Add support for Nanosecond

Author: nseidle

examples/Example16_Nanosecond_MaxOutput/Example16_Nanosecond_MaxOutput.ino

@@ -0,0 +1,105 @@
+/*
+  Getting time and date using Ublox commands
+  By: davidallenmann
+  SparkFun Electronics
+  Date: April 16th, 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 query a Ublox module for the current time and date. We also
+  turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
+  dramatically.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  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 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;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(500000); //Increase serial speed to maximize 
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+  Wire.setClock(400000);
+  
+  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)
+      ;
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration();        //Save the current settings to flash and BBR
+
+  //myGPS.enableDebugging(); //Enable debug messages over Serial (default)
+
+  myGPS.setNavigationFrequency(10); //Set output to 10 times a second
+  byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
+  Serial.print("Current update rate:");
+  Serial.println(rate);
+  
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 10)
+  {
+    lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.print(myGPS.getYear());
+    Serial.print("-");
+    Serial.print(myGPS.getMonth());
+    Serial.print("-");
+    Serial.print(myGPS.getDay());
+    Serial.print(" ");
+    Serial.print(myGPS.getHour());
+    Serial.print(":");
+    Serial.print(myGPS.getMinute());
+    Serial.print(":");
+    Serial.print(myGPS.getSecond());
+    Serial.print(".");
+    Serial.print(myGPS.getNanosecond());
+
+    Serial.println();
+  }
+}

keywords.txt

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

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -535,6 +535,7 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
       gpsHour = extractByte(8);
       gpsMinute = extractByte(9);
       gpsSecond = extractByte(10);
+      gpsNanosecond = extractLong(16);
 
       fixType = extractByte(20 - startingSpot);
       carrierSolution = extractByte(21 - startingSpot) >> 6; //Get 6th&7th bits of this byte
@@ -554,6 +555,7 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
       moduleQueried.gpsHour = true;
       moduleQueried.gpsMinute = true;
       moduleQueried.gpsSecond = true;
+      moduleQueried.gpsNanosecond = true;
 
       moduleQueried.all = true;
       moduleQueried.longitude = true;
@@ -1307,7 +1309,7 @@ uint8_t SFE_UBLOX_GPS::getMonth(uint16_t maxWait)
   return (gpsMonth);
 }
 
-//Get the current year
+//Get the current day
 uint8_t SFE_UBLOX_GPS::getDay(uint16_t maxWait)
 {
   if (moduleQueried.gpsDay == false)
@@ -1316,7 +1318,7 @@ uint8_t SFE_UBLOX_GPS::getDay(uint16_t maxWait)
   return (gpsDay);
 }
 
-//Get the current year
+//Get the current hour
 uint8_t SFE_UBLOX_GPS::getHour(uint16_t maxWait)
 {
   if (moduleQueried.gpsHour == false)
@@ -1325,7 +1327,7 @@ uint8_t SFE_UBLOX_GPS::getHour(uint16_t maxWait)
   return (gpsHour);
 }
 
-//Get the current year
+//Get the current minute
 uint8_t SFE_UBLOX_GPS::getMinute(uint16_t maxWait)
 {
   if (moduleQueried.gpsMinute == false)
@@ -1334,7 +1336,7 @@ uint8_t SFE_UBLOX_GPS::getMinute(uint16_t maxWait)
   return (gpsMinute);
 }
 
-//Get the current year
+//Get the current second
 uint8_t SFE_UBLOX_GPS::getSecond(uint16_t maxWait)
 {
   if (moduleQueried.gpsSecond == false)
@@ -1343,6 +1345,15 @@ uint8_t SFE_UBLOX_GPS::getSecond(uint16_t maxWait)
   return (gpsSecond);
 }
 
+//Get the current nanosecond
+int32_t SFE_UBLOX_GPS::getNanosecond(uint16_t maxWait)
+{
+  if (moduleQueried.gpsNanosecond == false)
+    getPVT();
+  moduleQueried.gpsNanosecond = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsNanosecond);
+}
+
 //Get the latest Position/Velocity/Time solution and fill all global variables
 boolean SFE_UBLOX_GPS::getPVT(uint16_t maxWait)
 {

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);
+	int32_t getNanosecond(uint16_t maxWait = 250);
 
 	uint32_t getTimeOfWeek(uint16_t maxWait = 250);
 	int32_t getHighResLatitude(uint16_t maxWait = 250);
@@ -347,6 +348,7 @@ class SFE_UBLOX_GPS
 	uint8_t gpsHour;
 	uint8_t gpsMinute;
 	uint8_t gpsSecond;
+	int32_t gpsNanosecond;
 
 	int32_t latitude;		 //Degrees * 10^-7 (more accurate than floats)
 	int32_t longitude;		 //Degrees * 10^-7 (more accurate than floats)
@@ -443,6 +445,7 @@ class SFE_UBLOX_GPS
 		uint16_t gpsHour : 1;
 		uint16_t gpsMinute : 1;
 		uint16_t gpsSecond : 1;
+		uint16_t gpsNanosecond : 1;
 
 		uint16_t all : 1;
 		uint16_t longitude : 1;