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Long Duration Survey-In Greater Than 65535-seconds #117

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Merged
merged 2 commits into from
Feb 28, 2022
Merged

Long Duration Survey-In Greater Than 65535-seconds #117

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d38f0ac
Update SparkFun_u-blox_GNSS_Arduino_Library.h
russ396 Feb 27, 2022
e828721
Update SparkFun_u-blox_GNSS_Arduino_Library.cpp
russ396 Feb 27, 2022
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10 changes: 5 additions & 5 deletions src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6660,7 +6660,7 @@ 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)
bool SFE_UBLOX_GNSS::setSurveyMode(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);
Expand All @@ -6673,11 +6673,11 @@ 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[26] = observationTime >> 16;
payloadCfg[27] = observationTime >> 24;

// svinAccLimit is U4 (uint32_t) in 0.1mm.
uint32_t svinAccLimit = (uint32_t)(requiredAccuracy * 10000.0); // Convert m to 0.1mm
Expand All @@ -6690,7 +6690,7 @@ bool SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, float
}

// Begin Survey-In for NEO-M8P
bool SFE_UBLOX_GNSS::enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
bool SFE_UBLOX_GNSS::enableSurveyMode(uint32_t observationTime, float requiredAccuracy, uint16_t maxWait)
{
return (setSurveyMode(SVIN_MODE_ENABLE, observationTime, requiredAccuracy, maxWait));
}
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4 changes: 2 additions & 2 deletions src/SparkFun_u-blox_GNSS_Arduino_Library.h
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Expand Up @@ -835,8 +835,8 @@ 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 setSurveyMode(uint8_t mode, uint32_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); // Control survey in mode
bool enableSurveyMode(uint32_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); // Begin Survey-In for NEO-M8P
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
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