Skip to content
This repository was archived by the owner on Jan 28, 2021. It is now read-only.

Adds support for auto-reporting DOP values #141

Merged
merged 1 commit into from
Nov 4, 2020
Merged

Adds support for auto-reporting DOP values #141

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
243 changes: 236 additions & 7 deletions src/SparkFun_Ublox_Arduino_Library.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -553,8 +553,9 @@ void SFE_UBLOX_GPS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t re
//This is not an ACK and we do not have a complete class and ID match
//So let's check for an HPPOSLLH message arriving when we were expecting PVT and vice versa
else if ((packetBuf.cls == requestedClass) &&
(((packetBuf.id == UBX_NAV_PVT) && (requestedID == UBX_NAV_HPPOSLLH)) ||
((packetBuf.id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT))))
(((packetBuf.id == UBX_NAV_PVT) && (requestedID == UBX_NAV_HPPOSLLH || requestedID == UBX_NAV_DOP)) ||
((packetBuf.id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_DOP)) ||
((packetBuf.id == UBX_NAV_DOP) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_HPPOSLLH))))
{
//This is not the message we were expecting but we start diverting data into incomingUBX (usually packetCfg) and process it anyway
activePacketBuffer = SFE_UBLOX_PACKET_PACKETCFG;
Expand All @@ -563,7 +564,7 @@ void SFE_UBLOX_GPS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t re
incomingUBX->counter = packetBuf.counter; //Copy over the .counter too
if (_printDebug == true)
{
_debugSerial->print(F("process: auto PVT/HPPOSLLH collision: Requested ID: 0x"));
_debugSerial->print(F("process: auto PVT/HPPOSLLH/DOP collision: Requested ID: 0x"));
_debugSerial->print(requestedID, HEX);
_debugSerial->print(F(" Message ID: 0x"));
_debugSerial->println(packetBuf.id, HEX);
Expand Down Expand Up @@ -825,14 +826,15 @@ void SFE_UBLOX_GPS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t
//This is not an ACK and we do not have a complete class and ID match
//So let's check for an HPPOSLLH message arriving when we were expecting PVT and vice versa
else if ((incomingUBX->cls == requestedClass) &&
(((incomingUBX->id == UBX_NAV_PVT) && (requestedID == UBX_NAV_HPPOSLLH)) ||
((incomingUBX->id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT))))
(((incomingUBX->id == UBX_NAV_PVT) && (requestedID == UBX_NAV_HPPOSLLH || requestedID == UBX_NAV_DOP)) ||
((incomingUBX->id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_DOP)) ||
((incomingUBX->id == UBX_NAV_DOP) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_HPPOSLLH))))
{
// This isn't the message we are looking for...
// Let's say so and leave incomingUBX->classAndIDmatch _unchanged_
if (_printDebug == true)
{
_debugSerial->print(F("processUBX: auto PVT/HPPOSLLH collision: Requested ID: 0x"));
_debugSerial->print(F("processUBX: auto PVT/HPPOSLLH/DOP collision: Requested ID: 0x"));
_debugSerial->print(requestedID, HEX);
_debugSerial->print(F(" Message ID: 0x"));
_debugSerial->println(incomingUBX->id, HEX);
Expand Down Expand Up @@ -1080,6 +1082,24 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
}
*/
}
else if (msg->id == UBX_NAV_DOP && msg->len == 18)
{
geometricDOP = extractInt(4);
positionDOP = extractInt(6);
timeDOP = extractInt(8);
verticalDOP = extractInt(10);
horizontalDOP = extractInt(12);
northingDOP = extractInt(14);
eastingDOP = extractInt(16);
dopModuleQueried.all = true;
dopModuleQueried.geometricDOP = true;
dopModuleQueried.positionDOP = true;
dopModuleQueried.timeDOP = true;
dopModuleQueried.verticalDOP = true;
dopModuleQueried.horizontalDOP = true;
dopModuleQueried.northingDOP = true;
dopModuleQueried.eastingDOP = true;
}
break;
}
}
Expand Down Expand Up @@ -2403,6 +2423,49 @@ boolean SFE_UBLOX_GPS::setAutoHPPOSLLH(boolean enable, boolean implicitUpdate, u
return ok;
}


//In case no config access to the GPS is possible and DOP is send cyclically already
//set config to suitable parameters
boolean SFE_UBLOX_GPS::assumeAutoDOP(boolean enabled, boolean implicitUpdate)
{
boolean changes = autoDOP != enabled || autoDOPImplicitUpdate != implicitUpdate;
if (changes)
{
autoDOP = enabled;
autoDOPImplicitUpdate = implicitUpdate;
}
return changes;
}

//Enable or disable automatic navigation message generation by the GPS. This changes the way getDOP
//works.
boolean SFE_UBLOX_GPS::setAutoDOP(boolean enable, uint16_t maxWait)
{
return setAutoDOP(enable, true, maxWait);
}

//Enable or disable automatic navigation message generation by the GPS. This changes the way getDOP
//works.
boolean SFE_UBLOX_GPS::setAutoDOP(boolean enable, boolean implicitUpdate, uint16_t maxWait)
{
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_MSG;
packetCfg.len = 3;
packetCfg.startingSpot = 0;
payloadCfg[0] = UBX_CLASS_NAV;
payloadCfg[1] = UBX_NAV_DOP;
payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq.

boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
if (ok)
{
autoDOP = enable;
autoDOPImplicitUpdate = implicitUpdate;
}
dopModuleQueried.all = false;
return ok;
}

//Configure a given message type for a given port (UART1, I2C, SPI, etc)
boolean SFE_UBLOX_GPS::configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait)
{
Expand Down Expand Up @@ -3054,6 +3117,15 @@ boolean SFE_UBLOX_GPS::getPVT(uint16_t maxWait)
return (true);
}

if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.id == UBX_NAV_DOP))
{
if (_printDebug == true)
{
_debugSerial->println(F("getPVT: data was OVERWRITTEN by DOP (but that's OK)"));
}
return (true);
}

if (_printDebug == true)
{
_debugSerial->print(F("getPVT retVal: "));
Expand Down Expand Up @@ -3229,6 +3301,14 @@ boolean SFE_UBLOX_GPS::getHPPOSLLH(uint16_t maxWait)
}
return (true);
}
if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.id == UBX_NAV_DOP))
{
if (_printDebug == true)
{
_debugSerial->println(F("getHPPOSLLH: data was OVERWRITTEN by DOP (but that's OK)"));
}
return (true);
}

if (_printDebug == true)
{
Expand All @@ -3239,6 +3319,141 @@ boolean SFE_UBLOX_GPS::getHPPOSLLH(uint16_t maxWait)
}
}

uint16_t SFE_UBLOX_GPS::getGeometricDOP(uint16_t maxWait /* = 250*/)
{
if (dopModuleQueried.geometricDOP == false)
getDOP(maxWait);
dopModuleQueried.geometricDOP = false; //Since we are about to give this to user, mark this data as stale
dopModuleQueried.all = false;

return (geometricDOP);
}

uint16_t SFE_UBLOX_GPS::getPositionDOP(uint16_t maxWait /* = 250*/)
{
if (dopModuleQueried.positionDOP == false)
getDOP(maxWait);
dopModuleQueried.positionDOP = false; //Since we are about to give this to user, mark this data as stale
dopModuleQueried.all = false;

return (positionDOP);
}

uint16_t SFE_UBLOX_GPS::getTimeDOP(uint16_t maxWait /* = 250*/)
{
if (dopModuleQueried.timeDOP == false)
getDOP(maxWait);
dopModuleQueried.timeDOP = false; //Since we are about to give this to user, mark this data as stale
dopModuleQueried.all = false;

return (timeDOP);
}

uint16_t SFE_UBLOX_GPS::getVerticalDOP(uint16_t maxWait /* = 250*/)
{
if (dopModuleQueried.verticalDOP == false)
getDOP(maxWait);
dopModuleQueried.verticalDOP = false; //Since we are about to give this to user, mark this data as stale
dopModuleQueried.all = false;

return (verticalDOP);
}

uint16_t SFE_UBLOX_GPS::getHorizontalDOP(uint16_t maxWait /* = 250*/)
{
if (dopModuleQueried.horizontalDOP == false)
getDOP(maxWait);
dopModuleQueried.horizontalDOP = false; //Since we are about to give this to user, mark this data as stale
dopModuleQueried.all = false;

return (horizontalDOP);
}

uint16_t SFE_UBLOX_GPS::getNorthingDOP(uint16_t maxWait /* = 250*/)
{
if (dopModuleQueried.northingDOP == false)
getDOP(maxWait);
dopModuleQueried.northingDOP = false; //Since we are about to give this to user, mark this data as stale
dopModuleQueried.all = false;

return (northingDOP);
}

uint16_t SFE_UBLOX_GPS::getEastingDOP(uint16_t maxWait /* = 250*/)
{
if (dopModuleQueried.eastingDOP == false)
getDOP(maxWait);
dopModuleQueried.eastingDOP = false; //Since we are about to give this to user, mark this data as stale
dopModuleQueried.all = false;

return (eastingDOP);
}

boolean SFE_UBLOX_GPS::getDOP(uint16_t maxWait)
{
if (autoDOP && autoDOPImplicitUpdate)
{
//The GPS is automatically reporting, we just check whether we got unread data
if (_printDebug == true)
{
_debugSerial->println(F("getDOP: Autoreporting"));
}
checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_DOP);
return dopModuleQueried.all;
}
else if (autoDOP && !autoDOPImplicitUpdate)
{
//Someone else has to call checkUblox for us...
if (_printDebug == true)
{
_debugSerial->println(F("getDOP: Exit immediately"));
}
return (false);
}
else
{
if (_printDebug == true)
{
_debugSerial->println(F("getDOP: Polling"));
}

//The GPS is not automatically reporting navigation position so we have to poll explicitly
packetCfg.cls = UBX_CLASS_NAV;
packetCfg.id = UBX_NAV_DOP;
packetCfg.len = 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) && (packetCfg.id == UBX_NAV_PVT))
{
if (_printDebug == true)
{
_debugSerial->println(F("getHPPOSLLH: data was OVERWRITTEN by PVT (but that's OK)"));
}
return (true);
}

if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.id == UBX_NAV_HPPOSLLH))
{
if (_printDebug == true)
{
_debugSerial->println(F("getPVT: data was OVERWRITTEN by HPPOSLLH (but that's OK)"));
}
return (true);
}

if (_printDebug == true)
{
_debugSerial->print(F("getDOP retVal: "));
_debugSerial->println(statusString(retVal));
}
return (false);
}
}
//Get the current 3D high precision positional accuracy - a fun thing to watch
//Returns a long representing the 3D accuracy in millimeters
uint32_t SFE_UBLOX_GPS::getPositionAccuracy(uint16_t maxWait)
Expand Down Expand Up @@ -3496,6 +3711,20 @@ void SFE_UBLOX_GPS::flushHPPOSLLH()
//moduleQueried.gpsiTOW = false; // this can arrive via HPPOS too.
}

//Mark all the DOP data as read/stale. This is handy to get data alignment after CRC failure
void SFE_UBLOX_GPS::flushDOP()
{
//Mark all DOPs as stale (read before)
dopModuleQueried.all = false;
dopModuleQueried.geometricDOP = false;
dopModuleQueried.positionDOP = false;
dopModuleQueried.timeDOP = false;
dopModuleQueried.verticalDOP = false;
dopModuleQueried.horizontalDOP = false;
dopModuleQueried.northingDOP = false;
dopModuleQueried.eastingDOP = false;
}

//Relative Positioning Information in NED frame
//Returns true if commands was successful
boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
Expand Down Expand Up @@ -3800,4 +4029,4 @@ bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, i
bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latlong, uint16_t maxWait)
{
return (setStaticPosition(ecefXOrLat, 0, ecefYOrLon, 0, ecefZOrAlt, 0, latlong, maxWait));
}
}
Loading