Merge pull request #11 from sparkfun/release_candidate

v3.0.5 - setStaticPosition - set TMODE to FIXED - resolves #10

Author: PaulZC

examples/ZED-F9P/Example12_setStaticPosition/Example12_setStaticPosition.ino

@@ -52,17 +52,29 @@ void setup()
   //-1280208.308,-4716803.847,4086665.811 is SparkFun HQ in ECEF coordinates so...
 
   //Units are cm so 1234 = 12.34m
-  //success &= myGNSS.setStaticPosition(-128020831, -471680385, 408666581, false); // False at end enables ECEF input
+  //
+  //If you were setting up a full GNSS station, you would want to save these settings to Battery-Backed RAM.
+  //Because setting an incorrect static position will disable the ability to get a lock, we will save to RAM layer only in this example - not RAM_BBR.  
+  //success &= myGNSS.setStaticPosition(-128020831, -471680385, 408666581, false, VAL_LAYER_RAM); // False at end enables ECEF input
 
   // Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
-  success &= myGNSS.setStaticPosition(-128020830, -80, -471680384, -70, 408666581, 10, false); // ECEF with high precision 0.1mm parts
+  //
+  //If you were setting up a full GNSS station, you would want to save these settings to Battery-Backed RAM.
+  //Because setting an incorrect static position will disable the ability to get a lock, we will save to RAM layer only in this example - not RAM_BBR.  
+  success &= myGNSS.setStaticPosition(-128020830, -80, -471680384, -70, 408666581, 10, false, VAL_LAYER_RAM); // ECEF with high precision 0.1mm parts
 
   // We can also set via lat/long
   // 40.09029751,-105.18507900,1560.238
-  //success &= myGNSS.setStaticPosition(400902975, -1051850790, 156024, true); // True at end enables lat/long input
+  //
+  //If you were setting up a full GNSS station, you would want to save these settings to Battery-Backed RAM.
+  //Because setting an incorrect static position will disable the ability to get a lock, we will save to RAM layer only in this example - not RAM_BBR.  
+  //success &= myGNSS.setStaticPosition(400902975, -1051850790, 156024, true, VAL_LAYER_RAM); // True at end enables lat/long input
 
   // For High Precision Lat/Lon/Alt the units are: degrees^-7, degrees^-9, degrees^-7, degrees^-9, cm, 0.1mm
-  //success &= myGNSS.setStaticPosition(400902975, 10, -1051850790, 0, 156023, 80, true);
+  //
+  //If you were setting up a full GNSS station, you would want to save these settings to Battery-Backed RAM.
+  //Because setting an incorrect static position will disable the ability to get a lock, we will save to RAM layer only in this example - not RAM_BBR.  
+  //success &= myGNSS.setStaticPosition(400902975, 10, -1051850790, 0, 156023, 80, true, VAL_LAYER_RAM);
 
   if (!success) Serial.println(F("At least one call to setStaticPosition failed!"));
 

examples/ZED-F9P/Example14_NTRIPServer/Example14_NTRIPServer.ino

@@ -121,7 +121,11 @@ void setup()
   //Note: If you leave these coordinates in place and setup your antenna *not* at SparkFun, your receiver
   //will be very confused and fail to generate correction data because, well, you aren't at SparkFun...
   //See this tutorial on getting PPP coordinates: https://learn.sparkfun.com/tutorials/how-to-build-a-diy-gnss-reference-station/all
-  response &= myGNSS.setStaticPosition(-128020830, -80, -471680384, -70, 408666581, 10, false); //With high precision 0.1mm parts. False indicates ECEF (instead of LLH)
+  //
+  //If you were setting up a full GNSS station, you would want to save these settings to Battery-Backed RAM.
+  //Because setting an incorrect static position will disable the ability to get a lock, we will save to RAM layer only in this example - not RAM_BBR.
+  //With high precision 0.1mm parts. False indicates ECEF (instead of LLH). 
+  response &= myGNSS.setStaticPosition(-128020830, -80, -471680384, -70, 408666581, 10, false, VAL_LAYER_RAM);
   if (response == false)
   {
     Serial.println(F("Failed to enter static position. Freezing..."));
@@ -135,11 +139,6 @@ void setup()
   //but it takes much longer to start generating RTCM data. See Example4_BaseWithLCD
   //myGNSS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
 
-  //If you were setting up a full GNSS station, you would want to save these settings.
-  //Because setting an incorrect static position will disable the ability to get a lock, we will skip saving during this example
-  //if (myGNSS.saveConfiguration() == false) //Save the current settings to flash and BBR
-  //  Serial.println(F("Module failed to save"));
-
   Serial.println(F("Module configuration complete"));
 }
 

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS v3
-version=3.0.4
+version=3.0.5
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>

src/u-blox_Class_and_ID.h

@@ -328,8 +328,10 @@ const uint8_t UBX_ESF_RESETALG = 0x13;
 const uint8_t UBX_ESF_ALG = 0x14;
 const uint8_t UBX_ESF_INS = 0x15; // 36 bytes
 
+// CFG-TMODE: Time mode configuration
 const uint8_t SVIN_MODE_DISABLE = 0x00;
-const uint8_t SVIN_MODE_ENABLE = 0x01;
+const uint8_t SVIN_MODE_ENABLE = 0x01; // Survey-In
+const uint8_t SVIN_MODE_FIXED = 0x02;
 
 // The following consts are used to configure the various ports and streams for those ports. See -CFG-PRT.
 const uint8_t COM_PORT_I2C = 0;

src/u-blox_GNSS.cpp

@@ -7286,6 +7286,7 @@ bool DevUBLOXGNSS::setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, in
   unsignedSigned32 converter32;
   unsignedSigned8 converter8;
   bool result = newCfgValset(layer);
+  result &= addCfgValset8(UBLOX_CFG_TMODE_MODE, SVIN_MODE_FIXED);
   result &= addCfgValset8(UBLOX_CFG_TMODE_POS_TYPE, (uint8_t)latLong);
   converter32.signed32 = ecefXOrLat;
   result &= addCfgValset32(latLong ? UBLOX_CFG_TMODE_LAT : UBLOX_CFG_TMODE_ECEF_X, converter32.unsigned32);

src/u-blox_config_keys.h

@@ -1140,7 +1140,7 @@ const uint32_t UBLOX_CFG_SPIOUTPROT_RTCM3X = UBX_CFG_L | 0x107a0004; // Flag to
 
 // CFG-TMODE: Time mode configuration
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
-const uint32_t UBLOX_CFG_TMODE_MODE = UBX_CFG_E1 | 0x20030001;           // Receiver mode
+const uint32_t UBLOX_CFG_TMODE_MODE = UBX_CFG_E1 | 0x20030001;           // Receiver mode: 0-Disabled, 1-Survey-In, 2-Fixed
 const uint32_t UBLOX_CFG_TMODE_POS_TYPE = UBX_CFG_E1 | 0x20030002;       // Determines whether the ARP position is given in ECEF or LAT/LON/HEIGHT?
 const uint32_t UBLOX_CFG_TMODE_ECEF_X = UBX_CFG_I4 | 0x40030003;         // ECEF X coordinate of the ARP position.
 const uint32_t UBLOX_CFG_TMODE_ECEF_Y = UBX_CFG_I4 | 0x40030004;         // ECEF Y coordinate of the ARP position.