Add port config. Add setNavFreq.

Author: nseidle

examples/Example3_GetPosition/Example3_GetPosition.ino

@@ -45,6 +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.setNavigationFrequency(4); //Set output to 4 times a second
+
   /*long pos = myGPS.getPositionAccuracy();
     Serial.print("pos: ");
     Serial.println(pos);

examples/NEO-M8P-2/Example3_EnableRTCM/Example3_EnableRTCM.ino

@@ -49,10 +49,12 @@ void setup()
   while(Serial.available() == 0) ; //Wait for user to press a key
 
   boolean response = true;
-  response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, UBX_RTCM_I2C_PORT, 1); //Enable message 1005 to output through I2C port, message every second
-  response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, UBX_RTCM_I2C_PORT, 1);
-  response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, UBX_RTCM_I2C_PORT, 1);
-  response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, UBX_RTCM_I2C_PORT, 10); //Enable message every 10 seconds
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
 
   if (response == true)
   {

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -590,16 +590,9 @@ boolean SFE_UBLOX_GPS::getSurveyStatus(uint16_t maxWait)
     return(false); //If command send fails then bail
 
   //We got a response, now parse the bits into the svin structure
-  svin.observationTime |= payloadCfg[8] << 8*0;
-  svin.observationTime |= payloadCfg[9] << 8*1;
-  svin.observationTime |= payloadCfg[10] << 8*2;
-  svin.observationTime |= payloadCfg[11] << 8*3;
-
-  uint32_t tempFloat = 0;
-  tempFloat |= payloadCfg[28] << 8*0;
-  tempFloat |= payloadCfg[29] << 8*1;
-  //tempFloat |= payloadCfg[30] << 8*2;
-  //tempFloat |= payloadCfg[31] << 8*3;
+  svin.observationTime = extractLong(8);
+
+  uint32_t tempFloat = extractInt(28);
   svin.meanAccuracy = tempFloat / 10000.0; //Convert 0.1mm to m
 
   svin.valid = payloadCfg[36];
@@ -645,7 +638,7 @@ boolean SFE_UBLOX_GPS::disableRTCMmessage(uint8_t messageNumber, uint8_t portID,
 boolean SFE_UBLOX_GPS::setRTCMport(uint8_t portID, boolean enableRTCM3, uint16_t maxWait)
 {
   //Get the current config values for this port ID
-  getPortSettings(portID);
+  getPortSettings(portID); //This will load the payloadCfg array with current port settings
 
   packetCfg.cls = UBX_CLASS_CFG;
   packetCfg.id = UBX_CFG_PRT;
@@ -656,14 +649,14 @@ boolean SFE_UBLOX_GPS::setRTCMport(uint8_t portID, boolean enableRTCM3, uint16_t
   for(uint8_t x = 0 ; x < packetCfg.len ; x++)
     packetCfg.payload[x] = 0;
 
-  //msg_payload is now loaded with current bytes. Change only the ones we need to
+  //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) );
 }
 
-//Returns the current protocol bits in the UBX-CFG-PRT command for a given port
+//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)
 {
   packetCfg.cls = UBX_CLASS_CFG;
@@ -676,15 +669,112 @@ boolean SFE_UBLOX_GPS::getPortSettings(uint8_t portID, uint16_t maxWait)
   return ( sendCommand(packetCfg, maxWait) );
 }
 
-//Given a spot, extract four bytes and build a long from the payload
+//Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
+//Port 0=I2c, 1=UART1, 2=UART2, 3=USB, 4=SPI
+//Bit:0 = UBX, :1=NMEA, :5=RTCM3
+boolean SFE_UBLOX_GPS::setPortOutput(uint8_t portID, uint8_t outStreamSettings, uint16_t maxWait)
+{
+  //Get the current config values for this port ID
+  getPortSettings(portID); //This will load the payloadCfg array with current port settings
+
+  //Yes, this is the depreciated way to do it but it's still supported on v27 so it 
+  //covers both ZED-F9P (v27) and SAM-M8Q (v18)
+  
+  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[14] = outStreamSettings; //OutProtocolMask LSB - Set outStream bits
+
+  return ( sendCommand(packetCfg, maxWait) );
+}
+
+//Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
+//Port 0=I2c, 1=UART1, 2=UART2, 3=USB, 4=SPI
+//Bit:0 = UBX, :1=NMEA, :5=RTCM3
+boolean SFE_UBLOX_GPS::setPortInput(uint8_t portID, uint8_t inStreamSettings, 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;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[12] = inStreamSettings; //InProtocolMask LSB - Set inStream bits
+
+  return ( sendCommand(packetCfg, maxWait) );
+}
+
+//Configure a port to output UBX, NMEA, RTCM3 or a combination thereof
+boolean SFE_UBLOX_GPS::setI2COutput(uint8_t comSettings, uint16_t maxWait)
+{
+	return(setPortOutput(COM_PORT_I2C, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setUART1Output(uint8_t comSettings, uint16_t maxWait)
+{
+	return(setPortOutput(COM_PORT_UART1, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setUART2Output(uint8_t comSettings, uint16_t maxWait)
+{
+	return(setPortOutput(COM_PORT_UART2, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setUSBOutput(uint8_t comSettings, uint16_t maxWait)
+{
+	return(setPortOutput(COM_PORT_USB, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setSPIOutput(uint8_t comSettings, uint16_t maxWait)
+{
+	return(setPortOutput(COM_PORT_SPI, comSettings, maxWait));
+}
+
+//Set the rate at which the module will give us an updated navigation solution
+//Expects a number that is the updates per second. For example 1 = 1Hz, 2 = 2Hz, etc.
+//Max is 40Hz(?!)
+boolean SFE_UBLOX_GPS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
+{
+	//if(updateRate > 40) updateRate = 40; //Not needed: module will correct out of bounds values
+
+	//Query the module for the latest lat/long
+	packetCfg.cls = UBX_CLASS_CFG;
+	packetCfg.id = UBX_CFG_RATE;
+	packetCfg.len = 0;
+	packetCfg.startingSpot = 0;
+
+	if(sendCommand(packetCfg, maxWait) == false) //This will load the payloadCfg array with current settings of the given register
+		return(false); //If command send fails then bail
+
+	uint16_t measurementRate = 1000 / navFreq ;
+	
+	//payloadCfg is now loaded with current bytes. Change only the ones we need to
+	payloadCfg[0] = measurementRate & 0xFF; //measRate LSB
+	payloadCfg[1] = measurementRate >> 8; //measRate MSB
+
+	return ( sendCommand(packetCfg, maxWait) );
+}
+
+//Given a spot in the payload array, extract four bytes and build a long
 uint32_t SFE_UBLOX_GPS::extractLong(uint8_t spotToStart)
 {
-	uint32_t pos = 0;
-	pos |= (int32_t)payloadCfg[spotToStart + 0] << 8*0;
-	pos |= (int32_t)payloadCfg[spotToStart + 1] << 8*1;
-	pos |= (int32_t)payloadCfg[spotToStart + 2] << 8*2;
-	pos |= (int32_t)payloadCfg[spotToStart + 3] << 8*3;
-	return(pos);
+	uint32_t val = 0;
+	val |= (int32_t)payloadCfg[spotToStart + 0] << 8*0;
+	val |= (int32_t)payloadCfg[spotToStart + 1] << 8*1;
+	val |= (int32_t)payloadCfg[spotToStart + 2] << 8*2;
+	val |= (int32_t)payloadCfg[spotToStart + 3] << 8*3;
+	return(val);
+}
+
+//Given a spot in the payload array, extract two bytes and build an int
+uint16_t SFE_UBLOX_GPS::extractInt(uint8_t spotToStart)
+{
+	uint16_t val = 0;
+	val |= (int16_t)payloadCfg[spotToStart + 0] << 8*0;
+	val |= (int16_t)payloadCfg[spotToStart + 1] << 8*1;
+	return(val);
 }
 
 //Given a spot, extract byte the payload

src/SparkFun_Ublox_Arduino_Library.h

@@ -113,15 +113,22 @@ const uint8_t UBX_RTCM_1005 = 0x05; //Stationary RTK reference ARP
 const uint8_t UBX_RTCM_1077 = 0x4D; //GPS MSM7
 const uint8_t UBX_RTCM_1087 = 0x57; //GLONASS MSM7
 const uint8_t UBX_RTCM_1230 = 0xE6; //GLONASS code-phase biases, set to once every 10 seconds
-const uint8_t UBX_RTCM_I2C_PORT = 0;
-const uint8_t UBX_RTCM_UART1_PORT = 1;
-const uint8_t UBX_RTCM_UART2_PORT = 2;
-const uint8_t UBX_RTCM_USB_PORT = 3;
-const uint8_t UBX_RTCM_SPI_PORT = 4;
 
 const uint8_t UBX_ACK_NACK = 0x00;
 const uint8_t UBX_ACK_ACK = 0x01;
 
+//The folloing consts are used to configure the various ports and streams for those ports. See -CFG-PRT.
+const uint8_t COM_PORT_I2C = 0;
+const uint8_t COM_PORT_UART1 = 1;
+const uint8_t COM_PORT_UART2 = 2;
+const uint8_t COM_PORT_USB = 3;
+const uint8_t COM_PORT_SPI = 4;
+
+const uint8_t COM_TYPE_UBX = (1<<0);
+const uint8_t COM_TYPE_NMEA = (1<<1);
+const uint8_t COM_TYPE_RTCM3 = (1<<5);
+
+
 #define MAX_PAYLOAD_SIZE 64 //Some commands are larger than 64 bytes but this covers most
 
 //-=-=-=-=- UBX binary specific variables
@@ -177,6 +184,18 @@ class SFE_UBLOX_GPS
 	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 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 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 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
+
 	boolean setRTCMport(uint8_t portID, boolean enableRTCM3, uint16_t maxWait = 250); //Enable/Disable RTCM3 (both input and output) for a given port
 
 	boolean getPortSettings(uint8_t portID, uint16_t maxWait = 250); //Returns the current protocol bits in the UBX-CFG-PRT command for a given port
@@ -240,6 +259,7 @@ class SFE_UBLOX_GPS
 
 	//Functions
 	uint32_t extractLong(uint8_t spotToStart); //Combine four bytes from payload into long
+	uint16_t extractInt(uint8_t spotToStart); //Combine two bytes from payload into int
 	uint8_t extractByte(uint8_t spotToStart); //Get byte from payload
 	void addToChecksum(uint8_t incoming); //Given an incoming byte, adjust rollingChecksumA/B