Merge branch 'master' into sendCommand_return_corrections

Author: PaulZC

examples/Example17_Geofence/Example17_Geofence.ino

@@ -50,7 +50,7 @@ void setup()
   Serial.println();
 
   delay(1000); // Let the GPS power up
-  
+
   if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
   {
     Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
@@ -64,7 +64,7 @@ void setup()
 
   byte fixType = 0;
 
-  while (fixType != 3)
+  while (fixType < 3)
   {
     fixType = myGPS.getFixType(); // Get the fix type
     Serial.print(F("Fix: ")); // Print it
@@ -74,6 +74,7 @@ void setup()
     else if(fixType == 2) Serial.print(F(" = 2D"));
     else if(fixType == 3) Serial.print(F(" = 3D"));
     else if(fixType == 4) Serial.print(F(" = GNSS + Dead reckoning"));
+    else if(fixType == 5) Serial.print(F(" = Time only"));
     Serial.println();
     delay(1000);
   }
@@ -89,7 +90,7 @@ void setup()
   Serial.println(longitude);
 
   uint32_t radius = 500; // Set the radius to 5m (radius is in m * 10^-2 i.e. cm)
-  
+
   byte confidence = 2; // Set the confidence level: 0=none, 1=68%, 2=95%, 3=99.7%, 4=99.99%
 
   // Call clearGeofences() to clear all existing geofences.
@@ -99,18 +100,18 @@ void setup()
   // It is possible to define up to four geofences.
   // Call addGeofence up to four times to define them.
   Serial.println(F("Setting the geofences:"));
-  
+
   Serial.print(F("addGeofence for geofence 1 returned: "));
   Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
-  
+
   radius = 1000; // 10m
   Serial.print(F("addGeofence for geofence 2 returned: "));
   Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
-  
+
   radius = 1500; // 15m
   Serial.print(F("addGeofence for geofence 3 returned: "));
   Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
-  
+
   radius = 2000; // 20m
   Serial.print(F("addGeofence for geofence 4 returned: "));
   Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
@@ -130,16 +131,16 @@ void loop()
     Serial.println(F(".")); // Tidy up
     return; // and go round the loop again
   }
-  
+
   Serial.print(F(". status is: ")); // Print the status
   Serial.print(currentGeofenceState.status);
-  
+
   Serial.print(F(". numFences is: ")); // Print the numFences
   Serial.print(currentGeofenceState.numFences);
-  
+
   Serial.print(F(". combState is: ")); // Print the combined state
   Serial.print(currentGeofenceState.combState);
-  
+
   if (currentGeofenceState.combState == 0)
   {
     Serial.print(F(" = Unknown"));
@@ -163,6 +164,6 @@ void loop()
     Serial.print(currentGeofenceState.states[i]);
   }
   Serial.println();
-  
+
   delay(1000);
 }

examples/ZED-F9P/Example2_ValConfigurationMethod/Example2_ValConfigurationMethod.ino

@@ -46,11 +46,11 @@ void setup()
   }
 
   byte response;
-  response = myGPS.getVal(VAL_GROUP_I2C, VAL_ID_I2C_ADDRESS, VAL_GROUP_I2C_SIZE, VAL_LAYER_RAM);
+  response = myGPS.getVal8(VAL_GROUP_I2C, VAL_ID_I2C_ADDRESS, VAL_GROUP_I2C_SIZE, VAL_LAYER_RAM);
   Serial.print(F("I2C Address: 0x"));
   Serial.println(response >> 1, HEX); //We have to shift by 1 to get the common '7-bit' I2C address format
 
-  response = myGPS.getVal(VAL_GROUP_I2COUTPROT, VAL_ID_I2COUTPROT_NMEA, VAL_GROUP_I2COUTPROT_SIZE, VAL_LAYER_RAM);
+  response = myGPS.getVal8(VAL_GROUP_I2COUTPROT, VAL_ID_I2COUTPROT_NMEA, VAL_GROUP_I2COUTPROT_SIZE, VAL_LAYER_RAM);
   Serial.print(F("Output NMEA over I2C port: 0x"));
   Serial.print(response, HEX);
 }

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -965,7 +965,7 @@ void SFE_UBLOX_GPS::sendSerialCommand(ubxPacket outgoingUBX)
 }
 
 //Returns true if I2C device ack's
-boolean SFE_UBLOX_GPS::isConnected()
+boolean SFE_UBLOX_GPS::isConnected(uint16_t maxWait)
 {
   if (commType == COMM_TYPE_I2C)
   {
@@ -980,7 +980,7 @@ boolean SFE_UBLOX_GPS::isConnected()
     packetCfg.len = 0;
     packetCfg.startingSpot = 0;
 
-    return (sendCommand(packetCfg) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are polling the RATE so we expect data and an ACK
+    return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are polling the RATE so we expect data and an ACK
   }
   return false;
 }
@@ -1343,8 +1343,19 @@ uint8_t SFE_UBLOX_GPS::getVal8(uint32_t key, uint8_t layer, uint16_t maxWait)
   for (uint8_t x = 0; x < packetCfg.len; x++)
     packetCfg.payload[x] = 0;
 
+  //VALGET uses different memory layer definitions to VALSET
+  //because it can only return the value for one layer.
+  //So we need to fiddle the layer here.
+  //And just to complicate things further, the ZED-F9P only responds
+  //correctly to layer 0 (RAM) and layer 7 (Default)!
+  uint8_t getLayer = 7; // 7 is the "Default Layer"
+  if ((layer & VAL_LAYER_RAM) == VAL_LAYER_RAM) // Did the user request the RAM layer?
+  {
+    getLayer = 0; // Layer 0 is RAM
+  }
+
   payloadCfg[0] = 0;     //Message Version - set to 0
-  payloadCfg[1] = layer; //By default we ask for the BBR layer
+  payloadCfg[1] = getLayer; //Layer
 
   //Load key into outgoing payload
   payloadCfg[4] = key >> 8 * 0; //Key LSB

src/SparkFun_Ublox_Arduino_Library.h

@@ -426,12 +426,19 @@ class SFE_UBLOX_GPS
 public:
 	SFE_UBLOX_GPS(void);
 
+	// A default of 250ms for maxWait seems fine for I2C but is not enough for SerialUSB.
+	// If you know you are only going to be using I2C / Qwiic communication, you can
+	// safely reduce defaultMaxWait to 250.
+	#define defaultMaxWait 1100
+
 	//By default use the default I2C address, and use Wire port
 	boolean begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected
 	//serialPort needs to be perviously initialized to correct baud rate
 	boolean begin(Stream &serialPort); //Returns true if module is detected
 
-	boolean isConnected(); //Returns turn if device answers on _gpsI2Caddress address
+	//Returns true if device answers on _gpsI2Caddress address or via Serial
+	//maxWait is only used for Serial
+	boolean isConnected(uint16_t maxWait = 1100);
 
 	boolean checkUblox();		//Checks module with user selected commType
 	boolean checkUbloxI2C();	//Method for I2C polling of data, passing any new bytes to process()
@@ -446,7 +453,7 @@ class SFE_UBLOX_GPS
 	void processNMEA(char incoming) __attribute__((weak)); //Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries
 
 	void calcChecksum(ubxPacket *msg);											   //Sets the checksumA and checksumB of a given messages
-	sfe_ublox_status_e sendCommand(ubxPacket outgoingUBX, uint16_t maxWait = 250); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
+	sfe_ublox_status_e sendCommand(ubxPacket outgoingUBX, uint16_t maxWait = defaultMaxWait); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
 	sfe_ublox_status_e sendI2cCommand(ubxPacket outgoingUBX, uint16_t maxWait = 250);
 	void sendSerialCommand(ubxPacket outgoingUBX);
 
@@ -456,17 +463,17 @@ class SFE_UBLOX_GPS
 	void hardReset();	//Perform a reset leading to a cold start (zero info start-up)
 
 	boolean setI2CAddress(uint8_t deviceAddress, uint16_t maxTime = 250);							  //Changes the I2C address of the Ublox module
-	void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = 250); //Changes the serial baud rate of the Ublox module, uartPort should be COM_PORT_UART1/2
+	void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = defaultMaxWait); //Changes the serial baud rate of the Ublox module, uartPort should be COM_PORT_UART1/2
 	void setNMEAOutputPort(Stream &nmeaOutputPort);													  //Sets the internal variable for the port to direct NMEA characters to
 
-	boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = 250);  //Set the number of nav solutions sent per second
-	uint8_t getNavigationFrequency(uint16_t maxWait = 250);					  //Get the number of nav solutions sent per second currently being output by module
-	boolean saveConfiguration(uint16_t maxWait = 250);						  //Save current configuration to flash and BBR (battery backed RAM)
-	boolean factoryDefault(uint16_t maxWait = 250);							  //Reset module to factory defaults
-	boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = 250); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
+	boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait);  //Set the number of nav solutions sent per second
+	uint8_t getNavigationFrequency(uint16_t maxWait = defaultMaxWait);					  //Get the number of nav solutions sent per second currently being output by module
+	boolean saveConfiguration(uint16_t maxWait = defaultMaxWait);						  //Save current configuration to flash and BBR (battery backed RAM)
+	boolean factoryDefault(uint16_t maxWait = defaultMaxWait);							  //Reset module to factory defaults
+	boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = defaultMaxWait); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
 
-	sfe_ublox_status_e waitForACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = 250);   //Poll the module until a config packet and an ACK is received
-	sfe_ublox_status_e waitForNoACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = 250); //Poll the module until a config packet is received
+	sfe_ublox_status_e waitForACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait);   //Poll the module until a config packet and an ACK is received
+	sfe_ublox_status_e waitForNoACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet is received
 
 // getPVT will only return data once in each navigation cycle. By default, that is once per second.
 // Therefore we should set getPVTmaxWait to slightly longer than that.
@@ -477,9 +484,9 @@ class SFE_UBLOX_GPS
 #define getHPPOSLLHmaxWait 1100 // Default maxWait for getHPPOSLLH and all functions which call it
 
 	boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true);				 //In case no config access to the GPS is possible and PVT is send cyclically already
-	boolean setAutoPVT(boolean enabled, uint16_t maxWait = 250);						 //Enable/disable automatic PVT reports at the navigation frequency
+	boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait);						 //Enable/disable automatic PVT reports at the navigation frequency
 	boolean getPVT(uint16_t maxWait = getPVTmaxWait);									 //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Retruns true if new PVT is available.
-	boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = 250); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
+	boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
 	boolean getHPPOSLLH(uint16_t maxWait = getHPPOSLLHmaxWait);							 //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Retruns true if new PVT is available.
 	void flushPVT();																	 //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
 
@@ -512,26 +519,28 @@ class SFE_UBLOX_GPS
 	uint32_t getVerticalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);
 
 	//Port configurations
-	boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = 250); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
-	boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = 250);  //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
-	boolean getPortSettings(uint8_t portID, uint16_t maxWait = 250);					//Returns the current protocol bits in the UBX-CFG-PRT command for a given port
+	boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait);  //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
+	boolean getPortSettings(uint8_t portID, uint16_t maxWait = defaultMaxWait);					//Returns the current protocol bits in the UBX-CFG-PRT command for a given port
 
 	boolean setI2COutput(uint8_t comSettings, uint16_t maxWait = 250);   //Configure I2C port to output UBX, NMEA, RTCM3 or a combination thereof
-	boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = 250); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
-	boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = 250); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
 	boolean setUSBOutput(uint8_t comSettings, uint16_t maxWait = 250);   //Configure USB port to output UBX, NMEA, RTCM3 or a combination thereof
 	boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = 250);   //Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof
 
 	//Functions to turn on/off message types for a given port ID (see COM_PORT_I2C, etc above)
-	boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = 250);
-	boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = 250);
-	boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = 250);
-	boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = 250);
-	boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = 250);
-	boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = 250); //Given a message number turns on a message ID for output over given PortID
-	boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = 250);					//Turn off given RTCM message from a given port
+	boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait);
+	boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
+	boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
+	boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
+	boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
+	boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait); //Given a message number turns on a message ID for output over given PortID
+	boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = defaultMaxWait);					//Turn off given RTCM message from a given port
 
 	//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
+	//It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic.
+	//If they are using Serial then the higher baud rate will also help. So let's leave maxWait set to 250ms.
 	uint8_t getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
 	uint8_t getVal8(uint32_t keyID, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250);							   //Returns the value at a given group/id/size location
 	uint8_t setVal(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250);			   //Sets the 16-bit value at a given group/id/size location
@@ -549,6 +558,7 @@ class SFE_UBLOX_GPS
 	uint8_t sendCfgValset32(uint32_t keyID, uint32_t value, uint16_t maxWait = 250);								   //Add the final KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
 
 	//Functions used for RTK and base station setup
+	//It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms.
 	boolean getSurveyMode(uint16_t maxWait = 250);																   //Get the current TimeMode3 settings
 	boolean setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Control survey in mode
 	boolean enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);			   //Begin Survey-In for NEO-M8P