Simplify message configuration

This makes message configuration more streamlined. You can now enable/disable a given NMEA sentence for a given port (I2C, UART1, SPI, etc).

Author: Nathan Seidle

examples/Example20_EnableNMEASentences/Example20_EnableNMEASentences.ino

@@ -0,0 +1,79 @@
+/*
+  Turn on/off various NMEA sentences.
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to turn on/off the NMEA sentences being output
+  over UART1. We use the I2C interface on the Ublox module for configuration
+  but you won't see any output from this sketch. You'll need to hook up
+  a Serial Basic or other USB to Serial device to UART1 on your Ublox module
+  to see the output.
+
+  This example turns off all sentences except for the GPGGA and GPVTG sentences.
+
+  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 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
+  Hookup a Serial Basic (https://www.sparkfun.com/products/15096) to UART1 on the Ublox module. Open a terminal at 57600bps
+  and see GPGGA and GPVTG sentences.
+*/
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+unsigned long lastGPSSend = 0;
+
+void setup()
+{
+  Serial.begin(115200); // Serial debug output over USB visible from Arduino IDE
+  Serial.println("Example showing how to enable/disable certain NMEA sentences");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false)
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  //Disable or enable various NMEA sentences over the UART1 interface
+  myGPS.disableNMEAMessage(UBX_NMEA_GLL, COM_PORT_UART1); //Several of these are on by default on virgin ublox board so let's disable them
+  myGPS.disableNMEAMessage(UBX_NMEA_GSA, COM_PORT_UART1);
+  myGPS.disableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1);
+  myGPS.disableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1);
+  myGPS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_UART1); //Only leaving GGA/VTG enabled at current navigation rate
+  myGPS.enableNMEAMessage(UBX_NMEA_VTG, COM_PORT_UART1);
+
+  //Here's the advanced configure method
+  //Some of the other examples in this library enable the PVT message so let's disable it
+  myGPS.configureMessage(UBX_CLASS_NAV, UBX_NAV_PVT, COM_PORT_UART1, 0); //Message Class, ID, and port we want to configure, sendRate of 0 (disable).
+
+  myGPS.setUART1Output(COM_TYPE_NMEA); //Turn off UBX and RTCM sentences on the UART1 interface
+
+  myGPS.setSerialRate(57600); //Set UART1 to 57600bps.
+
+  myGPS.saveConfiguration(); //Save these settings to NVM
+
+  Serial.println(F("Messages configured. NMEA now being output over the UART1 port on the Ublox module at 57600bps."));
+}
+
+void loop()
+{
+  if (millis() - lastGPSSend > 200)
+  {
+    myGPS.checkUblox(); //See if new data is available, but we don't want to get NMEA here. Go check UART1.
+    lastGPSSend = millis();
+  }
+}

examples/Example20_SetCFG_MSG/Example20_SetCFG_MSG.ino

@@ -1430,45 +1430,6 @@ boolean SFE_UBLOX_GPS::getSurveyStatus(uint16_t maxWait)
   return (true);
 }
 
-//Given a message number turns on a message ID for output over a given portID (UART, I2C, SPI, USB, etc)
-//To disable a message, set secondsBetween messages to 0
-//Note: This function will return false if the message is already enabled
-//For base station RTK output we need to enable various sentences
-
-//NEO-M8P has four:
-//1005 = 0xF5 0x05 - Stationary RTK reference ARP
-//1077 = 0xF5 0x4D - GPS MSM7
-//1087 = 0xF5 0x57 - GLONASS MSM7
-//1230 = 0xF5 0xE6 - GLONASS code-phase biases, set to once every 10 seconds
-
-//ZED-F9P has six:
-//1005, 1074, 1084, 1094, 1124, 1230
-
-//Much of this configuration is not documented and instead discerned from u-center binary console
-boolean SFE_UBLOX_GPS::enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t secondsBetweenMessages, uint16_t maxWait)
-{
-  packetCfg.cls = UBX_CLASS_CFG;
-  packetCfg.id = UBX_CFG_MSG;
-  packetCfg.len = 8;
-  packetCfg.startingSpot = 0;
-
-  //Clear packet payload
-  for (uint8_t x = 0; x < packetCfg.len; x++)
-    packetCfg.payload[x] = 0;
-
-  packetCfg.payload[0] = UBX_RTCM_MSB;                    //MSB, always 0xF5. Interesting, these are not little endian
-  packetCfg.payload[1] = messageNumber;                   //LSB
-  packetCfg.payload[2 + portID] = secondsBetweenMessages; //Byte 2 is I2C, byte 3 is UART1, etc.
-
-  return (sendCommand(packetCfg, maxWait));
-}
-
-//Disable a given message on a given port by setting secondsBetweenMessages to zero
-boolean SFE_UBLOX_GPS::disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait)
-{
-  return (enableRTCMmessage(messageNumber, portID, 0, maxWait));
-}
-
 //Loads the payloadCfg array with the current protocol bits located the UBX-CFG-PRT register for a given port
 boolean SFE_UBLOX_GPS::getPortSettings(uint8_t portID, uint16_t maxWait)
 {
@@ -1639,24 +1600,76 @@ boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, boolean implicitUpdate, uint16
   return ok;
 }
 
-boolean SFE_UBLOX_GPS::setCFG_MSG(uint8_t msgClass, uint8_t messageID, uint8_t rate, uint16_t maxWait)
+//Configure a given message type for a given port (UART1, I2C, SPI, etc)
+boolean SFE_UBLOX_GPS::configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait)
 {
   packetCfg.cls = UBX_CLASS_CFG;
   packetCfg.id = UBX_CFG_MSG;
-  packetCfg.len = 3;
+  packetCfg.len = 8;
   packetCfg.startingSpot = 0;
-  payloadCfg[0] = msgClass;
-  payloadCfg[1] = messageID;
-  payloadCfg[2] = rate;
 
-  bool ok = sendCommand(packetCfg, maxWait);
-  return ok;
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  packetCfg.payload[0] = msgClass;
+  packetCfg.payload[1] = msgID;
+  packetCfg.payload[2 + portID] = sendRate; //Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every 2nd navigation solution.
+
+  return (sendCommand(packetCfg, maxWait));
+}
+
+//Enable a given message type, default of 1 per update rate (usually 1 per second)
+boolean SFE_UBLOX_GPS::enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t rate, uint16_t maxWait)
+{
+  return (configureMessage(msgClass, msgID, portID, rate, maxWait));
+}
+//Disable a given message type on a given port
+boolean SFE_UBLOX_GPS::disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait)
+{
+  return (configureMessage(msgClass, msgID, portID, 0, maxWait));
+}
+
+boolean SFE_UBLOX_GPS::enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t rate, uint16_t maxWait)
+{
+  return (configureMessage(UBX_CLASS_NMEA, msgID, portID, rate, maxWait));
+}
+boolean SFE_UBLOX_GPS::disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait)
+{
+  return (enableNMEAMessage(msgID, portID, 0, maxWait));
+}
+
+//Given a message number turns on a message ID for output over a given portID (UART, I2C, SPI, USB, etc)
+//To disable a message, set secondsBetween messages to 0
+//Note: This function will return false if the message is already enabled
+//For base station RTK output we need to enable various sentences
+
+//NEO-M8P has four:
+//1005 = 0xF5 0x05 - Stationary RTK reference ARP
+//1077 = 0xF5 0x4D - GPS MSM7
+//1087 = 0xF5 0x57 - GLONASS MSM7
+//1230 = 0xF5 0xE6 - GLONASS code-phase biases, set to once every 10 seconds
+
+//ZED-F9P has six:
+//1005, 1074, 1084, 1094, 1124, 1230
+
+//Much of this configuration is not documented and instead discerned from u-center binary console
+boolean SFE_UBLOX_GPS::enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait)
+{
+  return (configureMessage(UBX_RTCM_MSB, messageNumber, portID, sendRate, maxWait));
+}
+
+//Disable a given message on a given port by setting secondsBetweenMessages to zero
+boolean SFE_UBLOX_GPS::disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait)
+{
+  return (enableRTCMmessage(messageNumber, portID, 0, maxWait));
 }
 
 //Add a new geofence using UBX-CFG-GEOFENCE
 boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence, byte pinPolarity, byte pin, uint16_t maxWait)
 {
-  if (currentGeofenceParams.numFences >= 4) return(false); // Quit if we already have four geofences defined
+  if (currentGeofenceParams.numFences >= 4)
+    return (false); // Quit if we already have four geofences defined
 
   // Store the new geofence parameters
   currentGeofenceParams.lats[currentGeofenceParams.numFences] = latitude;
@@ -1669,10 +1682,10 @@ boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t
   packetCfg.len = (currentGeofenceParams.numFences * 12) + 8;
   packetCfg.startingSpot = 0;
 
-  payloadCfg[0] = 0; // Message version = 0x00
+  payloadCfg[0] = 0;                               // Message version = 0x00
   payloadCfg[1] = currentGeofenceParams.numFences; // numFences
-  payloadCfg[2] = confidence; // confLvl = Confidence level 0-4 (none, 68%, 95%, 99.7%, 99.99%)
-  payloadCfg[3] = 0; // reserved1
+  payloadCfg[2] = confidence;                      // confLvl = Confidence level 0-4 (none, 68%, 95%, 99.7%, 99.99%)
+  payloadCfg[3] = 0;                               // reserved1
   if (pin > 0)
   {
     payloadCfg[4] = 1; // enable PIO combined fence state
@@ -1682,8 +1695,8 @@ boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t
     payloadCfg[4] = 0; // disable PIO combined fence state
   }
   payloadCfg[5] = pinPolarity; // PIO pin polarity (0 = low means inside, 1 = low means outside (or unknown))
-  payloadCfg[6] = pin; // PIO pin
-  payloadCfg[7] = 0; //reserved2
+  payloadCfg[6] = pin;         // PIO pin
+  payloadCfg[7] = 0;           //reserved2
   payloadCfg[8] = currentGeofenceParams.lats[0] & 0xFF;
   payloadCfg[9] = currentGeofenceParams.lats[0] >> 8;
   payloadCfg[10] = currentGeofenceParams.lats[0] >> 16;
@@ -1696,7 +1709,8 @@ boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t
   payloadCfg[17] = currentGeofenceParams.rads[0] >> 8;
   payloadCfg[18] = currentGeofenceParams.rads[0] >> 16;
   payloadCfg[19] = currentGeofenceParams.rads[0] >> 24;
-  if (currentGeofenceParams.numFences >= 2) {
+  if (currentGeofenceParams.numFences >= 2)
+  {
     payloadCfg[20] = currentGeofenceParams.lats[1] & 0xFF;
     payloadCfg[21] = currentGeofenceParams.lats[1] >> 8;
     payloadCfg[22] = currentGeofenceParams.lats[1] >> 16;
@@ -1710,7 +1724,8 @@ boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t
     payloadCfg[30] = currentGeofenceParams.rads[1] >> 16;
     payloadCfg[31] = currentGeofenceParams.rads[1] >> 24;
   }
-  if (currentGeofenceParams.numFences >= 3) {
+  if (currentGeofenceParams.numFences >= 3)
+  {
     payloadCfg[32] = currentGeofenceParams.lats[2] & 0xFF;
     payloadCfg[33] = currentGeofenceParams.lats[2] >> 8;
     payloadCfg[34] = currentGeofenceParams.lats[2] >> 16;
@@ -1724,7 +1739,8 @@ boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t
     payloadCfg[42] = currentGeofenceParams.rads[2] >> 16;
     payloadCfg[43] = currentGeofenceParams.rads[2] >> 24;
   }
-  if (currentGeofenceParams.numFences >= 4) {
+  if (currentGeofenceParams.numFences >= 4)
+  {
     payloadCfg[44] = currentGeofenceParams.lats[3] & 0xFF;
     payloadCfg[45] = currentGeofenceParams.lats[3] >> 8;
     payloadCfg[46] = currentGeofenceParams.lats[3] >> 16;
@@ -1790,17 +1806,21 @@ boolean SFE_UBLOX_GPS::getGeofenceState(geofenceState &currentGeofenceState, uin
   packetCfg.startingSpot = 0;
 
   if (sendCommand(packetCfg, maxWait) == false) //Ask module for the geofence status. Loads into payloadCfg.
-  return (false);
+    return (false);
 
-  currentGeofenceState.status = payloadCfg[5]; // Extract the status
+  currentGeofenceState.status = payloadCfg[5];    // Extract the status
   currentGeofenceState.numFences = payloadCfg[6]; // Extract the number of geofences
   currentGeofenceState.combState = payloadCfg[7]; // Extract the combined state of all geofences
-  if (currentGeofenceState.numFences > 0) currentGeofenceState.states[0] = payloadCfg[8]; // Extract geofence 1 state
-  if (currentGeofenceState.numFences > 1) currentGeofenceState.states[1] = payloadCfg[10]; // Extract geofence 2 state
-  if (currentGeofenceState.numFences > 2) currentGeofenceState.states[2] = payloadCfg[12]; // Extract geofence 3 state
-  if (currentGeofenceState.numFences > 3) currentGeofenceState.states[3] = payloadCfg[14]; // Extract geofence 4 state
+  if (currentGeofenceState.numFences > 0)
+    currentGeofenceState.states[0] = payloadCfg[8]; // Extract geofence 1 state
+  if (currentGeofenceState.numFences > 1)
+    currentGeofenceState.states[1] = payloadCfg[10]; // Extract geofence 2 state
+  if (currentGeofenceState.numFences > 2)
+    currentGeofenceState.states[2] = payloadCfg[12]; // Extract geofence 3 state
+  if (currentGeofenceState.numFences > 3)
+    currentGeofenceState.states[3] = payloadCfg[14]; // Extract geofence 4 state
 
-  return(true);
+  return (true);
 }
 
 //Power Save Mode
@@ -1843,7 +1863,7 @@ boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait)
   {
     payloadCfg[1] = 0; // Continuous Mode
   }
-	
+
   packetCfg.len = 2;
   packetCfg.startingSpot = 0;
 
@@ -1984,7 +2004,6 @@ uint32_t SFE_UBLOX_GPS::getTimeOfWeek(uint16_t maxWait /* = 250*/)
   return (timeOfWeek);
 }
 
-
 int32_t SFE_UBLOX_GPS::getHighResLatitude(uint16_t maxWait /* = 250*/)
 {
   if (highResModuleQueried.highResLatitude == false)
@@ -2227,9 +2246,9 @@ boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
     if (sendCommand(packetCfg, maxWait) == false)
       return (false); //If command send fails then bail
 
-	  // Let's make sure we wait for the ACK too (sendCommand will have returned as soon as the module sent its response)
-	  // This is only required because we are doing multiple sendCommands in quick succession using the same class and ID
-	  waitForResponse(UBX_CLASS_MON, UBX_MON_VER, 100); // But we'll only wait for 100msec max
+    // Let's make sure we wait for the ACK too (sendCommand will have returned as soon as the module sent its response)
+    // This is only required because we are doing multiple sendCommands in quick succession using the same class and ID
+    waitForResponse(UBX_CLASS_MON, UBX_MON_VER, 100); // But we'll only wait for 100msec max
 
     if (_printDebug == true)
     {
@@ -2250,7 +2269,7 @@ boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
     {
       versionHigh = (payloadCfg[8] - '0') * 10 + (payloadCfg[9] - '0');  //Convert '18' to 18
       versionLow = (payloadCfg[11] - '0') * 10 + (payloadCfg[12] - '0'); //Convert '00' to 00
-      return (true); // This function returns a boolean (so we can't return versionLow)
+      return (true);                                                     // This function returns a boolean (so we can't return versionLow)
     }
   }