diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..325e2cf --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,6 @@ +file(GLOB SOURCES src/*.cpp) +idf_component_register( + SRCS ${SOURCES} + INCLUDE_DIRS src + REQUIRES arduino +) diff --git a/README.md b/README.md index e3a4f22..dd2a17d 100644 --- a/README.md +++ b/README.md @@ -114,7 +114,7 @@ For I2C communication, please be sure to remove all additional pull-u ## Compatibility -v2 of the library provides support for generation 8, 9 and 10 u-blox GNSS modules. For generation 6 and 7, please see [this example (depricated)](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/tree/master/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7). +v2 of the library provides support for generation 8, 9 and 10 u-blox GNSS modules. For generation 6 and 7, please see [this example (deprecated)](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/tree/master/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7). ## Contributing diff --git a/keys/u-blox-M9-MDR-2.16_InterfaceDescription_UBX-22037308.txt b/keys/u-blox-M9-MDR-2.16_InterfaceDescription_UBX-22037308.txt new file mode 100644 index 0000000..9b2e075 --- /dev/null +++ b/keys/u-blox-M9-MDR-2.16_InterfaceDescription_UBX-22037308.txt @@ -0,0 +1,806 @@ +0x10050007 +0x10050008 +0x10050009 +0x1005000a +0x1005000b +0x10050012 +0x10050013 +0x10050014 +0x10050015 +0x10050016 +0x1006001d +0x10060027 +0x10070001 +0x10070003 +0x10070004 +0x10070005 +0x10070006 +0x1007000d +0x1007000f +0x10070010 +0x10070011 +0x1007001c +0x10080001 +0x10110013 +0x10110025 +0x10110061 +0x10170001 +0x10170002 +0x10220001 +0x10220002 +0x10220003 +0x10220004 +0x10240012 +0x10240020 +0x10240030 +0x10240040 +0x10240050 +0x10310001 +0x10310005 +0x10310007 +0x1031000d +0x10310012 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+0x50360006 +0x5065000d +0x5065000e +0x5065000f +0x50650010 +0x50650011 +0x50650012 +0x50650013 +0x50650014 +0x50650015 +0x50650016 +0x50650017 +0x50650018 +0x50c70004 +0x50c70005 +0x50c70006 +0x50c70007 diff --git a/keys/u-blox_config_keys_sorted.txt b/keys/u-blox_config_keys_sorted.txt index 0e4a7a9..1be6657 100644 --- a/keys/u-blox_config_keys_sorted.txt +++ b/keys/u-blox_config_keys_sorted.txt @@ -19,6 +19,7 @@ 0x1007000f 0x10070010 0x10070011 +0x1007001c 0x10080001 0x10110013 0x10110019 @@ -64,6 +65,7 @@ 0x10360003 0x10360004 0x10360005 +0x10360007 0x10370005 0x10370006 0x10370007 @@ -153,6 +155,7 @@ 0x10de0003 0x10de0004 0x10f60009 +0x10f60051 0x20030001 0x20030002 0x20030006 @@ -674,6 +677,11 @@ 0x20910467 0x20910468 0x20910469 +0x20910470 +0x20910471 +0x20910472 +0x20910473 +0x20910474 0x20910475 0x20910476 0x20910477 @@ -794,6 +802,11 @@ 0x2091062c 0x2091062d 0x2091062e +0x2091062f +0x20910630 +0x20910631 +0x20910632 +0x20910633 0x20910634 0x20910635 0x20910636 @@ -844,6 +857,11 @@ 0x2091069f 0x209106a0 0x209106a1 +0x209106ac +0x209106ad +0x209106ae +0x209106af +0x209106b0 0x209106b6 0x209106b7 0x209106b8 @@ -872,6 +890,8 @@ 0x20a30054 0x20a30055 0x20a30056 +0x20a30063 +0x20a30064 0x20a70001 0x20c70003 0x20d0000b @@ -881,10 +901,19 @@ 0x3006000b 0x30060017 0x30060018 +0x30060020 +0x30060021 +0x30060022 0x3006002e 0x3006002f 0x3007000a 0x3007000e +0x30070012 +0x30070013 +0x30070014 +0x30080002 +0x30080003 +0x30080004 0x30090001 0x30090008 0x30110017 @@ -895,13 +924,16 @@ 0x301100b5 0x30210001 0x30210002 +0x30250016 0x3025003b +0x30360008 0x30370008 0x3065000a 0x3065000b 0x3065000c 0x30930033 0x30a20004 +0x30a3003c 0x30b10012 0x30b10013 0x30b10015 diff --git a/src/u-blox_config_keys.h b/src/u-blox_config_keys.h index a93ec33..37cde28 100644 --- a/src/u-blox_config_keys.h +++ b/src/u-blox_config_keys.h @@ -123,6 +123,9 @@ const uint32_t UBLOX_CFG_HW_ANT_CFG_RECOVER = 0x10a30035; // Automatic reco const uint32_t UBLOX_CFG_HW_ANT_SUP_SWITCH_PIN = 0x20a30036; // ANT1 PIO number const uint32_t UBLOX_CFG_HW_ANT_SUP_SHORT_PIN = 0x20a30037; // ANT0 PIO number const uint32_t UBLOX_CFG_HW_ANT_SUP_OPEN_PIN = 0x20a30038; // ANT2 PIO number +const uint32_t UBLOX_CFG_HW_ANT_ON_SHORT_US = 0x30a3003c; // Delay in microseconds before antenna is turned on after short detection +const uint32_t UBLOX_CFG_HW_SENS_WOM_MODE = 0x20a30063; // Wake on Motion mode +const uint32_t UBLOX_CFG_HW_SENS_WOM_THLD = 0x20a30064; // Wake on Motion threshold const uint32_t UBLOX_CFG_HW_ANT_SUP_ENGINE = 0x20a30054; // Antenna supervisor engine selection const uint32_t UBLOX_CFG_HW_ANT_SUP_SHORT_THR = 0x20a30055; // Antenna supervisor MADC engine short detection threshold const uint32_t UBLOX_CFG_HW_ANT_SUP_OPEN_THR = 0x20a30056; // Antenna supervisor MADC engine open detection threshold @@ -181,6 +184,7 @@ const uint32_t UBLOX_CFG_LOGFILTER_POSITION_THRS = 0x40de0008; // Positio //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- const uint32_t UBLOX_CFG_MOT_GNSSSPEED_THRS = 0x20250038; // GNSS speed threshold below which platform is considered as stationary (a.k.a. static hold threshold) const uint32_t UBLOX_CFG_MOT_GNSSDIST_THRS = 0x3025003b; // Distance above which GNSS-based stationary motion is exit (a.k.a. static hold distance threshold) +const uint32_t UBLOX_CFG_MOT_IMU_FILT_WINDOW = 0x30250016 // Averaging window for IMU measurements in noisy setups in milliseconds // CFG-MSGOUT: Message output configuration //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- @@ -618,6 +622,11 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_UART1 = 0x20910110; // Output rat const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_UART2 = 0x20910111; // Output rate of the UBX-ESF-ALG message on port UART2 const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_USB = 0x20910112; // Output rate of the UBX-ESF-ALG message on port USB const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_SPI = 0x20910113; // Output rate of the UBX-ESF-ALG message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_CAL_I2C = 0x209106ac; // Output rate of the UBX-ESF-CAL message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_CAL_SPI = 0x209106b0; // Output rate of the UBX-ESF-CAL message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_CAL_UART1 = 0x209106ad; // Output rate of the UBX-ESF-CAL message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_CAL_UART2 = 0x209106ae; // Output rate of the UBX-ESF-CAL message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_CAL_USB = 0x209106af; // Output rate of the UBX-ESF-CAL message on port USB const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_I2C = 0x20910114; // Output rate of the UBX-ESF-INS message on port I2C const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_UART1 = 0x20910115; // Output rate of the UBX-ESF-INS message on port UART1 const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_UART2 = 0x20910116; // Output rate of the UBX-ESF-INS message on port UART2 @@ -696,6 +705,11 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_SPI = 0x20910469; // Output const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_UART1 = 0x20910466; // Output rate of the UBX-NAV2-DOP message onport UART1 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_UART2 = 0x20910467; // Output rate of the UBX-NAV2-DOP message onport UART2 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_USB = 0x20910468; // Output rate of the UBX-NAV2-DOP message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EELL_I2C = 0x20910470; // Output rate of the UBX-NAV2-EELL message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EELL_SPI = 0x20910474; // Output rate of the UBX-NAV2-EELL message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EELL_UART1 = 0x20910471; // Output rate of the UBX-NAV2-EELL message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EELL_UART2 = 0x20910472; // Output rate of the UBX-NAV2-EELL message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EELL_USB = 0x20910473; // Output rate of the UBX-NAV2-EELL message on port USB const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_I2C = 0x20910565; // Output rate of the UBX-NAV2-EOE message onport I2C const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_SPI = 0x20910569; // Output rate of the UBX-NAV2-EOE message on port SPI const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_UART1 = 0x20910566; // Output rate of the UBX-NAV2-EOE message on port UART1 @@ -716,6 +730,11 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_SPI = 0x20910489; // Output const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_UART1 = 0x20910486; // Output rate of the UBX-NAV2-POSLLH message on port UART1 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_UART2 = 0x20910487; // Output rate of the UBX-NAV2-POSLLH message on port UART2 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_USB = 0x20910488; // Output rate of the UBX-NAV2-POSLLH message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVAT_I2C = 0x2091062f // Output rate of the UBX-NAV2-PVAT message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVAT_SPI = 0x20910633; // Output rate of the UBX-NAV2-PVAT message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVAT_UART1 = 0x20910630; // Output rate of the UBX-NAV2-PVAT message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVAT_UART2 = 0x20910631; // Output rate of the UBX-NAV2-PVAT message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVAT_USB = 0x20910632; // Output rate of the UBX-NAV2-PVAT message on port USB const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_I2C = 0x20910490; // Output rate of the UBX-NAV2-PVT message onport I2C const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_SPI = 0x20910494; // Output rate of the UBX-NAV2-PVT message on port SPI const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_UART1 = 0x20910491; // Output rate of the UBX-NAV2-PVT message on port UART1 @@ -984,6 +1003,8 @@ const uint32_t UBLOX_CFG_SBAS_USE_TESTMODE = 0x10360002; // Use SBAS data when const uint32_t UBLOX_CFG_SBAS_USE_RANGING = 0x10360003; // Use SBAS GEOs as a ranging source (for navigation) const uint32_t UBLOX_CFG_SBAS_USE_DIFFCORR = 0x10360004; // Use SBAS differential corrections const uint32_t UBLOX_CFG_SBAS_USE_INTEGRITY = 0x10360005; // Use SBAS integrity information +const uint32_t UBLOX_CFG_SBS_ACCEPT_NOT_IN_PRNMASK = 0x30360008; // Accept corrections from SBAS SV, even if notself included in PRN MASK +const uint32_t UBLOX_CFG_SBAS_USE_IONOONLY = 0x10360007; // Use SBAS ionospheric corrections only const uint32_t UBLOX_CFG_SBAS_PRNSCANMASK = 0x50360006; // SBAS PRN search configuration // CFG-SEC: Security configuration (ZED-F9R) @@ -991,10 +1012,14 @@ const uint32_t UBLOX_CFG_SBAS_PRNSCANMASK = 0x50360006; // SBAS PRN search con const uint32_t UBLOX_CFG_SEC_CFG_LOCK = 0x10f60009; // Configuration lockdown const uint32_t UBLOX_CFG_SEC_CFG_LOCK_UNLOCKGRP1 = 0x30f6000a; // Configuration lockdown exempted group 1 const uint32_t UBLOX_CFG_SEC_CFG_LOCK_UNLOCKGRP2 = 0x30f6000b; // Configuration lockdown exempted group 2 +const uint32_t UBLOX_CFG_JAMDET_SENSITIVITY_HI = 0x10f60051; // High sensitivity for jamming detection // CFG-SFCORE: Sensor fusion (SF) core configuration (ZED-F9R) //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- -const uint32_t UBLOX_CFG_SFCORE_USE_SF = 0x10080001; // Use ADR/UDR sensor fusion +const uint32_t UBLOX_CFG_SFCORE_USE_SF = 0x10080001; // Use ADR/UDR sensor fusion +const uint32_t UBLOX_SFCORE_IMU2CRP_LA_X = 0x30080002; // X coordinate in centimeters of IMU-to-CRP lever-arm in the installation frame +const uint32_t UBLOX_SFCORE_IMU2CRP_LA_Y = 0x30080003; // Y coordinate in centimeters of IMU-to-CRP lever-arm in the installation frame +const uint32_t UBLOX_SFCORE_IMU2CRP_LA_Z = 0x30080004; // Z coordinate in centimeters of IMU-to-CRP lever-arm in the installation frame // CFG-SFIMU: Sensor fusion (SF) inertial measurement unit (IMU) configuration (ZED-F9R) //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- @@ -1010,6 +1035,9 @@ const uint32_t UBLOX_CFG_SFIMU_ACCEL_ACCURACY = 0x30060018; // Accelerome const uint32_t UBLOX_CFG_SFIMU_IMU_EN = 0x1006001d; // IMU enabled const uint32_t UBLOX_CFG_SFIMU_IMU_I2C_SCL_PIO = 0x2006001e; // SCL PIO of the IMU I2C const uint32_t UBLOX_CFG_SFIMU_IMU_I2C_SDA_PIO = 0x2006001f; // SDA PIO of the IMU I2C +const uint32_t UBLOX_CFG_IMU2ANT_LA_X = 0x30060020; // X coordinate in centimeters of IMU-to-antenna lever-arm in the installation frame +const uint32_t UBLOX_CFG_IMU2ANT_LA_Y = 0x30060021; // Y coordinate in centimeters of IMU-to-antenna lever-arm in the installation frame +const uint32_t UBLOX_CFG_IMU2ANT_LA_Z = 0x30060022; // Z coordinate in centimeters of IMU-to-antenna lever-arm in the installation frame const uint32_t UBLOX_CFG_SFIMU_AUTO_MNTALG_ENA = 0x10060027; // Enable automatic IMU-mount alignment const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_YAW = 0x4006002d; // User-defined IMU-mount yaw angle [0, 360] const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_PITCH = 0x3006002e; // User-defined IMU-mount pitch angle [-90, 90] @@ -1032,6 +1060,10 @@ const uint32_t UBLOX_CFG_SFODO_SPEED_BAND = 0x3007000e; // Speed sensor d const uint32_t UBLOX_CFG_SFODO_USE_WT_PIN = 0x1007000f; // Wheel tick signal enabled const uint32_t UBLOX_CFG_SFODO_DIR_PINPOL = 0x10070010; // Wheel tick direction pin polarity const uint32_t UBLOX_CFG_SFODO_DIS_AUTOSW = 0x10070011; // Disable automatic use of wheel tick or speed data received over the software interface +const uint32_t UBLOX_CFG_SFODO_IMU2VRP_LA_X = 0x30070012; // X coordinate in centimeters of IMU-to-VRP lever-arm in the installation frame +const uint32_t UBLOX_CFG_SFODO_IMU2VRP_LA_Y = 0x30070013; // Y coordinate in centimeters of IMU-to-VRP lever-arm in the installation frame +const uint32_t UBLOX_CFG_SFODO_IMU2VRP_LA_Z = 0x30070014; // Z coordinate in centimeters of IMU-to-VRP lever-arm in the installation frame +const uint32_t UBLOX_SFODO_DIS_DIR_INFO = 0x1007001c; // Disable direction information in the odometer data // CFG-SIGNAL: Satellite systems (GNSS) signal configuration //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-