Merge pull request #34 from sparkfun/release_candidate

v3.0.16

Author: PaulZC

examples/Basics/Example33_NAVSAT/Example33_NAVSAT.ino

@@ -0,0 +1,109 @@
+/*
+  Polling NAV SAT
+  By: Paul Clark
+  SparkFun Electronics
+  Date: June 5th, 2023
+  License: MIT. See license file for more information.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  SparkFun GPS-RTK2 - ZED-F9P (GPS-15136)    https://www.sparkfun.com/products/15136
+  SparkFun GPS-RTK-SMA - ZED-F9P (GPS-16481) https://www.sparkfun.com/products/16481
+  SparkFun MAX-M10S Breakout (GPS-18037)     https://www.sparkfun.com/products/18037
+  SparkFun ZED-F9K Breakout (GPS-18719)      https://www.sparkfun.com/products/18719
+  SparkFun ZED-F9R Breakout (GPS-16344)      https://www.sparkfun.com/products/16344
+
+  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 <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_u-blox_GNSS_v3.h> //http://librarymanager/All#SparkFun_u-blox_GNSS_v3
+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
+
+  myGNSS.setPacketCfgPayloadSize(UBX_NAV_SAT_MAX_LEN); // Allocate extra RAM to store the full NAV SAT data
+
+  if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  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
+}
+
+void loop()
+{
+  if (myGNSS.getNAVSAT()) // Poll the latest NAV SAT data
+  {
+    Serial.println();
+
+    // See u-blox_structs.h for the full definition of UBX_NAV_SAT_data_t
+    Serial.print(F("New NAV SAT data received. It contains data for "));
+    Serial.print(myGNSS.packetUBXNAVSAT->data.header.numSvs);
+    if (myGNSS.packetUBXNAVSAT->data.header.numSvs == 1)
+        Serial.println(F(" SV."));
+    else
+        Serial.println(F(" SVs."));
+
+    // Just for giggles, print the signal strength for each SV as a barchart
+    for (uint16_t block = 0; block < myGNSS.packetUBXNAVSAT->data.header.numSvs; block++) // For each SV
+    {
+        switch (myGNSS.packetUBXNAVSAT->data.blocks[block].gnssId) // Print the GNSS ID
+        {
+        case 0:
+            Serial.print(F("GPS     "));
+        break;
+        case 1:
+            Serial.print(F("SBAS    "));
+        break;
+        case 2:
+            Serial.print(F("Galileo "));
+        break;
+        case 3:
+            Serial.print(F("BeiDou  "));
+        break;
+        case 4:
+            Serial.print(F("IMES    "));
+        break;
+        case 5:
+            Serial.print(F("QZSS    "));
+        break;
+        case 6:
+            Serial.print(F("GLONASS "));
+        break;
+        default:
+            Serial.print(F("UNKNOWN "));
+        break;      
+        }
+        
+        Serial.print(myGNSS.packetUBXNAVSAT->data.blocks[block].svId); // Print the SV ID
+        
+        if (myGNSS.packetUBXNAVSAT->data.blocks[block].svId < 10) Serial.print(F("   "));
+        else if (myGNSS.packetUBXNAVSAT->data.blocks[block].svId < 100) Serial.print(F("  "));
+        else Serial.print(F(" "));
+
+        // Print the signal strength as a bar chart
+        for (uint8_t cno = 0; cno < myGNSS.packetUBXNAVSAT->data.blocks[block].cno; cno++)
+        Serial.print(F("="));
+
+        Serial.println();
+    }
+  }
+}

examples/Dead_Reckoning/Example4_vehicleDynamics/Example4_vehicleDynamics.ino

@@ -14,12 +14,9 @@
 	SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
   Open the serial monitor at 115200 baud to see the output
 
-	After calibrating the module and securing it to your vehicle such that it's
-  stable within 2 degrees, and the board is oriented correctly with regards to
-  the vehicle's frame, you can now read the vehicle's "attitude". The attitude
-  includes the vehicle's heading, pitch, and roll. You can also check the
-  accuracy of those readings. 
-
+  getEsfAlignment (UBX-ESF-ALG) reports the status and alignment angles of the IMU within the vehicle.
+  These define the rotation of the IMU frame within the vehicle (installation frame) - not the heading
+  of the vehicle itself. The vehicle attitude solution is reported separately by getNAVATT (UBX-NAV-ATT).
 */
 
 #include <Wire.h> //Needed for I2C to GNSS
@@ -44,6 +41,8 @@ void setup()
 
   myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
 
+  myGNSS.setESFAutoAlignment(true); //Enable Automatic IMU-mount Alignment
+
   if (myGNSS.getEsfInfo()){
 
     Serial.print(F("Fusion Mode: "));  
@@ -64,19 +63,31 @@ void loop()
   // ESF data is produced at the navigation rate, so by default we'll get fresh data once per second
 	if (myGNSS.getEsfAlignment()) // Poll new ESF ALG data
   {
-  	Serial.print(F("Status: ")); 
-  	Serial.print(myGNSS.packetUBXESFALG->data.flags.bits.status);
+  	Serial.print(F("IMU-Mount Alignment: On/Off: ")); 
+  	Serial.print(myGNSS.packetUBXESFALG->data.flags.bits.autoMntAlgOn);
+    Serial.print(F(" Status: ")); 
+    Serial.print(myGNSS.packetUBXESFALG->data.flags.bits.status);
     Serial.print(F(" Roll: ")); 
     Serial.print(myGNSS.getESFroll(), 2); // Use the helper function to get the roll in degrees
   	Serial.print(F(" Pitch: ")); 
   	Serial.print(myGNSS.getESFpitch(), 2); // Use the helper function to get the pitch in degrees
-  	Serial.print(F(" Heading: ")); 
+  	Serial.print(F(" Yaw: ")); 
   	Serial.print(myGNSS.getESFyaw(), 2); // Use the helper function to get the yaw in degrees
   	Serial.print(F(" Errors: ")); 
   	Serial.print(myGNSS.packetUBXESFALG->data.error.bits.tiltAlgError);
   	Serial.print(myGNSS.packetUBXESFALG->data.error.bits.yawAlgError);
   	Serial.println(myGNSS.packetUBXESFALG->data.error.bits.angleError);
   }
 
+  if (myGNSS.getNAVATT()) // Poll new NAV ATT data
+  {
+    Serial.print(F("Vehicle Attitude: Roll: ")); 
+    Serial.print(myGNSS.getATTroll(), 2); // Use the helper function to get the roll in degrees
+    Serial.print(F(" Pitch: ")); 
+    Serial.print(myGNSS.getATTpitch(), 2); // Use the helper function to get the pitch in degrees
+    Serial.print(F(" Heading: ")); 
+    Serial.println(myGNSS.getATTheading(), 2); // Use the helper function to get the heading in degrees    
+  }
+
   delay(250);
 }

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS v3
-version=3.0.15
+version=3.0.16
 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/u-blox_structs.h

@@ -432,6 +432,20 @@ typedef struct
     struct
     {
       uint8_t invalidLlh : 1; // 1 = Invalid lon, lat, height and hMSL
+      uint8_t lastCorrectionAge : 4; // Age of the most recently received differential correction:
+                                     // 0: Not available
+                                     // 1: Age between 0 and 1 second
+                                     // 2: Age between 1 (inclusive) and 2 seconds
+                                     // 3: Age between 2 (inclusive) and 5 seconds
+                                     // 4: Age between 5 (inclusive) and 10 seconds
+                                     // 5: Age between 10 (inclusive) and 15 seconds
+                                     // 6: Age between 15 (inclusive) and 20 seconds
+                                     // 7: Age between 20 (inclusive) and 30 seconds
+                                     // 8: Age between 30 (inclusive) and 45 seconds
+                                     // 9: Age between 45 (inclusive) and 60 seconds
+                                     // 10: Age between 60 (inclusive) and 90 seconds
+                                     // 11: Age between 90 (inclusive) and 120 seconds
+                                     // >=12: Age greater or equal than 120 seconds
     } bits;
   } flags3;
   uint8_t reserved1[5];