Add support for TMOD3 fixed position.

Author: nseidle

examples/ZED-F9P/Example11_setStaticPosition/Example11_setStaticPosition.ino

@@ -0,0 +1,74 @@
+/*
+ Set the static position of the receiver.
+ By: SparkFun Electronics / Nathan Seidle
+ Date: September 26th, 2020
+ License: MIT. See license file for more information but you can
+ basically do whatever you want with this code.
+
+ This example shows how to set the static position of a receiver
+ using an Earth-Centered, Earth-Fixed (ECEF) location. This is the
+ output from a long (24 hour+) survey-in. Setting the static position
+ immediately causes the receiver to begin outputting RTCM data (if
+ enabled), perfect for setting up your own RTCM NTRIP caster or CORS.
+
+ 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;
+
+void setup()
+{
+ Serial.begin(115200); // You may need to increase this for high navigation rates!
+ while (!Serial)
+ ; //Wait for user to open terminal
+ Serial.println(F("SparkFun u-blox Example"));
+
+ Wire.begin();
+
+ //myGPS.enableDebugging(); // Uncomment this line to enable debug messages
+
+ if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
+ {
+ Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+ while (1)
+ ;
+ }
+
+ myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+ //-1280208.308,-4716803.847,4086665.811 is SparkFun HQ so...
+
+ //Units are cm so 1234 = 12.34m
+ //myGPS.setStaticPosition(-128020831, -471680385, 408666581);
+
+ //Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
+ myGPS.setStaticPosition(-128020830, -80, -471680384, -70, 408666581, 10, true, 250); //With high precision 0.1mm parts
+
+ //We can also set via lat/long
+ //40.09029751,-105.18507900,1560.238
+ //myGPS.setStaticPosition(400902975, -1051850790, 156024, true); //True at end enables lat/long input
+ //myGPS.setStaticPosition(400902975, 10, -1051850790, 0, 156023, 80, true);
+
+ //Now let's use getVals to read back the data
+ //long ecefX = myGPS.getVal32(0x40030003);
+ //Serial.print("ecefX: ");
+ //Serial.println(ecefX);
+
+ Serial.println(F("Done!"));
+}
+
+void loop()
+{
+}

keywords.txt

@@ -159,6 +159,7 @@ getVehAtt	KEYWORD2
 setI2CTransactionSize	KEYWORD2
 getI2CTransactionSize	KEYWORD2
 
+setStaticPosition KEYWORD2
 
 #######################################
 # Constants (LITERAL1)

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -3533,3 +3533,60 @@ boolean SFE_UBLOX_GPS::getVehAtt(uint16_t maxWait)
 
  return (true);
 }
+
+//Set the ECEF coordinates of a receiver
+//This imediately puts the receiver in TIME mode (fixed) and will begin outputting RTCM sentences if enabled
+//This is helpful once an antenna's position has been established. See this tutorial: https://learn.sparkfun.com/tutorials/how-to-build-a-diy-gnss-reference-station#gather-raw-gnss-data
+bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefX, int8_t ecefXHP, int32_t ecefY, int8_t ecefYHP, int32_t ecefZ, int8_t ecefZHP, bool latLong, uint16_t maxWait)
+{
+ packetCfg.cls = UBX_CLASS_CFG;
+ packetCfg.id = UBX_CFG_TMODE3;
+ packetCfg.len = 0;
+ packetCfg.startingSpot = 0;
+
+ //Ask module for the current TimeMode3 settings. Loads into payloadCfg.
+ if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+ return (false);
+
+ packetCfg.len = 40;
+
+ //Clear packet payload
+ for (uint8_t x = 0; x < packetCfg.len; x++)
+ payloadCfg[x] = 0;
+
+ //customCfg should be loaded with poll response. Now modify only the bits we care about
+ payloadCfg[2] = 2; //Set mode to fixed. Use ECEF (not LAT/LON/ALT).
+
+ if (latLong == true)
+ payloadCfg[3] = (uint8_t)(1 << 0); //Set mode to fixed. Use LAT/LON/ALT.
+
+ //Set ECEF X
+ payloadCfg[4] = (ecefX >> 8 * 0) & 0xFF; //LSB
+ payloadCfg[5] = (ecefX >> 8 * 1) & 0xFF;
+ payloadCfg[6] = (ecefX >> 8 * 2) & 0xFF;
+ payloadCfg[7] = (ecefX >> 8 * 3) & 0xFF; //MSB
+
+ //Set ECEF Y
+ payloadCfg[8] = (ecefY >> 8 * 0) & 0xFF; //LSB
+ payloadCfg[9] = (ecefY >> 8 * 1) & 0xFF;
+ payloadCfg[10] = (ecefY >> 8 * 2) & 0xFF;
+ payloadCfg[11] = (ecefY >> 8 * 3) & 0xFF; //MSB
+
+ //Set ECEF Z
+ payloadCfg[12] = (ecefZ >> 8 * 0) & 0xFF; //LSB
+ payloadCfg[13] = (ecefZ >> 8 * 1) & 0xFF;
+ payloadCfg[14] = (ecefZ >> 8 * 2) & 0xFF;
+ payloadCfg[15] = (ecefZ >> 8 * 3) & 0xFF; //MSB
+
+ //Set ECEF high precision bits
+ payloadCfg[16] = ecefXHP;
+ payloadCfg[17] = ecefYHP;
+ payloadCfg[18] = ecefZHP;
+
+ return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefX, int32_t ecefY, int32_t ecefZ, bool latlong, uint16_t maxWait)
+{
+ return (setStaticPosition(ecefX, 0, ecefY, 0, ecefZ, 0, latlong, maxWait));
+}

src/SparkFun_Ublox_Arduino_Library.h

@@ -461,7 +461,7 @@ class SFE_UBLOX_GPS
 //Control the size of the internal I2C transaction amount
 void setI2CTransactionSize(uint8_t bufferSize);
 uint8_t getI2CTransactionSize(void);
-
+
 //Set the max number of bytes set in a given I2C transaction
 uint8_t i2cTransactionSize = 32; //Default to ATmega328 limit
 
@@ -641,6 +641,10 @@ class SFE_UBLOX_GPS
 sfe_ublox_status_e getSensState(uint8_t sensor, uint16_t maxWait = 1100);
 boolean getVehAtt(uint16_t maxWait = 1100);
 
+//Given coordinates, put receiver into static position. Set latlong to true to pass in lat/long values instead of ecef.
+bool setStaticPosition(int32_t ecefX, int8_t ecefXHP, int32_t ecefY, int8_t ecefYHP, int32_t ecefZ, int8_t ecefZHP, bool latLong = false, uint16_t maxWait = 250);
+bool setStaticPosition(int32_t ecefX, int32_t ecefY, int32_t ecefZ, bool latlong = true, uint16_t maxWait = 250);
+
 //Survey-in specific controls
 struct svinStructure
 {