Add millisecond support

Author: nseidle

keywords.txt

@@ -95,6 +95,7 @@ getDay	KEYWORD2
 getHour	KEYWORD2
 getMinute	KEYWORD2
 getSecond	KEYWORD2
+getMillisecond KEYWORD2
 getNanosecond KEYWORD2
 
 getHPPOSLLH KEYWORD2

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -535,7 +535,8 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
  gpsHour = extractByte(8);
  gpsMinute = extractByte(9);
  gpsSecond = extractByte(10);
- gpsNanosecond = extractLong(16);
+ gpsMillisecond = extractLong(0) % 1000; //Get last three digits of iTOW
+ gpsNanosecond = extractLong(16); //Includes milliseconds
 
  fixType = extractByte(20 - startingSpot);
  carrierSolution = extractByte(21 - startingSpot) >> 6; //Get 6th&7th bits of this byte
@@ -1345,7 +1346,16 @@ uint8_t SFE_UBLOX_GPS::getSecond(uint16_t maxWait)
  return (gpsSecond);
 }
 
-//Get the current nanosecond
+//Get the current millisecond
+uint16_t SFE_UBLOX_GPS::getMillisecond(uint16_t maxWait)
+{
+ if (moduleQueried.gpsiTOW == false)
+ getPVT();
+ moduleQueried.gpsiTOW = false; //Since we are about to give this to user, mark this data as stale
+ return (gpsMillisecond);
+}
+
+//Get the current nanoseconds - includes milliseconds
 int32_t SFE_UBLOX_GPS::getNanosecond(uint16_t maxWait)
 {
  if (moduleQueried.gpsNanosecond == false)

src/SparkFun_Ublox_Arduino_Library.h

@@ -252,6 +252,7 @@ class SFE_UBLOX_GPS
 uint8_t getHour(uint16_t maxWait = 250);
 uint8_t getMinute(uint16_t maxWait = 250);
 uint8_t getSecond(uint16_t maxWait = 250);
+uint16_t getMillisecond(uint16_t maxWait = 250);
 int32_t getNanosecond(uint16_t maxWait = 250);
 
 uint32_t getTimeOfWeek(uint16_t maxWait = 250);
@@ -348,6 +349,7 @@ class SFE_UBLOX_GPS
 uint8_t gpsHour;
 uint8_t gpsMinute;
 uint8_t gpsSecond;
+uint16_t gpsMillisecond;
 int32_t gpsNanosecond;
 
 int32_t latitude; //Degrees * 10^-7 (more accurate than floats)
@@ -439,26 +441,27 @@ class SFE_UBLOX_GPS
 //depending on update rate
 struct
 {
-uint16_t gpsYear : 1;
-uint16_t gpsMonth : 1;
-uint16_t gpsDay : 1;
-uint16_t gpsHour : 1;
-uint16_t gpsMinute : 1;
-uint16_t gpsSecond : 1;
-uint16_t gpsNanosecond : 1;
-
-uint16_t all : 1;
-uint16_t longitude : 1;
-uint16_t latitude : 1;
-uint16_t altitude : 1;
-uint16_t altitudeMSL : 1;
-uint16_t SIV : 1;
-uint16_t fixType : 1;
-uint16_t carrierSolution : 1;
-uint16_t groundSpeed : 1;
-uint16_t headingOfMotion : 1;
-uint16_t pDOP : 1;
-uint16_t versionNumber : 1;
+uint32_t gpsiTOW : 1;
+uint32_t gpsYear : 1;
+uint32_t gpsMonth : 1;
+uint32_t gpsDay : 1;
+uint32_t gpsHour : 1;
+uint32_t gpsMinute : 1;
+uint32_t gpsSecond : 1;
+uint32_t gpsNanosecond : 1;
+
+uint32_t all : 1;
+uint32_t longitude : 1;
+uint32_t latitude : 1;
+uint32_t altitude : 1;
+uint32_t altitudeMSL : 1;
+uint32_t SIV : 1;
+uint32_t fixType : 1;
+uint32_t carrierSolution : 1;
+uint32_t groundSpeed : 1;
+uint32_t headingOfMotion : 1;
+uint32_t pDOP : 1;
+uint32_t versionNumber : 1;
 } moduleQueried;
 
 struct