Adding I2C address change support.

Author: nseidle

examples/Example3_GetPosition/Example3_GetPosition.ino

@@ -45,8 +45,10 @@ void setup()
 
   Wire.setClock(400000); //Increase I2C clock speed to 400kHz
 
-
   myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  
+  myGPS.setUSBOutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  
   myGPS.setNavigationFrequency(4); //Set output to 4 times a second
 
   /*long pos = myGPS.getPositionAccuracy();

examples/Example8_ChangeI2CAddress/Example8_ChangeI2CAddress.ino

@@ -0,0 +1,110 @@
+/*
+  Change the I2C address of a Ublox module using I2C
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to change the I2C address of a Ublox module
+
+  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 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_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Tracks the passing of 2000ms (2 seconds)
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("Reading Lat/Long Example");
+
+  Wire.begin();
+
+  byte oldAddress = 0x42; //The default address for Ublox modules is 0x42
+  byte newAddress = 0x3F; //Address you want to change to. Valid is 0x08 to 0x77.
+
+  while (Serial.available()) Serial.read(); //Trash any incoming chars
+  Serial.print("Press a key to change address to 0x");
+  Serial.println(newAddress, HEX);
+  while (Serial.available() == false) ; //Wait for user to send character
+  
+  if (myGPS.begin(Wire, oldAddress) == true) //Connect to the Ublox module using Wire port and the old address
+  {
+    Serial.print("GPS found at address 0x");
+    Serial.println(oldAddress, HEX);
+
+    myGPS.setI2CAddress(newAddress); //Change I2C address of this device
+    //Device's I2C address is stored to memory and loaded on each power-on
+
+    if (myGPS.begin(Wire, newAddress) == true)
+    {
+      Serial.print("Address successfully changed to 0x");
+      Serial.println(newAddress, HEX);
+      Serial.print("Now load another example sketch using .begin(Wire, 0x");
+      Serial.print(newAddress, HEX);
+      Serial.println(") to use this GPS module");
+      Serial.println("Freezing...");
+      while (1);
+    }
+  }
+
+  //Something went wrong, begin looking for the I2C device
+  Serial.println("Address change failed. Beginning an I2C scan.");
+
+  Wire.begin();
+}
+
+void loop() {
+
+  byte address;
+  int nDevices;
+
+  Serial.println("Scanning...");
+
+  nDevices = 0;
+  for (address = 1; address < 127; address++ )
+  {
+    Wire.beginTransmission(address);
+    byte error = Wire.endTransmission();
+
+    if (error == 0)
+    {
+      Serial.print("I2C device found at address 0x");
+      if (address < 16)
+        Serial.print("0");
+      Serial.print(address, HEX);
+      Serial.println("  !");
+
+      nDevices++;
+    }
+    else if (error == 4)
+    {
+      Serial.print("Unknown error at address 0x");
+      if (address < 16)
+        Serial.print("0");
+      Serial.println(address, HEX);
+    }
+  }
+
+  if (nDevices == 0)
+    Serial.println("No I2C devices found\n");
+  else
+    Serial.println("done\n");
+
+  delay(5000);           // wait 5 seconds for next scan
+}

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -34,7 +34,7 @@ SFE_UBLOX_GPS::SFE_UBLOX_GPS(void)
 }
 
 //Initialize the Serial port
-void SFE_UBLOX_GPS::begin(TwoWire &wirePort)
+boolean SFE_UBLOX_GPS::begin(TwoWire &wirePort, uint8_t deviceAddress)
 {
 	commType = COMM_TYPE_I2C;
 	_i2cPort = &wirePort; //Grab which port the user wants us to use
@@ -46,14 +46,34 @@ void SFE_UBLOX_GPS::begin(TwoWire &wirePort)
 	//ie, there are some platforms that don't handle multiple starts to the wire hardware. Also, every time you start the wire
 	//hardware the clock speed reverts back to 100kHz regardless of previous Wire.setClocks().
 	//_i2cPort->begin();
+
+	_gpsI2Caddress = deviceAddress; //Store the I2C address from user
+	
+	return(isConnected());
 }
 
-//Sets the internal global variable that is the I2C address we read from
-//This does not change the I2C address of the module
-//0x42 is the default but can be changed via software command
-void SFE_UBLOX_GPS::setI2CReadAddress(uint8_t deviceAddress)
+//Changes the I2C address that the Ublox module responds to
+//0x42 is the default but can be changed with this command
+boolean SFE_UBLOX_GPS::setI2CAddress(uint8_t deviceAddress, uint16_t maxWait)
 {
-	_gpsI2Caddress = deviceAddress; //Store the I2C address from user
+	//Get the current config values for the I2C port
+	getPortSettings(COM_PORT_I2C); //This will load the payloadCfg array with current port settings
+
+	packetCfg.cls = UBX_CLASS_CFG;
+	packetCfg.id = UBX_CFG_PRT;
+	packetCfg.len = 20;
+	packetCfg.startingSpot = 0;
+
+	//payloadCfg is now loaded with current bytes. Change only the ones we need to
+	payloadCfg[4] = deviceAddress << 1; //DDC mode LSB
+
+	if( sendCommand(packetCfg, maxWait) == true)
+	{
+		//Success! Now change our internal global.
+		_gpsI2Caddress = deviceAddress; //Store the I2C address from user
+		return(true);
+	}
+	return(false);
 }
 
 //Want to see the NMEA messages on the Serial port? Here's how
@@ -575,17 +595,17 @@ boolean SFE_UBLOX_GPS::disableSurveyMode(uint16_t maxWait)
 //Returns true if commands was successful
 boolean SFE_UBLOX_GPS::getSurveyStatus(uint16_t maxWait)
 {
-  packetCfg.cls = UBX_CLASS_NAV;
-  packetCfg.id = UBX_NAV_SVIN;
-  packetCfg.len = 0;
-  packetCfg.startingSpot = 0;
-
   //Reset variables
   svin.active = false;
   svin.valid = false;
   svin.observationTime = 0;
   svin.meanAccuracy = 0;
 
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_SVIN;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
   if(sendCommand(packetCfg, maxWait) == false)
     return(false); //If command send fails then bail
 
@@ -633,29 +653,6 @@ boolean SFE_UBLOX_GPS::disableRTCMmessage(uint8_t messageNumber, uint8_t portID,
 	return(enableRTCMmessage(messageNumber, portID, 0, maxWait));
 }
 
-//Enable/Disable RTCM3 (both input and output) for a given port
-//Use to enable RTCM3 on I2C port (ID 0)
-boolean SFE_UBLOX_GPS::setRTCMport(uint8_t portID, boolean enableRTCM3, uint16_t maxWait)
-{
-  //Get the current config values for this port ID
-  getPortSettings(portID); //This will load the payloadCfg array with current port settings
-
-  packetCfg.cls = UBX_CLASS_CFG;
-  packetCfg.id = UBX_CFG_PRT;
-  packetCfg.len = 20;
-  packetCfg.startingSpot = 0;
-
-  //Clear packet payload
-  for(uint8_t x = 0 ; x < packetCfg.len ; x++)
-    packetCfg.payload[x] = 0;
-
-  //payloadCfg is now loaded with current bytes. Change only the ones we need to
-  payloadCfg[13] |= (1 << 5); //InProtocolMask LSB - Set inRtcm3
-  payloadCfg[15] |= (1 << 5); //OutProtocolMask LSB - Set outRtcm3
-
-  return ( sendCommand(packetCfg, maxWait) );
-}
-
 //Loads the payloadCfg array with the current protocol bits located the UBX-CFG-PRT register for a given port
 boolean SFE_UBLOX_GPS::getPortSettings(uint8_t portID, uint16_t maxWait)
 {

src/SparkFun_Ublox_Arduino_Library.h

@@ -152,7 +152,7 @@ class SFE_UBLOX_GPS
     SFE_UBLOX_GPS(void);
 
     //By default use the default I2C address, and use Wire port
-    void begin(TwoWire &wirePort = Wire);
+    boolean begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected
 
 	boolean isConnected(); //Returns turn if device answers on _gpsI2Caddress address
 
@@ -171,20 +171,25 @@ class SFE_UBLOX_GPS
 	void calcChecksum(ubxPacket *msg); //Sets the checksumA and checksumB of a given messages
 	boolean sendCommand(ubxPacket outgoingUBX, uint16_t maxWait = 250); //Given a packet and payload, send everything including CRC bytes
 
-	void setI2CReadAddress(uint8_t deviceAddress); //Sets the internal variable for the address of ublox module we want to read from
+	boolean setI2CAddress(uint8_t deviceAddress, uint16_t maxTime = 250); //Changes the I2C address of the Ublox module
 	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
+
 	boolean waitForResponse(uint16_t maxTime = 250); //Poll the module until and ack is received
 
-	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
-	boolean disableSurveyMode(uint16_t maxWait = 250); //Stop Survey-In mode
-	
-	boolean getSurveyStatus(uint16_t maxWait); //Reads survey in status and sets the global variables 
-	boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t secondsBetweenMessages, 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 getPVT(uint16_t maxWait = 1000); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. 
+	int32_t getLatitude(uint16_t maxWait = 250); //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
+	int32_t getLongitude(uint16_t maxWait = 250); //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module.
+	int32_t getAltitude(uint16_t maxWait = 250); //Returns the current altitude in mm above mean sea level (most common output of GPS receivers).
+	uint8_t getSIV(uint16_t maxWait = 250); //Returns number of sats used in fix
+	uint8_t getFixType(uint16_t maxWait = 250); //Returns the type of fix: 0=no, 3=3D, 4=GNSS+Deadreckoning
+	uint8_t getCarrierSolutionType(uint16_t maxWait = 250); //Returns RTK solution: 0=no, 1=float solution, 2=fixed solution
+	int32_t getGroundSpeed(uint16_t maxWait = 250); //Returns speed in mm/s
+	int32_t getHeading(uint16_t maxWait = 250); //Returns heading in degrees * 10^-7
+	uint16_t getPDOP(uint16_t maxWait = 250); //Returns positional dillution of precision * 10^-2
 
+	//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
@@ -195,21 +200,18 @@ class SFE_UBLOX_GPS
 	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
 
-	boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = 250); //Set the number of nav solutions sent per second
+	//Functions used for RTK and base station setup
+	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
+	boolean disableSurveyMode(uint16_t maxWait = 250); //Stop Survey-In mode
+	
+	boolean getSurveyStatus(uint16_t maxWait); //Reads survey in status and sets the global variables 
+	boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t secondsBetweenMessages, 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
 
 	uint32_t getPositionAccuracy(uint16_t maxWait = 500); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,
 
-	boolean getPVT(uint16_t maxWait = 1000); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. 
-	int32_t getLatitude(uint16_t maxWait = 250); //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
-	int32_t getLongitude(uint16_t maxWait = 250); //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module.
-	int32_t getAltitude(uint16_t maxWait = 250); //Returns the current altitude in mm above mean sea level (most common output of GPS receivers).
-	uint8_t getSIV(uint16_t maxWait = 250); //Returns number of sats used in fix
-	uint8_t getFixType(uint16_t maxWait = 250); //Returns the type of fix: 0=no, 3=3D, 4=GNSS+Deadreckoning
-	uint8_t getCarrierSolutionType(uint16_t maxWait = 250); //Returns RTK solution: 0=no, 1=float solution, 2=fixed solution
-	int32_t getGroundSpeed(uint16_t maxWait = 250); //Returns speed in mm/s
-	int32_t getHeading(uint16_t maxWait = 250); //Returns heading in degrees * 10^-7
-	uint16_t getPDOP(uint16_t maxWait = 250); //Returns positional dillution of precision * 10^-2
-
 	uint8_t getProtocolVersionHigh(uint16_t maxWait = 1000); //Returns the PROTVER XX.00 from UBX-MON-VER register
 	//uint8_t getProtocolVersionLow(uint16_t maxWait = 1000); //Returns the PROTVER 00.XX from UBX-MON-VER register
 	//float getProtocolVersion(uint16_t maxWait = 1000); //Returns the combination of high&low portions from PROTVER in UBX-MON-VER register