{
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if (ubxDataStruct.blocks[block].flags.bits.aopAvail == 1) // If the aopAvail bit is set
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numAopAvail++; // Increment the number of SVs
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}
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Serial.print(F("AssistNow Autonomous data is available for "));
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Serial.print(numAopAvail);
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if (numAopAvail == 1)
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Serial.println(F(" SV"));
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else
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Serial.println(F(" SVs"));
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printAOPstatus will be called when new NAV AOPSTATUS data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_AOPSTATUS_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVAOPSTATUScallback
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// / _____ This _must_ be UBX_NAV_AOPSTATUS_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 printAOPstatus(UBX_NAV_AOPSTATUS_data_t ubxDataStruct)
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{
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//Serial.println();
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Serial.print(F("AOPSTATUS status is "));
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Serial.println(ubxDataStruct.status);
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printPVTdata will be called when new NAV PVT data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoPVTcallback
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// / _____ This _must_ be UBX_NAV_PVT_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 printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
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{
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// Print the UBX-NAV-PVT data so we can see how quickly the fixType goes to 3D
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Serial.println();
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long latitude = ubxDataStruct.lat; // Print the latitude
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Serial.print(F("Lat: "));
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Serial.print(latitude);
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long longitude = ubxDataStruct.lon; // Print the longitude
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Serial.print(F(" Long: "));
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Serial.print(longitude);
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Serial.print(F(" (degrees * 10^-7)"));
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long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
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Serial.print(F(" Alt: "));
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Serial.print(altitude);
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Serial.print(F(" (mm)"));
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byte fixType = ubxDataStruct.fixType; // Print the fix type
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Serial.print(F(" Fix: "));
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if(fixType == 0) Serial.print(F("No fix"));
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else if(fixType == 1) Serial.print(F("Dead reckoning"));
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else if(fixType == 2) Serial.print(F("2D"));
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else if(fixType == 3) Serial.print(F("3D"));
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else if(fixType == 4) Serial.print(F("GNSS + Dead reckoning"));
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else if(fixType == 5) Serial.print(F("Time only"));
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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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delay(1000);
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Serial.begin(115200);
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Serial.println(F("AssistNow Example"));
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Start I2C. Connect to the GNSS.
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Wire.begin(); //Start I2C
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//myGNSS.enableDebugging(Serial, true); // Uncomment this line to see the 'major' debug messages on Serial
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if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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Serial.println(F("u-blox module connected"));
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myGNSS.setI2COutput(COM_TYPE_UBX); //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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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Enable AssistNow Autonomous data collection.
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if (myGNSS.setAopCfg(1) == true)
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{
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Serial.println(F("aopCfg enabled"));
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}
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else
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{
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Serial.println(F("Could not enable aopCfg. Please check wiring. Freezing."));
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while (1);
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Enable automatic UBX-NAV-SAT and UBX-NAV-AOPSTATUS messages and set up the callbacks
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myGNSS.setNavigationFrequency(1); //Produce one solution per second
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myGNSS.setAutoNAVSATcallback(&printSATdata); // Enable automatic NAV SAT messages with callback to printSATdata
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myGNSS.setAutoAOPSTATUScallback(&printAOPstatus); // Enable automatic NAV AOPSTATUS messages with callback to printAOPstatus
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myGNSS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
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}
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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/AssistNow/AssistNow_Autonomous/Example1_AssistNowAutonomous_Read/Example1_AssistNowAutonomous_Read.ino renamed to ‎examples/AssistNow/AssistNow_Autonomous/Example2_AssistNowAutonomous_DatabaseRead/Example2_AssistNowAutonomous_DatabaseRead.ino

+83-30
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@@ -1,5 +1,5 @@
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/*
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Read the AssistNow Autonomous data from the module
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Read the AssistNow Autonomous database from the module
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By: SparkFun Electronics / Paul Clark
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Date: November 29th, 2021
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License: MIT. See license file for more information but you can
@@ -8,8 +8,7 @@
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This example shows how to enable, check the status of, and read the AssistNow Autonomous data from the module.
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Note: this example will only work on boards which have plenty of RAM available.
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The database can be several kBytes in length and needs to be stored twice:
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once inside the library (by readNavigationDatabase); and again in this example code.
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The database can be several kBytes in length.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
@@ -28,6 +27,59 @@ SFE_UBLOX_GNSS myGNSS;
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printSATdata will be called when new NAV SAT data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_SAT_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVSATcallback
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// / _____ This _must_ be UBX_NAV_SAT_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 printSATdata(UBX_NAV_SAT_data_t ubxDataStruct)
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{
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Serial.println();
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Serial.print(F("UBX-NAV-SAT contains data for "));
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Serial.print(ubxDataStruct.header.numSvs);
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if (ubxDataStruct.header.numSvs == 1)
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Serial.println(F(" SV"));
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else
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Serial.println(F(" SVs"));
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uint16_t numAopAvail = 0; // Count how many SVs have AssistNow Autonomous data available
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for (uint16_t block = 0; block < ubxDataStruct.header.numSvs; block++) // For each SV
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{
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if (ubxDataStruct.blocks[block].flags.bits.aopAvail == 1) // If the aopAvail bit is set
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numAopAvail++; // Increment the number of SVs
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}
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Serial.print(F("AssistNow Autonomous data is available for "));
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Serial.print(numAopAvail);
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if (numAopAvail == 1)
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Serial.println(F(" SV"));
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else
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Serial.println(F(" SVs"));
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printAOPstatus will be called when new NAV AOPSTATUS data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_AOPSTATUS_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVAOPSTATUScallback
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// / _____ This _must_ be UBX_NAV_AOPSTATUS_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 printAOPstatus(UBX_NAV_AOPSTATUS_data_t ubxDataStruct)
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{
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//Serial.println();
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Serial.print(F("AOPSTATUS status is "));
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Serial.println(ubxDataStruct.status);
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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void setup()
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{
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delay(1000);
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Keep calling getAOPSTATUSstatus until it returns zero (indicating AssistNow Autonomous data collection is complete)
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// or the user presses a key
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// Enable automatic UBX-NAV-SAT and UBX-NAV-AOPSTATUS messages and set up the callbacks
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myGNSS.setNavigationFrequency(1); //Produce one solution per second
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myGNSS.setAutoNAVSATcallback(&printSATdata); // Enable automatic NAV SAT messages with callback to printSATdata
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myGNSS.setAutoAOPSTATUScallback(&printAOPstatus); // Enable automatic NAV AOPSTATUS messages with callback to printAOPstatus
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Keep displaying NAV SAT and AOPSTATUS until the user presses a key
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Serial.println(F("AssistNow Autonomous data collection is in progress. Press any key to quit."));
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Serial.println(F("NAV AOPSTATUS status indicates when the AssistNow Autonomous subsystem is idle (0) or running (not 0)."));
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Serial.println(F("AssistNow Autonomous data collection is in progress. Press any key to quit and read the database."));
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bool keepGoing = true;
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int zerosSeen = 0; // Keep track of how many times aopStatus has been zero
80136
while (Serial.available()) Serial.read(); // Empty the serial buffer
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82-
while (keepGoing && !Serial.available()) // Wait for keepGoing to go false, or for the arrival of a keypress
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while (!Serial.available()) // Wait for the arrival of a keypress
83139
{
84-
delay(1000);
85-
uint8_t aopStatus = myGNSS.getAOPSTATUSstatus();
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Serial.print(F("NAV AOPSTATUS status is: "));
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Serial.println(aopStatus);
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if (aopStatus == 0) // aopStatus will be zero when the AssistNow Autonomous subsystem is idle - i.e. data collection is complete
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{
90-
zerosSeen++; // Keep track of how long aopStatus has been zero
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if (zerosSeen >= 30)
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keepGoing = false; // Stop after seeing 30 consecutive zeros
93-
}
94-
else
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{
96-
zerosSeen = 0; // Reset the number of zeros seen
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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);
98145
}
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100-
if (!keepGoing)
101-
Serial.println(F("AssistNow Autonomous data collection is complete!"));
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Serial.println();
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Disable the automatic UBX-NAV-SAT and UBX-NAV-AOPSTATUS messages
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myGNSS.setAutoNAVSAT(false);
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myGNSS.setAutoAOPSTATUS(false);
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delay(1100);
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103156
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Read the AssistNow Autonomous data from the module and pretty-print it (so it can be copied and pasted into Example2)
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// Read the AssistNow Autonomous database from the module and pretty-print it (so it can be copied and pasted into the next example)
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106159
#define MAX_DATABASE_LENGTH 32768 // Allocate 32kBytes to store the navigation database
107160
size_t maxDatabaseLen = MAX_DATABASE_LENGTH;
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if (actualDatabaseLen == maxDatabaseLen)
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Serial.println(F("There was not enough memory to store the entire database. Some data will have been lost!"));
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120-
// Pretty-print the database so it can be copied into Example2
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Serial.println(F("Copy and paste the following into Example2, so you can write it back to the module:"));
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// Pretty-print the database so it can be copied into the next example
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Serial.println(F("Copy and paste the following into the next example, so you can write it back to the module:"));
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Serial.println();
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Serial.print(F("size_t databaseLen = "));
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Serial.print(actualDatabaseLen);
@@ -150,4 +203,4 @@ void setup()
150203
void loop()
151204
{
152205
// Nothing to do here
153-
}
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}

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