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Merge branch 'master' into multiSetVal-revisited-(Issue-#20-#21-#23)
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‎ISSUE_TEMPLATE.md

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### Subject of the issue
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Describe your issue here. If you reference a datasheet please specify which one and in which section (ie, the protocol manual, section 5.1.2). Additionally, screenshots are easy to paste into github.
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### Your workbench
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* What development board or microcontroller are you using?
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* What version of hardware or breakout board are you using?
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* How is the breakout board wired to your microcontroller?
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* How is everything being powered?
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* Are there any additional details that may help us help you?
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### Steps to reproduce
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Tell us how to reproduce this issue. Please post stripped down example code demonstrating your issue.
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### Expected behavior
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Tell us what should happen
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### Actual behavior
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Tell us what happens instead

‎examples/Example14_DebugOutput/Example14_DebugOutput.ino

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Serial.print(F(" SIV: "));
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Serial.print(SIV);
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Serial.println();
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Serial.print(myGPS.getYear());
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Serial.print("-");
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Serial.print(myGPS.getMonth());
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Serial.print("-");
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Serial.print(myGPS.getDay());
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Serial.print(" ");
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Serial.print(myGPS.getHour());
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Serial.print(":");
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Serial.print(myGPS.getMinute());
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Serial.print(":");
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Serial.println(myGPS.getSecond());
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Serial.println();
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}
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}

‎examples/Example15_GetDateTime/Example15_GetDateTime.ino

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basically do whatever you want with this code.
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This example shows how to query a Ublox module for the current time and date. We also
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turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
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turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
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dramatically.
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Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
@@ -33,63 +33,63 @@ long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox m
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void setup()
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{
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Serial.begin(115200);
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while (!Serial)
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; //Wait for user to open terminal
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Serial.println("SparkFun Ublox Example");
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Wire.begin();
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1)
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;
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}
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGPS.saveConfiguration(); //Save the current settings to flash and BBR
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Serial.begin(115200);
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while (!Serial)
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; //Wait for user to open terminal
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Serial.println("SparkFun Ublox Example");
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Wire.begin();
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1)
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;
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}
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGPS.saveConfiguration(); //Save the current settings to flash and BBR
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}
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void loop()
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{
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//Query module only every second. Doing it more often will just cause I2C traffic.
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//The module only responds when a new position is available
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if (millis() - lastTime > 1000)
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{
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lastTime = millis(); //Update the timer
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long latitude = myGPS.getLatitude();
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Serial.print(F("Lat: "));
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Serial.print(latitude);
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long longitude = myGPS.getLongitude();
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Serial.print(F(" Long: "));
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Serial.print(longitude);
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Serial.print(F(" (degrees * 10^-7)"));
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long altitude = myGPS.getAltitude();
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Serial.print(F(" Alt: "));
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Serial.print(altitude);
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Serial.print(F(" (mm)"));
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byte SIV = myGPS.getSIV();
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Serial.print(F(" SIV: "));
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Serial.print(SIV);
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Serial.println();
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Serial.print(myGPS.getYear());
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Serial.print("-");
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Serial.print(myGPS.getMonth());
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Serial.print("-");
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Serial.print(myGPS.getDay());
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Serial.print(" ");
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Serial.print(myGPS.getHour());
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Serial.print(":");
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Serial.print(myGPS.getMinute());
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Serial.print(":");
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Serial.println(myGPS.getSecond());
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Serial.println();
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}
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//Query module only every second. Doing it more often will just cause I2C traffic.
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//The module only responds when a new position is available
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if (millis() - lastTime > 1000)
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{
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lastTime = millis(); //Update the timer
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long latitude = myGPS.getLatitude();
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Serial.print(F("Lat: "));
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Serial.print(latitude);
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long longitude = myGPS.getLongitude();
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Serial.print(F(" Long: "));
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Serial.print(longitude);
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Serial.print(F(" (degrees * 10^-7)"));
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long altitude = myGPS.getAltitude();
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Serial.print(F(" Alt: "));
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Serial.print(altitude);
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Serial.print(F(" (mm)"));
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byte SIV = myGPS.getSIV();
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Serial.print(F(" SIV: "));
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Serial.print(SIV);
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Serial.println();
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Serial.print(myGPS.getYear());
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Serial.print("-");
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Serial.print(myGPS.getMonth());
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Serial.print("-");
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Serial.print(myGPS.getDay());
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Serial.print(" ");
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Serial.print(myGPS.getHour());
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Serial.print(":");
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Serial.print(myGPS.getMinute());
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Serial.print(":");
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Serial.println(myGPS.getSecond());
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Serial.println();
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}
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}

‎examples/Example16_AutoPVT_ExplicitUpdate/Example16_AutoPVT_ExplicitUpdate.ino

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/*
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Configuring the GPS to automatically send position reports over I2C, with explicit data parsing calls
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By: Nathan Seidle Thorsten von Eicken and Felix Jirka
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SparkFun Electronics
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Date: July 1st, 2019
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example shows how to configure the U-Blox GPS the send navigation reports automatically
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and retrieving the latest one via checkUblox when available.
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This eliminates the implicit update in getPVT when accessing data fields twice.
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Also this reduces the memory overhead of a separate buffer while introducing a slight error by inconsistencies because of the unsynchronized updates (on a multi core system).
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This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
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simply outputs the UBX_NAV_PVT packet. With I2C it queues it into its internal I2C buffer (4KB in
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size?) where it can be retrieved in the next I2C poll.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/15136
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NEO-M8P RTK: https://www.sparkfun.com/products/15005
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SAM-M8Q: https://www.sparkfun.com/products/15106
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Hardware Connections:
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Plug a Qwiic cable into the GPS and a BlackBoard
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GPS
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#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
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SFE_UBLOX_GPS myGPS;
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println("SparkFun Ublox Example");
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Wire.begin();
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGPS.setNavigationFrequency(2); //Produce two solutions per second
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myGPS.setAutoPVT(true, false); //Tell the GPS to "send" each solution and the lib not to update stale data implicitly
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myGPS.saveConfiguration(); //Save the current settings to flash and BBR
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}
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/*
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Calling getPVT would return false now (compare to Example 13 where it would return true), so we just use the data provided
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If you are using a threaded OS eg. FreeRTOS on an ESP32, the explicit mode of autoPVT allows you to use the data provided on both cores and inside multiple threads
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The data update in background creates an inconsistent state, but that should not cause issues for most applications as they usually won't change the GPS location significantly within a 2Hz - 5Hz update rate.
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Also you could oversample (10Hz - 20Hz) the data to smooth out such issues...
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*/
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void loop()
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{
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static uint16_t counter = 0;
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if (counter % 10 == 0) {
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// update your AHRS filter here for a ~100Hz update rate
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// GPS data will be quasi static but data from your IMU will be changing
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}
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// debug output each half second
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if (counter % 500 == 0) {
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Serial.println();
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long latitude = myGPS.getLatitude();
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Serial.print(F("Lat: "));
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Serial.print(latitude);
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long longitude = myGPS.getLongitude();
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Serial.print(F(" Long: "));
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Serial.print(longitude);
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Serial.print(F(" (degrees * 10^-7)"));
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long altitude = myGPS.getAltitude();
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Serial.print(F(" Alt: "));
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Serial.print(altitude);
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Serial.print(F(" (mm)"));
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byte SIV = myGPS.getSIV();
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Serial.print(F(" SIV: "));
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Serial.print(SIV);
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Serial.println();
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}
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// call checkUblox all 50ms to capture the gps data
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if (counter % 50 == 0) {
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myGPS.checkUblox();
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}
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delay(1);
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counter++;
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}

‎examples/Example16_Nanosecond_MaxOutput/Example16_Nanosecond_MaxOutput.ino

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/*
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Getting time and date using Ublox commands
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By: davidallenmann
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SparkFun Electronics
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Date: April 16th, 2019
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
8+
9+
This example shows how to query a Ublox module for the current time and date. We also
10+
turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
11+
dramatically.
12+
13+
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
14+
15+
Feel like supporting open source hardware?
16+
Buy a board from SparkFun!
17+
ZED-F9P RTK2: https://www.sparkfun.com/products/15136
18+
NEO-M8P RTK: https://www.sparkfun.com/products/15005
19+
SAM-M8Q: https://www.sparkfun.com/products/15106
20+
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Hardware Connections:
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Plug a Qwiic cable into the GPS and a BlackBoard
23+
If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
24+
Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GPS
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29+
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
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SFE_UBLOX_GPS myGPS;
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long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
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void setup()
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{
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Serial.begin(500000); //Increase serial speed to maximize
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while (!Serial)
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; //Wait for user to open terminal
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Serial.println("SparkFun Ublox Example");
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Wire.begin();
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Wire.setClock(400000);
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
47+
while (1)
48+
;
49+
}
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGPS.saveConfiguration(); //Save the current settings to flash and BBR
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//myGPS.enableDebugging(); //Enable debug messages over Serial (default)
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myGPS.setNavigationFrequency(10); //Set output to 10 times a second
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byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
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Serial.print("Current update rate:");
59+
Serial.println(rate);
60+
61+
}
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void loop()
64+
{
65+
//Query module only every second. Doing it more often will just cause I2C traffic.
66+
//The module only responds when a new position is available
67+
if (millis() - lastTime > 10)
68+
{
69+
lastTime = millis(); //Update the timer
70+
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long latitude = myGPS.getLatitude();
72+
Serial.print(F("Lat: "));
73+
Serial.print(latitude);
74+
75+
long longitude = myGPS.getLongitude();
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Serial.print(F(" Long: "));
77+
Serial.print(longitude);
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Serial.print(F(" (degrees * 10^-7)"));
79+
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long altitude = myGPS.getAltitude();
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Serial.print(F(" Alt: "));
82+
Serial.print(altitude);
83+
Serial.print(F(" (mm)"));
84+
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byte SIV = myGPS.getSIV();
86+
Serial.print(F(" SIV: "));
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Serial.print(SIV);
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Serial.print(myGPS.getYear());
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Serial.print("-");
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Serial.print(myGPS.getMonth());
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Serial.print("-");
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Serial.print(myGPS.getDay());
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Serial.print(" ");
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Serial.print(myGPS.getHour());
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Serial.print(":");
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Serial.print(myGPS.getMinute());
98+
Serial.print(":");
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Serial.print(myGPS.getSecond());
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Serial.print(".");
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Serial.print(myGPS.getNanosecond());
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103+
Serial.println();
104+
}
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}

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