v2.0.4

examples/Callbacks/CallbackExample6_RAWX/CallbackExample6_RAWX.ino

@@ -0,0 +1,107 @@
+/*
+  Configuring the GNSS to automatically send RXM RZWX reports over I2C and display them using a callback
+  By: Paul Clark
+  SparkFun Electronics
+  Date: March 11th, 2021
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the u-blox GNSS to send RXM RAWX reports automatically
+  and access the data via a callback. No more polling!
+
+  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 <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+// Callback: newRAWX will be called when new RXM RAWX data arrives
+// See u-blox_structs.h for the full definition of UBX_RXMRAWX_data_t
+//         _____  You can use any name you like for the callback. Use the same name when you call setAutoRXMRAWXcallback
+//        /             _____  This _must_ be UBX_RXM_RAWX_data_t
+//        |            /                _____ You can use any name you like for the struct
+//        |            |               /
+//        |            |               |
+void newRAWX(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();
+  }
+}
+
+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.disableUBX7Fcheck(); // RAWX data can legitimately contain 0x7F, so we need to disable the "7F" check in checkUbloxI2C
+
+  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 (RAWX produces a _lot_ of data!)
+
+  myGNSS.setAutoRXMRAWXcallback(&newRAWX); // Enable automatic RXM RAWX messages with callback to newRAWX
+}
+
+void loop()
+{
+  myGNSS.checkUblox(); // Check for the arrival of new data and process it.
+  myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
+
+  Serial.print(".");
+  delay(50);
+}

examples/Example24_GetUnixEpochAndMicros/Example24_GetUnixEpochAndMicros.ino

@@ -0,0 +1,108 @@
+/*
+  Getting Unix Epoch Time and micros using u-blox commands
+  By: UT2UH
+  Date: March 30th, 2021
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a u-blox module for the current time and date as Unix Epoch uint32_t type to avoid time.h dependency.
+  We also turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic dramatically.
+
+  Note: this example works best on modules like the ZED_F9P. Modules like the ZOE_M8Q do not support confirmedTime.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS 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 GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to u-blox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun u-blox Example");
+
+  Wire.begin();
+
+  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)
+      ;
+  }
+
+  // Uncomment the next line if you need to completely reset your module
+  //myGNSS.factoryDefault(); delay(5000); // Reset everything and wait while the module restarts
+
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  //myGNSS.saveConfiguration();        //Optional: Save the current settings to flash and BBR
+
+  Serial.println("Compare Unix Epoch given with reference one from https://www.epochconverter.com/");
+
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+
+    // getUnixEpoch marks the PVT data as stale so you will get Unix time and PVT time on alternate seconds
+
+    uint32_t us;  //microseconds returned by getUnixEpoch()
+    uint32_t epoch = myGNSS.getUnixEpoch(us);
+    Serial.print("Unix Epoch: ");
+    Serial.print(epoch, DEC);
+    Serial.print("  micros: ");
+    Serial.println(us, DEC);
+
+    Serial.print(myGNSS.getYear());
+    Serial.print("-");
+    Serial.print(myGNSS.getMonth());
+    Serial.print("-");
+    Serial.print(myGNSS.getDay());
+    Serial.print(" ");
+    Serial.print(myGNSS.getHour());
+    Serial.print(":");
+    Serial.print(myGNSS.getMinute());
+    Serial.print(":");
+    Serial.print(myGNSS.getSecond());
+
+    Serial.print("  Time is ");
+    if (myGNSS.getTimeValid() == false)
+    {
+      Serial.print("not ");
+    }
+    Serial.print("valid ");
+    if (myGNSS.getConfirmedTime() == false)
+    {
+      Serial.print("but not ");
+    } else {
+      Serial.print("and ");
+    }
+    Serial.print("confirmed");
+
+    byte SIV = myGNSS.getSIV();
+    Serial.print(F("  SIV: "));
+    Serial.println(SIV);
+  }
+}

examples/Example25_MeasurementAndNavigationRate/Example25_MeasurementAndNavigationRate.ino

@@ -0,0 +1,123 @@
+/*
+  Demonstrate get/setMeasurementRate and get/setNavigationRate
+  By: Paul Clark
+  SparkFun Electronics
+  Date: March 30th, 2021
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to slow down the measurement and navigation rates.
+  This should run on any GNSS module but has only been tested on the ZED_F9P and ZOE_M8Q.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS 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 GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+unsigned long lastTime = 0; //Simple local timer. Used to calc the message interval.
+
+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
+
+  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);
+  }
+
+  // Uncomment the next line if you need to completely reset your module
+  //myGNSS.factoryDefault(); delay(5000); // Reset everything and wait while the module restarts
+
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  // Begin by printing the current measurement rate and navigation rate
+
+  uint16_t rate = myGNSS.getMeasurementRate(); //Get the measurement rate of this module
+  Serial.print("Current measurement interval (ms): ");
+  Serial.println(rate);
+
+  rate = myGNSS.getNavigationRate(); //Get the navigation rate of this module
+  Serial.print("Current navigation ratio (cycles): ");
+  Serial.println(rate);
+
+  // The measurement rate is the elapsed time between GNSS measurements, which defines the rate
+  // e.g. 100 ms => 10 Hz, 1000 ms => 1 Hz, 10000 ms => 0.1 Hz.
+  // Let's set the measurement rate (interval) to 5 seconds = 5000 milliseconds
+  if (myGNSS.setMeasurementRate(5000) == false)
+  {
+    Serial.println(F("Could not set the measurement rate. Freezing."));
+    while (1);
+  }
+
+  // setMeasurementRate will set i2cPollingWait to a quarter of the interval
+  // Let's override that so we can poll the module more frequently and avoid timeouts
+  myGNSS.setI2CpollingWait(25); // Set i2cPollingWait to 25ms
+
+  // The navigation rate is the ratio between the number of measurements and the number of navigation solutions
+  // e.g. 5 means five measurements for every navigation solution. Maximum value is 127
+  // Let's set the navigation rate (ratio) to 12 to produce a solution every minute
+  if (myGNSS.setNavigationRate(12) == false)
+  {
+    Serial.println(F("Could not set the navigation rate. Freezing."));
+    while (1);
+  }
+
+  // Another trick we can use is to mark the CFG RATE data as stale so we can be sure we read fresh data
+  myGNSS.packetUBXCFGRATE->moduleQueried.moduleQueried.all = 0; // Mark all of the CFG RATE data as stale
+
+  // Read and print the updated measurement rate and navigation rate
+
+  rate = myGNSS.getMeasurementRate(); //Get the measurement rate of this module
+  Serial.print("New measurement interval (ms): ");
+  Serial.println(rate);
+
+  rate = myGNSS.getNavigationRate(); //Get the navigation rate of this module
+  Serial.print("New navigation ratio (cycles): ");
+  Serial.println(rate);
+
+  lastTime = millis();
+}
+
+void loop()
+{
+  // i2cPollingWait will prevent us from thrashing the I2C bus
+
+  if (myGNSS.getPVT()) //Check for new Position, Velocity, Time data. getPVT returns true if new data is available.
+  {    
+      long latitude = myGNSS.getLatitude();
+      Serial.print(F("Lat: "));
+      Serial.print(latitude);
+
+      long longitude = myGNSS.getLongitude();
+      Serial.print(F(" Long: "));
+      Serial.print(longitude);
+
+      //Calculate the interval since the last message
+      Serial.print(F(" Interval: "));
+      Serial.print(((float)(millis() - lastTime)) / 1000.0, 2);
+      Serial.print(F("s"));
+
+      Serial.println();
+
+      lastTime = millis(); //Update lastTime
+  }
+}

keywords.txt

@@ -84,6 +84,8 @@ setFileBufferSize	KEYWORD2
 extractFileBufferData	KEYWORD2
 fileBufferAvailable	KEYWORD2
 getMaxFileBufferAvail	KEYWORD2
+clearFileBuffer	KEYWORD2
+clearMaxFileBufferAvail	KEYWORD2
 
 getPortSettings	KEYWORD2
 setPortOutput	KEYWORD2
@@ -369,6 +371,10 @@ logHNRPVT	KEYWORD2
 
 setNavigationFrequency	KEYWORD2
 getNavigationFrequency	KEYWORD2
+setMeasurementRate	KEYWORD2
+getMeasurementRate	KEYWORD2
+setNavigationRate	KEYWORD2
+getNavigationRate	KEYWORD2
 
 getGeometricDOP	KEYWORD2
 getPositionDOP	KEYWORD2
@@ -391,8 +397,11 @@ getMinute	KEYWORD2
 getSecond	KEYWORD2
 getMillisecond	KEYWORD2
 getNanosecond	KEYWORD2
+getUnixEpoch	KEYWORD2
 getDateValid	KEYWORD2
 getTimeValid	KEYWORD2
+getConfirmedDate	KEYWORD2
+getConfirmedTime	KEYWORD2
 getFixType	KEYWORD2
 getGnssFixOk	KEYWORD2
 getDiffSoln	KEYWORD2
@@ -602,3 +611,5 @@ SFE_UBLOX_GNSS_ID_BEIDOU	LITERAL1
 SFE_UBLOX_GNSS_ID_IMES	LITERAL1
 SFE_UBLOX_GNSS_ID_QZSS	LITERAL1
 SFE_UBLOX_GNSS_ID_GLONASS	LITERAL1
+
+DAYS_SINCE_MONTH	LITERAL1

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.0.3
+version=2.0.4
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>