Merge pull request #54 from grexjmo/master

Added setCFG_MSG command and example

Author: nseidle

examples/Example18_SetCFG_MSG/Example_SetCFG_MSG/Example_SetCFG_MSG.ino

@@ -0,0 +1,40 @@
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+unsigned long lastGPSSend = 0;
+
+void setup()
+{  
+  Serial.begin(9600);     // Serial debug output over USB visible from Arduino IDE
+  Serial1.begin(9600);    // NMEA serial UART output port to SPP bluetooth device such as HC-06
+
+  Wire.begin();  
+  
+  if (myGPS.begin() == false)
+  {    
+    Serial.println(F("Error initializing GPS"));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_NMEA | COM_TYPE_UBX);
+  myGPS.setCFG_MSG(UBX_CLASS_NAV, UBX_NAV_PVT, 0);    //Some of the other examples enable this message
+  myGPS.setCFG_MSG(UBX_CLASS_NMEA, UBX_NMEA_GLL, 0);  //Several of these are on by default on virgin ublox board
+  myGPS.setCFG_MSG(UBX_CLASS_NMEA, UBX_NMEA_GSA, 0);
+  myGPS.setCFG_MSG(UBX_CLASS_NMEA, UBX_NMEA_GSV, 0);
+  myGPS.setCFG_MSG(UBX_CLASS_NMEA, UBX_NMEA_RMC, 0);
+  myGPS.setCFG_MSG(UBX_CLASS_NMEA, UBX_NMEA_GGA, 1);  //Only leaving GGA/VTG enabled at current navigation rate
+  myGPS.setCFG_MSG(UBX_CLASS_NMEA, UBX_NMEA_VTG, 1);
+  
+  myGPS.setNMEAOutputPort(Serial1);  
+}
+
+void loop()
+{  
+  if (millis() - lastGPSSend > 200){
+    myGPS.checkUblox(); //See if new data is available, NMEA message will be auto-forwarded out Serial1
+    lastGPSSend = millis();
+  }  
+}

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -1639,6 +1639,20 @@ boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, boolean implicitUpdate, uint16
   return ok;
 }
 
+boolean SFE_UBLOX_GPS::setCFG_MSG(uint8_t msgClass, uint8_t messageID, uint8_t rate, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_MSG;
+  packetCfg.len = 3;
+  packetCfg.startingSpot = 0;
+  payloadCfg[0] = msgClass;
+  payloadCfg[1] = messageID;
+  payloadCfg[2] = rate;
+
+  bool ok = sendCommand(packetCfg, maxWait);
+  return ok;
+}
+
 //Add a new geofence using UBX-CFG-GEOFENCE
 boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence, byte pinPolarity, byte pin, uint16_t maxWait)
 {

src/SparkFun_Ublox_Arduino_Library.h

@@ -94,6 +94,7 @@ const uint8_t UBX_CLASS_MGA = 0x13;
 const uint8_t UBX_CLASS_LOG = 0x21;
 const uint8_t UBX_CLASS_SEC = 0x27;
 const uint8_t UBX_CLASS_HNR = 0x28;
+const uint8_t UBX_CLASS_NMEA = 0xF0;
 
 const uint8_t UBX_CFG_PRT = 0x00;	//Used to configure port specifics
 const uint8_t UBX_CFG_RST = 0x04;	//Used to reset device
@@ -118,6 +119,17 @@ const uint8_t UBX_NAV_HPPOSLLH = 0x14;  //Used for obtaining lat/long/alt in hig
 const uint8_t UBX_NAV_SVIN = 0x3B;		//Used for checking Survey In status
 const uint8_t UBX_NAV_RELPOSNED = 0x3C; //Relative Positioning Information in NED frame
 
+const uint8_t UBX_NMEA_GGA = 0x00;
+const uint8_t UBX_NMEA_GLL = 0x01;
+const uint8_t UBX_NMEA_GNS = 0x0D;
+const uint8_t UBX_NMEA_GRS = 0x06;
+const uint8_t UBX_NMEA_GSA = 0x02;
+const uint8_t UBX_NMEA_GST = 0x07;
+const uint8_t UBX_NMEA_GSV = 0x03;
+const uint8_t UBX_NMEA_RMC = 0x04;
+const uint8_t UBX_NMEA_VTG = 0x05;
+const uint8_t UBX_NMEA_ZDA = 0x08;
+
 const uint8_t UBX_MON_VER = 0x04;   //Used for obtaining Protocol Version
 const uint8_t UBX_MON_TXBUF = 0x08; //Used for query tx buffer size/state
 
@@ -258,6 +270,7 @@ class SFE_UBLOX_GPS
 	boolean waitForResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = 250); //Poll the module until and ack is received
 
 	boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true);				 //In case no config access to the GPS is possible and PVT is send cyclically already
+    boolean setCFG_MSG(uint8_t msgClass, uint8_t messageID, uint8_t rate, uint16_t maxWait = 250);
 	boolean setAutoPVT(boolean enabled, uint16_t maxWait = 250);						 //Enable/disable automatic PVT reports at the navigation frequency
 	boolean getPVT(uint16_t maxWait = 1000);											 //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