Convert Timepulse to get/set val

Author: nseidle

Firmware/RTK_Surveyor/Base.ino

@@ -129,8 +129,6 @@ bool surveyInStart()
 //Slightly modified method for restarting survey-in from: https://portal.u-blox.com/s/question/0D52p00009IsVoMCAV/restarting-surveyin-on-an-f9p
 bool surveyInReset()
 {
-  int maxWait = 2000;
-
   bool response = true;
 
   //Disable survey-in mode
@@ -165,7 +163,6 @@ bool surveyInReset()
 bool startFixedBase()
 {
   bool response = true;
-  int maxWait = 2000;
 
   if (settings.fixedBaseCoordinateType == COORD_TYPE_ECEF)
   {

Firmware/RTK_Surveyor/Begin.ino

@@ -654,41 +654,32 @@ bool beginExternalTriggers()
   }
 
   if (settings.dataPortChannel != MUX_PPS_EVENTTRIGGER)
-    return(true); //No need to configure PPS if port is not selected
+    return (true); //No need to configure PPS if port is not selected
 
-  UBX_CFG_TP5_data_t timePulseParameters;
+  bool response = true;
 
-  if (i2cGNSS.getTimePulseParameters(&timePulseParameters) == false)
-    log_e("getTimePulseParameters failed!");
-
-  timePulseParameters.tpIdx = 0; // Select the TIMEPULSE pin
+  response &= i2cGNSS.newCfgValset8(UBLOX_CFG_TP_USE_LOCKED_TP1, 1); //Use CFG-TP-PERIOD_LOCK_TP1 and CFG-TP-LEN_LOCK_TP1 as soon as GNSS time is valid
+  response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TP_TP1_ENA, settings.enableExternalPulse); //Enable/disable timepulse
+  response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TP_PULSE_DEF, 0); //Time pulse definition is a period (in us)
+  response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TP_PULSE_LENGTH_DEF, 1); //Define timepulse by length (not ratio)
+  response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TP_POL_TP1, settings.externalPulsePolarity); //0 = falling, 1 = raising edge
 
   // While the module is _locking_ to GNSS time, turn off pulse
-  timePulseParameters.freqPeriod = 1000000; //Set the period between pulses in us
-  timePulseParameters.pulseLenRatio = 0; //Set the pulse length in us
+  response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TP_PERIOD_TP1, 1000000); //Set the period between pulses in us
+  response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TP_LEN_TP1, 0); //Set the pulse length in us
 
   // When the module is _locked_ to GNSS time, make it generate 1kHz
-  timePulseParameters.freqPeriodLock = settings.externalPulseTimeBetweenPulse_us; //Set the period between pulses is us
-  timePulseParameters.pulseLenRatioLock = settings.externalPulseLength_us; //Set the pulse length in us
-
-  timePulseParameters.flags.bits.active = settings.enableExternalPulse; //Make sure the active flag is set to enable the time pulse. (Set to 0 to disable.)
-  timePulseParameters.flags.bits.lockedOtherSet = 1; //Tell the module to use freqPeriod while locking and freqPeriodLock when locked to GNSS time
-  timePulseParameters.flags.bits.isFreq = 0; //Tell the module that we want to set the period
-  timePulseParameters.flags.bits.isLength = 1; //Tell the module that pulseLenRatio is a length (in us)
-  timePulseParameters.flags.bits.polarity = (uint8_t)settings.externalPulsePolarity; //Rising or failling edge type pulse
+  response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TP_PERIOD_LOCK_TP1, settings.externalPulseTimeBetweenPulse_us); //Set the period between pulses is us
+  response &= i2cGNSS.sendCfgValset32(UBLOX_CFG_TP_LEN_LOCK_TP1, settings.externalPulseLength_us); //Set the pulse length in us
 
-  if (i2cGNSS.setTimePulseParameters(&timePulseParameters, 1000) == false)
-    log_e("setTimePulseParameters failed!");
+  if (response == false)
+    Serial.println("beginExternalTriggers config failed");
 
   if (settings.enableExternalHardwareEventLogging == true)
     i2cGNSS.setAutoTIMTM2callback(&eventTriggerReceived); //Enable automatic TIM TM2 messages with callback to eventTriggerReceived
   else
     i2cGNSS.setAutoTIMTM2callback(NULL);
 
-  bool response = i2cGNSS.saveConfiguration(); //Save the current settings to flash and BBR
-  if (response == false)
-    Serial.println("Module failed to save.");
-
   return (response);
 }
 

Firmware/RTK_Surveyor/menuGNSS.ino

@@ -232,8 +232,6 @@ void menuGNSS()
       printUnknown(incoming);
   }
 
-  int maxWait = 2000;
-
   // Set dynamic model
   i2cGNSS.setVal8(UBLOX_CFG_NAVSPG_DYNMODEL, (dynModel)settings.dynamicModel); // Set dynamic model
 
@@ -354,23 +352,6 @@ bool setRate(double secondsBetweenSolutions)
   return (true);
 }
 
-//We need to know our overall measurement frequency for things like setting the GSV NMEA sentence rate.
-//This returns a float of the rate based on settings that is the readings per second (Hz).
-float getMeasurementFrequency()
-{
-  uint16_t currentMeasurementRate = i2cGNSS.getMeasurementRate();
-  uint16_t currentNavigationRate = i2cGNSS.getNavigationRate();
-
-  currentNavigationRate = i2cGNSS.getNavigationRate();
-  //The ZED-F9P will report an incorrect nav rate if we have rececently changed it.
-  //Reading a second time insures a correct read.
-
-  //Serial.printf("currentMeasurementRate / currentNavigationRate: %d / %d\r\n", currentMeasurementRate, currentNavigationRate);
-
-  float measurementFrequency = (1000.0 / currentMeasurementRate) / currentNavigationRate;
-  return (measurementFrequency);
-}
-
 //Print the module type and firmware version
 void printZEDInfo()
 {

Firmware/RTK_Surveyor/menuMessages.ino

@@ -707,8 +707,6 @@ void updateLogTest()
 
       beginLogging(fileName);
 
-      i2cGNSS.setPortOutput(COM_PORT_USB, COM_TYPE_NMEA | COM_TYPE_UBX | COM_TYPE_RTCM3); //Duplicate UART1
-
       rate = 4;
       messages = 5;
       semaphoreWait = 10;

Firmware/RTK_Surveyor/menuPP.ino

@@ -791,7 +791,7 @@ void pointperfectApplyKeys()
 
       i2cGNSS.setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_COR_I2C, 1); // Enable UBX-RXM-COR messages on I2C
 
-      i2cGNSS.setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); // Set the differential mode - ambiguities are fixed whenever possible
+      i2cGNSS.setVal8(UBLOX_CFG_NAVHPG_DGSNSSMODE, 3); // Set the differential mode - ambiguities are fixed whenever possible
 
       bool response = i2cGNSS.setDynamicSPARTNKeys(
                         currentKeyLengthBytes, currentKeyGPSWeek, currentKeyGPSToW, settings.pointPerfectCurrentKey,

Firmware/RTK_Surveyor/menuPorts.ino

@@ -234,6 +234,7 @@ void menuPortsMultiplexed()
 //Most often used for logging events (inputs) and when external triggers (outputs) occur
 void menuPortHardwareTriggers()
 {
+  bool updateSettings = false;
   while (1)
   {
     Serial.println();
@@ -269,6 +270,7 @@ void menuPortHardwareTriggers()
     if (incoming == 1)
     {
       settings.enableExternalPulse ^= 1;
+      updateSettings = true;
     }
     else if (incoming == 2 && settings.enableExternalPulse == true)
     {
@@ -285,6 +287,8 @@ void menuPortHardwareTriggers()
 
           if (pulseTime < (settings.externalPulseLength_us / 1000)) //pulseTime must be longer than pulseLength
             settings.externalPulseLength_us = settings.externalPulseTimeBetweenPulse_us / 2; //Force pulse length to be 1/2 time between pulses
+
+          updateSettings = true;
         }
       }
 
@@ -299,7 +303,10 @@ void menuPortHardwareTriggers()
         if (pulseLength > (settings.externalPulseTimeBetweenPulse_us / 1000)) //pulseLength must be shorter than pulseTime
           Serial.println("Error: Pulse length must be shorter than time between pulses");
         else
+        {
           settings.externalPulseLength_us = pulseLength * 1000;
+          updateSettings = true;
+        }
       }
     }
     else if (incoming == 4 && settings.enableExternalPulse == true)
@@ -308,10 +315,12 @@ void menuPortHardwareTriggers()
         settings.externalPulsePolarity = PULSE_FALLING_EDGE;
       else
         settings.externalPulsePolarity = PULSE_RISING_EDGE;
+      updateSettings = true;
     }
     else if (incoming == 5)
     {
       settings.enableExternalHardwareEventLogging ^= 1;
+      updateSettings = true;
     }
     else if (incoming == 'x')
       break;
@@ -325,7 +334,11 @@ void menuPortHardwareTriggers()
 
   clearBuffer(); //Empty buffer of any newline chars
 
-  beginExternalTriggers(); //Update with new settings
+  if (updateSettings)
+  {
+    settings.updateZEDSettings = true; //Force update
+    beginExternalTriggers(); //Update with new settings
+  }
 }
 
 void eventTriggerReceived(UBX_TIM_TM2_data_t ubxDataStruct)