sparkfun · nseidle · Oct 27, 2020 · Oct 23, 2020 · Oct 23, 2020 · Oct 23, 2020
diff --git a/...8_GetHighPrecisionPositionAndAccuracy.ino → ...0_GetHighPrecisionPositionAndAccuracy.ino b/...8_GetHighPrecisionPositionAndAccuracy.ino → ...0_GetHighPrecisionPositionAndAccuracy.ino
diff --git a/...9_GetHighPrecisionPositionUsingDouble.ino → ...1_GetHighPrecisionPositionUsingDouble.ino b/...9_GetHighPrecisionPositionUsingDouble.ino → ...1_GetHighPrecisionPositionUsingDouble.ino
diff --git a/examples/ZED-F9P/Example11_setStaticPosition/Example11_setStaticPosition.ino b/examples/ZED-F9P/Example11_setStaticPosition/Example11_setStaticPosition.ino
@@ -0,0 +1,73 @@
+/*
+  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
+
+  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); //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()
+{
+}
diff --git a/examples/ZED-F9P/Example6_GetVal/Example6_GetVal.ino b/examples/ZED-F9P/Example6_GetVal/Example6_GetVal.ino
@@ -1,12 +1,12 @@
 /*
-  Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
+  Get a device's I2C address using advanced getVal method
   By: Nathan Seidle
   SparkFun Electronics
   Date: January 9th, 2019
   License: MIT. See license file for more information but you can
   basically do whatever you want with this code.
 
-  Ublox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
+  u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
   UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
   commands instead. This example shows how to use this new command structure.
 
@@ -32,27 +32,29 @@ long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox m
 void setup()
 {
   Serial.begin(115200);
-  while (!Serial); //Wait for user to open terminal
-  Serial.println("Ublox getVal example");
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("u-blox getVal example");
 
   Wire.begin();
   Wire.setClock(400000); //Increase I2C clock speed to 400kHz
 
   if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
   {
-    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
-    while (1);
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
   }
 
   myGPS.enableDebugging(); //Enable debug messages over Serial (default)
   //myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
 
-  uint8_t currentI2Caddress = myGPS.getVal8(0x20510001);
+  uint8_t currentI2Caddress = myGPS.getVal8(UBLOX_CFG_I2C_ADDRESS);
   Serial.print("Current I2C address (should be 0x42): 0x");
   Serial.println(currentI2Caddress >> 1, HEX); //Ublox module returns a shifted 8-bit address. Make it 7-bit unshifted.
 
-  while(1);
-
+  while (1)
+    ;
 }
 
 void loop()
@@ -83,4 +85,4 @@ void loop()
 
     Serial.println();
   }
-}
+}
diff --git a/examples/ZED-F9P/Example7_SetVal/Example7_SetVal.ino b/examples/ZED-F9P/Example7_SetVal/Example7_SetVal.ino
@@ -1,12 +1,12 @@
 /*
-  Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
+  Send UBX binary commands to enable RTCM sentences on u-blox ZED-F9P module
   By: Nathan Seidle
   SparkFun Electronics
   Date: January 9th, 2019
   License: MIT. See license file for more information but you can
   basically do whatever you want with this code.
 
-  Ublox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
+  u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
   UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
   commands instead. This example shows how to use this new command structure.
 
@@ -27,49 +27,50 @@
 #include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
 SFE_UBLOX_GPS myGPS;
 
-long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to u-blox module.
 
 void setup()
 {
   Serial.begin(115200);
-  while (!Serial); //Wait for user to open terminal
-  Serial.println("Ublox getVal example");
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("u-blox getVal example");
 
   Wire.begin();
   Wire.setClock(400000); //Increase I2C clock speed to 400kHz
 
-  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
   {
-    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
-    while (1);
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
   }
 
   myGPS.enableDebugging(); //Enable debug messages over Serial (default)
   //myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
 
   bool setValueSuccess;
 
-  //These key values are hard coded. You can obtain them from the ZED-F9P interface description doc
+  //These key values are hard coded and defined in u-blox_config_keys.h.
+  //You can obtain them from the ZED-F9P interface description doc
   //or from u-center's Messages->CFG->VALSET window. Keys must be 32-bit.
-  //setValueSuccess = myGPS.setVal(0x10930006, 0); //Enable high precision NMEA
-  setValueSuccess = myGPS.setVal(0x30210001, 100); //Set measurement rate to 100ms (10Hz update rate)
-  //setValueSuccess = myGPS.setVal(0x30210001, 1000); //Set measurement rate to 1000ms (1Hz update rate)
+  //setValueSuccess = myGPS.setVal(UBLOX_CFG_NMEA_HIGHPREC, 0); //Enable high precision NMEA
+  setValueSuccess = myGPS.setVal(UBLOX_CFG_RATE_MEAS, 100); //Set measurement rate to 100ms (10Hz update rate)
+  //setValueSuccess = myGPS.setVal(UBLOX_CFG_RATE_MEAS, 1000); //Set measurement rate to 1000ms (1Hz update rate)
 
   //Below is the original way we enabled the RTCM message on the I2C port. After that, we show how to do the same
   //but with setVal().
   //Original: myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
   //setValueSuccess = myGPS.setVal(0x209102bd, 1); //Set output rate of msg 1005 over the I2C port to once per second
 
-  if(setValueSuccess == true)
+  if (setValueSuccess == true)
   {
     Serial.println("Value was successfully set");
   }
   else
     Serial.println("Value set failed");
-
 }
 
 void loop()
 {
-
 }
diff --git a/examples/ZED-F9P/Example8_GetSetPortSettings/Example8_GetSetPortSettings.ino b/examples/ZED-F9P/Example8_GetSetPortSettings/Example8_GetSetPortSettings.ino
@@ -0,0 +1,98 @@
+/*
+  Configuring port settings using the newer getVal/setVal methods
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: October 23rd, 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 query a u-blox module for its UART1 settings and
+  then change them if the settings aren't what we want.
+
+  Note: getVal/setVal/delVal are only support in u-blox protocol versions 27 and higher.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a RedBoard
+  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);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun u-blox Example");
+
+  Wire.begin();
+
+  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)
+      ;
+  }
+
+  bool response = true;
+
+  //Read the settings from RAM (what the module is running right now, not BBR, Flash, or default)
+  uint8_t currentUART1Setting_ubx = myGPS.getVal8(UBLOX_CFG_UART1INPROT_UBX);
+  uint8_t currentUART1Setting_nmea = myGPS.getVal8(UBLOX_CFG_UART1INPROT_NMEA);
+  uint8_t currentUART1Setting_rtcm3 = myGPS.getVal8(UBLOX_CFG_UART1INPROT_RTCM3X);
+
+  Serial.print("currentUART1Setting_ubx: ");
+  Serial.println(currentUART1Setting_ubx);
+  Serial.print("currentUART1Setting_nmea: ");
+  Serial.println(currentUART1Setting_nmea);
+  Serial.print("currentUART1Setting_rtcm3: ");
+  Serial.println(currentUART1Setting_rtcm3);
+
+  //Check if NMEA and RTCM are enabled for UART1
+  if (currentUART1Setting_ubx == 0 || currentUART1Setting_nmea == 0)
+  {
+    Serial.println("Updating UART1 configuration");
+
+    //setVal sets the values for RAM, BBR, and Flash automatically so no .saveConfiguration() is needed
+    response &= myGPS.setVal8(UBLOX_CFG_UART1INPROT_UBX, 1);    //Enable UBX on UART1 Input
+    response &= myGPS.setVal8(UBLOX_CFG_UART1INPROT_NMEA, 1);   //Enable NMEA on UART1 Input
+    response &= myGPS.setVal8(UBLOX_CFG_UART1INPROT_RTCM3X, 0); //Disable RTCM on UART1 Input
+
+    if (response == false)
+      Serial.println("SetVal failed");
+    else
+      Serial.println("SetVal succeeded");
+  }
+  else
+    Serial.println("No port change needed");
+
+  //Change speed of UART2
+  uint32_t currentUART2Baud = myGPS.getVal32(UBLOX_CFG_UART2_BAUDRATE);
+  Serial.print("currentUART2Baud: ");
+  Serial.println(currentUART2Baud);
+
+  if (currentUART2Baud != 57600)
+  {
+    response &= myGPS.setVal32(UBLOX_CFG_UART2_BAUDRATE, 57600);
+    if (response == false)
+      Serial.println("SetVal failed");
+    else
+      Serial.println("SetVal succeeded");
+  }
+  else
+    Serial.println("No baud change needed");
+
+  Serial.println("Done");
+}
+
+void loop()
+{
+}
diff --git a/...e10_multiSetVal/Example10_multiSetVal.ino → ...ple9_multiSetVal/Example9_multiSetVal.ino b/...e10_multiSetVal/Example10_multiSetVal.ino → ...ple9_multiSetVal/Example9_multiSetVal.ino
@@ -1,13 +1,13 @@
 /*
-  Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
+  Send UBX binary commands to enable RTCM sentences on u-blox ZED-F9P module
   Based on Example7 By: Nathan Seidle
   SparkFun Electronics
   Updated by Paul Clark to demonstrate setVal8/16/32, newCfgValset8/16/32, addCfgValset8/16/32 and sendCfgValset8/16/32
   Date: July 1st, 2019
   License: MIT. See license file for more information but you can
   basically do whatever you want with this code.
 
-  Ublox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
+  u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
   UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
   commands instead. This example shows how to use this new command structure.
 
@@ -31,16 +31,18 @@ SFE_UBLOX_GPS myGPS;
 void setup()
 {
   Serial.begin(115200);
-  while (!Serial); //Wait for user to open terminal
-  Serial.println("Ublox multi setVal example");
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("u-blox multi setVal example");
 
   Wire.begin();
   Wire.setClock(400000); //Increase I2C clock speed to 400kHz
 
-  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
   {
-    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
-    while (1);
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
   }
 
   myGPS.enableDebugging(); //Enable debug messages over Serial (default)
@@ -55,25 +57,25 @@ void setup()
   //U2, I2, E2 and X2 values are 16-bit
   //U4, I4, R4, E4, X4 values are 32-bit
 
-  setValueSuccess &= myGPS.setVal8(0x10930006, 0); //Enable high precision NMEA (value is 8-bit (L / U1))
-  //setValueSuccess &= myGPS.setVal16(0x30210001, 200); //Set measurement rate to 100ms (10Hz update rate) (value is 16-bit (U2))
-  //setValueSuccess &= myGPS.setVal16(0x30210001, 200, 1); //Set rate setting in RAM instead of BBR
-  setValueSuccess &= myGPS.setVal16(0x30210001, 1000); //Set measurement rate to 1000ms (1Hz update rate) (value is 16-bit (U2))
+  setValueSuccess &= myGPS.setVal8(UBLOX_CFG_NMEA_HIGHPREC, 0); //Enable high precision NMEA (value is 8-bit (L / U1))
+  //setValueSuccess &= myGPS.setVal16(UBLOX_CFG_RATE_MEAS, 200); //Set measurement rate to 100ms (10Hz update rate) (value is 16-bit (U2))
+  //setValueSuccess &= myGPS.setVal16(UBLOX_CFG_RATE_MEAS, 200, 1); //Set rate setting in RAM instead of BBR
+  setValueSuccess &= myGPS.setVal16(UBLOX_CFG_RATE_MEAS, 1000); //Set measurement rate to 1000ms (1Hz update rate) (value is 16-bit (U2))
 
   //Below is the original way we enabled a single RTCM message on the I2C port. After that, we show how to do the same
   //but with multiple messages all in one go using newCfgValset, addCfgValset and sendCfgValset.
   //Original: myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
 
   //Begin with newCfgValset8/16/32
-  setValueSuccess &= myGPS.newCfgValset8(0x209102bd, 1); //Set output rate of msg 1005 over the I2C port to once per measurement (value is 8-bit (U1))
-  //setValueSuccess &= myGPS.newCfgValset8(0x209102bd, 1, 7); //Set this and the following settings into Flash/RAM/BBR instead of BBR
+  setValueSuccess &= myGPS.newCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1005_I2C, 1); //Set output rate of msg 1005 over the I2C port to once per measurement (value is 8-bit (U1))
+  //setValueSuccess &= myGPS.newCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1005_I2C, 1, 7); //Set this and the following settings into Flash/RAM/BBR instead of BBR
   //Add extra keyIDs and values using addCfgValset8/16/32
-  setValueSuccess &= myGPS.addCfgValset8(0x209102cc, 1); //Set output rate of msg 1077 over the I2C port to once per measurement (value is 8-bit (U1))
-  setValueSuccess &= myGPS.addCfgValset8(0x209102d1, 1); //Set output rate of msg 1087 over the I2C port to once per measurement (value is 8-bit (U1))
-  setValueSuccess &= myGPS.addCfgValset8(0x209102d6, 1); //Set output rate of msg 1127 over the I2C port to once per measurement (value is 8-bit (U1))
-  setValueSuccess &= myGPS.addCfgValset8(0x20910318, 1); //Set output rate of msg 1097 over the I2C port to once per measurement (value is 8-bit (U1))
+  setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1077_I2C, 1); //Set output rate of msg 1077 over the I2C port to once per measurement (value is 8-bit (U1))
+  setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1087_I2C, 1); //Set output rate of msg 1087 over the I2C port to once per measurement (value is 8-bit (U1))
+  setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1127_I2C, 1); //Set output rate of msg 1127 over the I2C port to once per measurement (value is 8-bit (U1))
+  setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1097_I2C, 1); //Set output rate of msg 1097 over the I2C port to once per measurement (value is 8-bit (U1))
   // Add the final value and send the packet using sendCfgValset8/16/32
-  setValueSuccess &= myGPS.sendCfgValset8(0x20910303, 10); //Set output rate of msg 1230 over the I2C port to once every 10 measurements (value is 8-bit (U1))
+  setValueSuccess &= myGPS.sendCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1230_I2C, 10); //Set output rate of msg 1230 over the I2C port to once every 10 measurements (value is 8-bit (U1))
 
   if (setValueSuccess == true)
   {
@@ -85,5 +87,4 @@ void setup()
 
 void loop()
 {
-
 }