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Merged
merged 6 commits into from
Oct 18, 2021
Merged

v2.0.16 #73

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6a1d94f
Merge branch 'main' into release_candidate
PaulZC Aug 29, 2021
9d32240
Add repair file option to UBX_Integrity_Checker.py
PaulZC Oct 17, 2021
2e0faf6
Update DataLoggingExample5_Fast_RXM so it will run correctly on Apoll…
PaulZC Oct 18, 2021
bf24ef9
Update remaining data logging examples for Apollo3 v2
PaulZC Oct 18, 2021
c80212e
v2.0.16
PaulZC Oct 18, 2021
16351b6
Merge branch 'main' into release_candidate
PaulZC Oct 18, 2021
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60 changes: 58 additions & 2 deletions Utils/UBX_Integrity_Checker.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,11 @@
# Checks the integrity of u-blox binary files

# Written by: Paul Clark
# Last update: August 26th 2020
# Last update: October 17th 2021

# Reads a UBX file and checks the integrity of both UBX and NMEA data
# Will rewind and re-sync if an error is found
# Will create a repaired file if desired

# SparkFun code, firmware, and software is released under the MIT License (http://opensource.org/licenses/MIT)
#
Expand Down Expand Up @@ -70,6 +71,17 @@ def csum(byte, sum1, sum2):
else:
containsNMEA = False

# Ask user if the file should be repaired
response = input('Do you want to repair the file? (y/N): ') # Get the response
if (response == '') or (response == 'N') or (response == 'n'):
repairFile = False
else:
repairFile = True
if (filename[-4] == '.'):
repairFilename = filename[:-4] + '.repair' + filename[-4:]
else:
repairFilename = filename + '.repair'

print()
print('Processing',filename)
print()
Expand All @@ -81,7 +93,14 @@ def csum(byte, sum1, sum2):
except:
raise Exception('Invalid file!')

processed = -1 # The nunber of bytes processed
# Try to open repair file for writing
if (repairFile):
try:
fo = open(repairFilename,"wb")
except:
raise Exception('Could not open repair file!')

processed = -1 # The number of bytes processed
messages = {} # The collected message types
longest = 0 # The length of the longest UBX message
keepGoing = True
Expand Down Expand Up @@ -137,6 +156,9 @@ def csum(byte, sum1, sum2):
resync_in_progress = False # Flag to indicate if a resync is in progress
message_start_byte = 0 # Record where the latest message started (for resync reporting)

rewind_repair_file_to = 0 # Keep a note of where to rewind the repair file to if sync is lost
repaired_file_bytes = 0 # Keep a note of how many bytes have been written to the repair file

try:
while keepGoing:

Expand All @@ -149,6 +171,11 @@ def csum(byte, sum1, sum2):

processed = processed + 1 # Keep a record of how many bytes have been read and processed

# Write the byte to the repair file if desired
if (repairFile):
fo.write(fileBytes)
repaired_file_bytes = repaired_file_bytes + 1

# Process data bytes according to ubx_nmea_state
# For UBX messages:
# Sync Char 1: 0xB5
Expand Down Expand Up @@ -267,6 +294,18 @@ def csum(byte, sum1, sum2):
resyncs += 1 # Increment the number of successful resyncs
print("Sync successfully re-established at byte "+str(processed)+". The UBX message started at byte "+str(message_start_byte))
print()
if (repairFile):
fo.seek(rewind_repair_file_to) # Rewind the repaired file
repaired_file_bytes = rewind_repair_file_to
fi.seek(message_start_byte) # Copy the valid message into the repair file
repaired_bytes_to_write = processed - message_start_byte
fileBytes = fi.read(repaired_bytes_to_write)
fo.write(fileBytes)
repaired_file_bytes = repaired_file_bytes + repaired_bytes_to_write
else:
if (repairFile):
rewind_repair_file_to = repaired_file_bytes # Rewind repair file to here if sync is lost

# NMEA messages
elif (ubx_nmea_state == looking_for_asterix):
nmea_length = nmea_length + 1 # Increase the message length count
Expand Down Expand Up @@ -359,6 +398,17 @@ def csum(byte, sum1, sum2):
resyncs += 1 # Increment the number of successful resyncs
print("Sync successfully re-established at byte "+str(processed)+". The NMEA message started at byte "+str(message_start_byte))
print()
if (repairFile):
fo.seek(rewind_repair_file_to) # Rewind the repaired file
repaired_file_bytes = rewind_repair_file_to
fi.seek(message_start_byte) # Copy the valid message into the repair file
repaired_bytes_to_write = processed - message_start_byte
fileBytes = fi.read(repaired_bytes_to_write)
fo.write(fileBytes)
repaired_file_bytes = repaired_file_bytes + repaired_bytes_to_write
else:
if (repairFile):
rewind_repair_file_to = repaired_file_bytes # Rewind repair file to here if sync is lost

# Check if the end of the file has been reached
if (processed >= filesize - 1): keepGoing = False
Expand All @@ -381,6 +431,9 @@ def csum(byte, sum1, sum2):
finally:
fi.close() # Close the file

if (repairFile):
fo.close()

# Print the file statistics
print()
processed += 1
Expand All @@ -396,4 +449,7 @@ def csum(byte, sum1, sum2):
if (resyncs > 0):
print('Number of successful resyncs:',resyncs)
print()
if (repairFile):
print('Repaired data written to:', repairFilename)
print()
print('Bye!')
41 changes: 34 additions & 7 deletions examples/Data_Logging/DataLoggingExample1_NAV_PVT/DataLoggingExample1_NAV_PVT.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
Configuring the GNSS to automatically send NAV PVT reports over I2C and log them to file on SD card
By: Paul Clark
SparkFun Electronics
Date: December 30th, 2020
Date: October 18th, 2021
License: MIT. See license file for more information but you can
basically do whatever you want with this code.

Expand All @@ -22,8 +22,10 @@
Insert a formatted micro-SD card into the socket on the Carrier Board.
Connect the Carrier Board to your computer using a USB-C cable.
Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
This code has been tested using version 1.2.1 of the Apollo3 boards on Arduino IDE 1.8.13.
Select "SparkFun Artemis MicroMod" as the board type.
This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
- Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
- We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
Select "Artemis MicroMod Processor" as the board type.
Press upload to upload the code onto the Artemis.
Open the Serial Monitor at 115200 baud to see the output.

Expand Down Expand Up @@ -51,7 +53,20 @@ SFE_UBLOX_GNSS myGNSS;

File myFile; //File that all GNSS data is written to

#define sdChipSelect CS //Primary SPI Chip Select is CS for the MicroMod Artemis Processor. Adjust for your processor if necessary.
//Define the microSD (SPI) Chip Select pin. Adjust for your processor if necessary.
#if defined(ARDUINO_ARCH_APOLLO3) // Check for SparkFun Apollo3 (Artemis) v1 or v2
#if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB) // Check for the Artemis MicroMod Processor Board on Apollo3 v2
#define sdChipSelect SPI_CS // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v2
#elif defined(ARDUINO_AM_AP3_SFE_ARTEMIS_MICROMOD) // Check for the Artemis MicroMod Processor Board on Apollo3 v1
#define sdChipSelect CS // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v1
#else
#define sdChipSelect CS // Catch-all for the other Artemis Boards - change this if required to match your hardware
#endif
#else

#define sdChipSelect CS // Catch-all for all non-Artemis boards - change this if required to match your hardware

#endif

#define packetLength 100 // NAV PVT is 92 + 8 bytes in length (including the sync chars, class, id, length and checksum bytes)

Expand Down Expand Up @@ -107,8 +122,20 @@ void setup()

Wire.begin(); // Start I2C communication with the GNSS

#if defined(AM_PART_APOLLO3)
Wire.setPullups(0); // On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
// On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
#if defined(AM_PART_APOLLO3) // Check for SparkFun Apollo3 (Artemis) v1
Wire.setPullups(0); // Disable the internal I2C pull-ups on Apollo3 v1
#elif defined(ARDUINO_ARCH_APOLLO3) // Else check for SparkFun Apollo3 (Artemis) (v2)
#if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB) // Check for the Artemis MicroMod Processor Board on Apollo3 v2
// On Apollo3 v2 we can still disable the pull-ups but we need to do it manually
// The IOM and pin numbers here are specific to the Artemis MicroMod Processor Board
am_hal_gpio_pincfg_t sclPinCfg = g_AM_BSP_GPIO_IOM4_SCL; // Artemis MicroMod Processor Board uses IOM4 for I2C communication
am_hal_gpio_pincfg_t sdaPinCfg = g_AM_BSP_GPIO_IOM4_SDA;
sclPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE; // Disable the pull-ups
sdaPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE;
pin_config(PinName(39), sclPinCfg); // Artemis MicroMod Processor Board uses Pin/Pad 39 for SCL
pin_config(PinName(40), sdaPinCfg); // Artemis MicroMod Processor Board uses Pin/Pad 40 for SDA
#endif
#endif

while (Serial.available()) // Make sure the Serial buffer is empty
Expand Down Expand Up @@ -199,7 +226,7 @@ void loop()
if (Serial.available()) // Check if the user wants to stop logging
{
myFile.close(); // Close the data file
Serial.println(F("Logging stopped. Freezing..."));
Serial.println(F("\r\nLogging stopped. Freezing..."));
while(1); // Do nothing more
}

Expand Down
41 changes: 34 additions & 7 deletions examples/Data_Logging/DataLoggingExample2_TIM_TM2/DataLoggingExample2_TIM_TM2.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
Configuring the GNSS to automatically send TIM TM2 reports over I2C and log them to file on SD card
By: Paul Clark
SparkFun Electronics
Date: December 30th, 2020
Date: October 18th, 2021
License: MIT. See license file for more information but you can
basically do whatever you want with this code.

Expand All @@ -22,8 +22,10 @@
Insert a formatted micro-SD card into the socket on the Carrier Board.
Connect the Carrier Board to your computer using a USB-C cable.
Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
This code has been tested using version 1.2.1 of the Apollo3 boards on Arduino IDE 1.8.13.
Select "SparkFun Artemis MicroMod" as the board type.
This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
- Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
- We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
Select "Artemis MicroMod Processor" as the board type.
Press upload to upload the code onto the Artemis.
Open the Serial Monitor at 115200 baud to see the output.

Expand Down Expand Up @@ -64,7 +66,20 @@ SFE_UBLOX_GNSS myGNSS;

File myFile; //File that all GNSS data is written to

#define sdChipSelect CS //Primary SPI Chip Select is CS for the MicroMod Artemis Processor. Adjust for your processor if necessary.
//Define the microSD (SPI) Chip Select pin. Adjust for your processor if necessary.
#if defined(ARDUINO_ARCH_APOLLO3) // Check for SparkFun Apollo3 (Artemis) v1 or v2
#if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB) // Check for the Artemis MicroMod Processor Board on Apollo3 v2
#define sdChipSelect SPI_CS // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v2
#elif defined(ARDUINO_AM_AP3_SFE_ARTEMIS_MICROMOD) // Check for the Artemis MicroMod Processor Board on Apollo3 v1
#define sdChipSelect CS // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v1
#else
#define sdChipSelect CS // Catch-all for the other Artemis Boards - change this if required to match your hardware
#endif
#else

#define sdChipSelect CS // Catch-all for all non-Artemis boards - change this if required to match your hardware

#endif

#define packetLength 36 // TIM TM2 is 28 + 8 bytes in length (including the sync chars, class, id, length and checksum bytes)

Expand Down Expand Up @@ -113,8 +128,20 @@ void setup()

Wire.begin(); // Start I2C communication with the GNSS

#if defined(AM_PART_APOLLO3)
Wire.setPullups(0); // On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
// On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
#if defined(AM_PART_APOLLO3) // Check for SparkFun Apollo3 (Artemis) v1
Wire.setPullups(0); // Disable the internal I2C pull-ups on Apollo3 v1
#elif defined(ARDUINO_ARCH_APOLLO3) // Else check for SparkFun Apollo3 (Artemis) (v2)
#if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB) // Check for the Artemis MicroMod Processor Board on Apollo3 v2
// On Apollo3 v2 we can still disable the pull-ups but we need to do it manually
// The IOM and pin numbers here are specific to the Artemis MicroMod Processor Board
am_hal_gpio_pincfg_t sclPinCfg = g_AM_BSP_GPIO_IOM4_SCL; // Artemis MicroMod Processor Board uses IOM4 for I2C communication
am_hal_gpio_pincfg_t sdaPinCfg = g_AM_BSP_GPIO_IOM4_SDA;
sclPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE; // Disable the pull-ups
sdaPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE;
pin_config(PinName(39), sclPinCfg); // Artemis MicroMod Processor Board uses Pin/Pad 39 for SCL
pin_config(PinName(40), sdaPinCfg); // Artemis MicroMod Processor Board uses Pin/Pad 40 for SDA
#endif
#endif

while (Serial.available()) // Make sure the Serial buffer is empty
Expand Down Expand Up @@ -205,7 +232,7 @@ void loop()
if (Serial.available()) // Check if the user wants to stop logging
{
myFile.close(); // Close the data file
Serial.println(F("Logging stopped. Freezing..."));
Serial.println(F("\r\nLogging stopped. Freezing..."));
while(1); // Do nothing more
}

Expand Down
39 changes: 33 additions & 6 deletions ...Logging/DataLoggingExample3_RXM_SFRBX_and_RAWX/DataLoggingExample3_RXM_SFRBX_and_RAWX.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
Configuring the GNSS to automatically send RXM SFRBX and RAWX reports over I2C and log them to file on SD card
By: Paul Clark
SparkFun Electronics
Date: December 30th, 2020
Date: October 18th, 2021
License: MIT. See license file for more information but you can
basically do whatever you want with this code.

Expand Down Expand Up @@ -34,8 +34,10 @@
Insert a formatted micro-SD card into the socket on the Carrier Board.
Connect the Carrier Board to your computer using a USB-C cable.
Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
This code has been tested using version 1.2.1 of the Apollo3 boards on Arduino IDE 1.8.13.
Select "SparkFun Artemis MicroMod" as the board type.
This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
- Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
- We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
Select "Artemis MicroMod Processor" as the board type.
Press upload to upload the code onto the Artemis.
Open the Serial Monitor at 115200 baud to see the output.

Expand All @@ -57,7 +59,20 @@ SFE_UBLOX_GNSS myGNSS;

File myFile; //File that all GNSS data is written to

#define sdChipSelect CS //Primary SPI Chip Select is CS for the MicroMod Artemis Processor. Adjust for your processor if necessary.
//Define the microSD (SPI) Chip Select pin. Adjust for your processor if necessary.
#if defined(ARDUINO_ARCH_APOLLO3) // Check for SparkFun Apollo3 (Artemis) v1 or v2
#if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB) // Check for the Artemis MicroMod Processor Board on Apollo3 v2
#define sdChipSelect SPI_CS // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v2
#elif defined(ARDUINO_AM_AP3_SFE_ARTEMIS_MICROMOD) // Check for the Artemis MicroMod Processor Board on Apollo3 v1
#define sdChipSelect CS // SPI (microSD) Chip Select for the Artemis MicroMod Processor Board on Apollo3 v1
#else
#define sdChipSelect CS // Catch-all for the other Artemis Boards - change this if required to match your hardware
#endif
#else

#define sdChipSelect CS // Catch-all for all non-Artemis boards - change this if required to match your hardware

#endif

#define sdWriteSize 512 // Write data to the SD card in blocks of 512 bytes
#define fileBufferSize 16384 // Allocate 16KBytes of RAM for UBX message storage
Expand Down Expand Up @@ -106,8 +121,20 @@ void setup()

Wire.begin(); // Start I2C communication

#if defined(AM_PART_APOLLO3)
Wire.setPullups(0); // On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
// On the Artemis, we can disable the internal I2C pull-ups too to help reduce bus errors
#if defined(AM_PART_APOLLO3) // Check for SparkFun Apollo3 (Artemis) v1
Wire.setPullups(0); // Disable the internal I2C pull-ups on Apollo3 v1
#elif defined(ARDUINO_ARCH_APOLLO3) // Else check for SparkFun Apollo3 (Artemis) (v2)
#if defined(ARDUINO_APOLLO3_SFE_ARTEMIS_MM_PB) // Check for the Artemis MicroMod Processor Board on Apollo3 v2
// On Apollo3 v2 we can still disable the pull-ups but we need to do it manually
// The IOM and pin numbers here are specific to the Artemis MicroMod Processor Board
am_hal_gpio_pincfg_t sclPinCfg = g_AM_BSP_GPIO_IOM4_SCL; // Artemis MicroMod Processor Board uses IOM4 for I2C communication
am_hal_gpio_pincfg_t sdaPinCfg = g_AM_BSP_GPIO_IOM4_SDA;
sclPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE; // Disable the pull-ups
sdaPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_NONE;
pin_config(PinName(39), sclPinCfg); // Artemis MicroMod Processor Board uses Pin/Pad 39 for SCL
pin_config(PinName(40), sdaPinCfg); // Artemis MicroMod Processor Board uses Pin/Pad 40 for SDA
#endif
#endif

while (Serial.available()) // Make sure the Serial buffer is empty
Expand Down
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