diff --git a/examples/ZED-F9P/Example23_getRXMRAWX/Example23_getRXMRAWX.ino b/examples/ZED-F9P/Example23_getRXMRAWX/Example23_getRXMRAWX.ino new file mode 100644 index 0000000..6c01a3b --- /dev/null +++ b/examples/ZED-F9P/Example23_getRXMRAWX/Example23_getRXMRAWX.ino @@ -0,0 +1,105 @@ +/* + Polling RXM RAWX reports over I2C + By: Paul Clark + SparkFun Electronics + Date: November 25th, 2022 + License: MIT. See license file for more information but you can + basically do whatever you want with this code. + + This example shows how to poll RXM RAWX reports from the u-blox module. + + Feel like supporting open source hardware? + Buy a board from SparkFun! + ZED-F9P RTK2: https://www.sparkfun.com/products/15136 + + Hardware Connections: + Plug a Qwiic cable into the GPS and a BlackBoard + If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425) + Open the serial monitor at 115200 baud to see the output +*/ + +#include //Needed for I2C to GPS + +#include //http://librarymanager/All#SparkFun_u-blox_GNSS +SFE_UBLOX_GNSS myGNSS; + +void setup() +{ + Serial.begin(115200); + while (!Serial); //Wait for user to open terminal + Serial.println("SparkFun u-blox Example"); + + Wire.begin(); + + //myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial + + // Because we are polling RAWX, we need to increase the size of packetCfg.payload + // RAWX packets can be over 2K bytes so let's allocate 3K bytes + if (!myGNSS.setPacketCfgPayloadSize(3000)) + { + Serial.println(F("setPacketCfgPayloadSize failed. You will not be able to poll RAWX data. Freezing.")); + while (1); // Do nothing more + } + + while (myGNSS.begin() == false) //Connect to the u-blox module using Wire port + { + Serial.println(F("u-blox GNSS not detected at default I2C address. Retrying...")); + delay(1000); + } + + Serial.println(F("u-blox GNSS detected.")); + + myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise) + myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR + + myGNSS.setNavigationFrequency(1); //Produce one solution per second (RAWX produces a _lot_ of data!) +} + +void loop() +{ + if (myGNSS.getRXMRAWX()) // Poll RAWX data + { + // Print the RAWX data, using a pointer to the RXM RAWX data stored in packetUBXRXMRAWX + printRAWX(&myGNSS.packetUBXRXMRAWX->data); + } +} + +void printRAWX(UBX_RXM_RAWX_data_t *ubxDataStruct) +{ + Serial.println(); + + Serial.print(F("New RAWX data received. It contains ")); + Serial.print(ubxDataStruct->header.numMeas); // Print numMeas (Number of measurements / blocks) + Serial.println(F(" data blocks:")); + + for (uint8_t block = 0; block < ubxDataStruct->header.numMeas; block++) // For each block + { + Serial.print(F("GNSS ID: ")); + if (ubxDataStruct->blocks[block].gnssId < 100) Serial.print(F(" ")); // Align the gnssId + if (ubxDataStruct->blocks[block].gnssId < 10) Serial.print(F(" ")); // Align the gnssId + Serial.print(ubxDataStruct->blocks[block].gnssId); + Serial.print(F(" SV ID: ")); + if (ubxDataStruct->blocks[block].svId < 100) Serial.print(F(" ")); // Align the svId + if (ubxDataStruct->blocks[block].svId < 10) Serial.print(F(" ")); // Align the svId + Serial.print(ubxDataStruct->blocks[block].svId); + + if (sizeof(double) == 8) // Check if our processor supports 64-bit double + { + // Convert prMes from uint8_t[8] to 64-bit double + // prMes is little-endian + double pseudorange; + memcpy(&pseudorange, &ubxDataStruct->blocks[block].prMes, 8); + Serial.print(F(" PR: ")); + Serial.print(pseudorange, 3); + + // Convert cpMes from uint8_t[8] to 64-bit double + // cpMes is little-endian + double carrierPhase; + memcpy(&carrierPhase, &ubxDataStruct->blocks[block].cpMes, 8); + Serial.print(F(" m CP: ")); + Serial.print(carrierPhase, 3); + Serial.print(F(" cycles")); + } + Serial.println(); + } +} diff --git a/library.properties b/library.properties index 43e91dd..a6cc4fa 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=SparkFun u-blox GNSS Arduino Library -version=2.2.19 +version=2.2.20 author=SparkFun Electronics maintainer=SparkFun Electronics sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules

diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp index 370ca57..16ea35f 100644 --- a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp +++ b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp @@ -10377,10 +10377,7 @@ bool SFE_UBLOX_GNSS::getNAVEOE(uint16_t maxWait) } else { - // if (_printDebug == true) - // { - // _debugSerial->println(F("getEOE: Polling")); - // } + // Note to self: NAV-EOE is "Periodic" (only). Not sure if it can be polled? // The GPS is not automatically reporting navigation position so we have to poll explicitly packetCfg.cls = UBX_CLASS_NAV; @@ -10396,18 +10393,9 @@ bool SFE_UBLOX_GNSS::getNAVEOE(uint16_t maxWait) if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) { - // if (_printDebug == true) - // { - // _debugSerial->println(F("getEOE: data in packetCfg was OVERWRITTEN by another message (but that's OK)")); - // } return (true); } - // if (_printDebug == true) - // { - // _debugSerial->print(F("getEOE retVal: ")); - // _debugSerial->println(statusString(retVal)); - // } return (false); } } @@ -13487,14 +13475,14 @@ bool SFE_UBLOX_GNSS::initPacketUBXRXMCOR() bool SFE_UBLOX_GNSS::getRXMSFRBX(uint16_t maxWait) { if (packetUBXRXMSFRBX == NULL) - initPacketUBXRXMSFRBX(); // Check that RAM has been allocated for the TM2 data + initPacketUBXRXMSFRBX(); // Check that RAM has been allocated for the SFRBX data if (packetUBXRXMSFRBX == NULL) // Bail if the RAM allocation failed return (false); if (packetUBXRXMSFRBX->automaticFlags.flags.bits.automatic && packetUBXRXMSFRBX->automaticFlags.flags.bits.implicitUpdate) { // The GPS is automatically reporting, we just check whether we got unread data - checkUbloxInternal(&packetCfg, UBX_CLASS_TIM, UBX_TIM_TM2); + checkUbloxInternal(&packetCfg, UBX_CLASS_RXM, UBX_RXM_SFRBX); return packetUBXRXMSFRBX->moduleQueried; } else if (packetUBXRXMSFRBX->automaticFlags.flags.bits.automatic && !packetUBXRXMSFRBX->automaticFlags.flags.bits.implicitUpdate) @@ -13504,23 +13492,9 @@ bool SFE_UBLOX_GNSS::getRXMSFRBX(uint16_t maxWait) } else { - // The GPS is not automatically reporting navigation position so we have to poll explicitly - packetCfg.cls = UBX_CLASS_RXM; - packetCfg.id = UBX_RXM_SFRBX; - packetCfg.len = 0; - packetCfg.startingSpot = 0; - - // The data is parsed as part of processing the response - sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); - - if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED) - return (true); - - if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) - { - return (true); - } - + // SFRBX is output-only. It cannot be polled... + // Strictly, getRXMSFRBX should be deprecated. But, to keep the library backward compatible, return(false) here. + // See issue #167 for details return (false); } } @@ -13679,14 +13653,14 @@ void SFE_UBLOX_GNSS::logRXMSFRBX(bool enabled) bool SFE_UBLOX_GNSS::getRXMRAWX(uint16_t maxWait) { if (packetUBXRXMRAWX == NULL) - initPacketUBXRXMRAWX(); // Check that RAM has been allocated for the TM2 data + initPacketUBXRXMRAWX(); // Check that RAM has been allocated for the RAWX data if (packetUBXRXMRAWX == NULL) // Bail if the RAM allocation failed return (false); if (packetUBXRXMRAWX->automaticFlags.flags.bits.automatic && packetUBXRXMRAWX->automaticFlags.flags.bits.implicitUpdate) { // The GPS is automatically reporting, we just check whether we got unread data - checkUbloxInternal(&packetCfg, UBX_CLASS_TIM, UBX_TIM_TM2); + checkUbloxInternal(&packetCfg, UBX_CLASS_RXM, UBX_RXM_RAWX); return packetUBXRXMRAWX->moduleQueried; } else if (packetUBXRXMRAWX->automaticFlags.flags.bits.automatic && !packetUBXRXMRAWX->automaticFlags.flags.bits.implicitUpdate)