Add enable / configure odometer methods and example - resolves #185

Author: PaulZC

examples/Callbacks/CallbackExample2_NAV_ODO/CallbackExample2_NAV_ODO.ino

@@ -2,9 +2,8 @@
   Configuring the GNSS to automatically send odometer reports over I2C and display the data using a callback
   By: Paul Clark
   SparkFun Electronics
-  Date: December 30th, 2020
-  License: MIT. See license file for more information but you can
-  basically do whatever you want with this code.
+  Date: March 20th, 2023
+  License: MIT. See license file for more information.
 
   This example shows how to configure the u-blox GNSS to send odometer reports automatically
   and display the data via a callback. No more polling!
@@ -55,6 +54,8 @@ void printODOdata(UBX_NAV_ODO_data_t *ubxDataStruct)
 
 void setup()
 {
+  delay(1000);
+  
   Serial.begin(115200);
   while (!Serial); //Wait for user to open terminal
   Serial.println("SparkFun u-blox Example");
@@ -63,17 +64,37 @@ void setup()
 
   //myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
 
-  if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  while (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
   {
-    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
-    while (1);
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring."));
   }
 
   myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
   myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
 
   myGNSS.setNavigationFrequency(1); //Produce one solution per second
 
+  //By default, the odometer is disabled. We need to enable it.
+  //We can enable it using the default settings:
+  myGNSS.enableOdometer();
+
+  //Or we can configure it using our own settings, by performing a read-modify-write:
+  uint8_t flags;        // Odometer/Low-speed COG filter flags
+  uint8_t odoCfg;       // Odometer filter settings
+  uint8_t cogMaxSpeed;  // Speed below which course-over-ground (COG) is computed with the low-speed COG filter : m/s * 0.1
+  uint8_t cogMaxPosAcc; // Maximum acceptable position accuracy for computing COG with the low-speed COG filter
+  uint8_t velLpGain;    // Velocity low-pass filter level
+  uint8_t cogLpGain;    // COG low-pass filter level
+
+  if (myGNSS.getOdometerConfig(&flags, &odoCfg, &cogMaxSpeed, &cogMaxPosAcc, &velLpGain, &cogLpGain))
+  {
+    flags = UBX_CFG_ODO_USE_ODO; // Enable the odometer
+    odoCfg = UBX_CFG_ODO_CAR; // Use the car profile (others are RUN, CYCLE, SWIM, CUSTOM)
+    myGNSS.setOdometerConfig(flags, odoCfg, cogMaxSpeed, cogMaxPosAcc, velLpGain, cogLpGain); // Set the configuration
+  }
+  else
+    Serial.println("Could not read odometer config!");
+
   //myGNSS.resetOdometer(); //Uncomment this line to reset the odometer
 
   myGNSS.setAutoNAVODOcallbackPtr(&printODOdata); // Enable automatic NAV ODO messages with callback to printODOdata

keywords.txt

@@ -193,6 +193,9 @@ setDynamicModel	KEYWORD2
 getDynamicModel	KEYWORD2
 
 resetOdometer	KEYWORD2
+enableOdometer	KEYWORD2
+getOdometerConfig	KEYWORD2
+setOdometerConfig	KEYWORD2
 
 enableGNSS	KEYWORD2
 isGNSSenabled	KEYWORD2
@@ -831,6 +834,17 @@ VAL_CFG_SUBSEC_ANTCONF	LITERAL1
 VAL_CFG_SUBSEC_LOGCONF	LITERAL1
 VAL_CFG_SUBSEC_FTSCONF	LITERAL1
 
+UBX_CFG_ODO_USE_ODO	LITERAL1
+UBX_CFG_ODO_USE_COG	LITERAL1
+UBX_CFG_ODO_OUT_LP_VEL	LITERAL1
+UBX_CFG_ODO_OUT_LP_COG	LITERAL1
+
+UBX_CFG_ODO_RUN	LITERAL1
+UBX_CFG_ODO_CYCLE	LITERAL1
+UBX_CFG_ODO_SWIM	LITERAL1
+UBX_CFG_ODO_CAR	LITERAL1
+UBX_CFG_ODO_CUSTOM	LITERAL1
+
 DYN_MODEL_PORTABLE	LITERAL1
 DYN_MODEL_STATIONARY	LITERAL1
 DYN_MODEL_PEDESTRIAN	LITERAL1

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.2.21
+version=2.2.22
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -8207,6 +8207,70 @@ bool SFE_UBLOX_GNSS::resetOdometer(uint16_t maxWait)
   return (sendCommand(&packetCfg, maxWait, true) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
+// Enable / disable the odometer
+bool SFE_UBLOX_GNSS::enableOdometer(bool enable, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_ODO;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  // Ask module for the current odometer configuration. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  if (enable)
+    payloadCfg[4] = payloadCfg[4] | UBX_CFG_ODO_USE_ODO;
+  else
+    payloadCfg[4] = payloadCfg[4] & ~UBX_CFG_ODO_USE_ODO;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+  
+// Read the odometer configuration
+bool SFE_UBLOX_GNSS::getOdometerConfig(uint8_t *flags, uint8_t *odoCfg, uint8_t *cogMaxSpeed, uint8_t *cogMaxPosAcc, uint8_t *velLpGain, uint8_t *cogLpGain, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_ODO;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  // Ask module for the current odometer configuration. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  *flags = payloadCfg[4];
+  *odoCfg = payloadCfg[5];
+  *cogMaxSpeed = payloadCfg[12];
+  *cogMaxPosAcc = payloadCfg[13];
+  *velLpGain = payloadCfg[16];
+  *cogLpGain = payloadCfg[17];
+
+  return true;
+}
+
+// Configure the odometer
+bool SFE_UBLOX_GNSS::setOdometerConfig(uint8_t flags, uint8_t odoCfg, uint8_t cogMaxSpeed, uint8_t cogMaxPosAcc, uint8_t velLpGain, uint8_t cogLpGain, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_ODO;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  // Ask module for the current odometer configuration. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  payloadCfg[4] = flags;
+  payloadCfg[5] = odoCfg;
+  payloadCfg[12] = cogMaxSpeed;
+  payloadCfg[13] = cogMaxPosAcc;
+  payloadCfg[16] = velLpGain;
+  payloadCfg[17] = cogLpGain;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
 // Enable/Disable individual GNSS systems using UBX-CFG-GNSS
 bool SFE_UBLOX_GNSS::enableGNSS(bool enable, sfe_ublox_gnss_ids_e id, uint16_t maxWait)
 {

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -465,6 +465,22 @@ const uint8_t COM_TYPE_NMEA = (1 << 1);
 const uint8_t COM_TYPE_RTCM3 = (1 << 5);
 const uint8_t COM_TYPE_SPARTN = (1 << 6);
 
+// Odometer configuration - flags
+const uint8_t UBX_CFG_ODO_USE_ODO = (1 << 0);
+const uint8_t UBX_CFG_ODO_USE_COG = (1 << 1);
+const uint8_t UBX_CFG_ODO_OUT_LP_VEL = (1 << 2);
+const uint8_t UBX_CFG_ODO_OUT_LP_COG = (1 << 3);
+
+// Odometer configuration - odoCfg
+enum odoCfg_e
+{
+  UBX_CFG_ODO_RUN = 0,
+  UBX_CFG_ODO_CYCLE,
+  UBX_CFG_ODO_SWIM,
+  UBX_CFG_ODO_CAR,
+  UBX_CFG_ODO_CUSTOM,
+};
+
 // Configuration Sub-Section mask definitions for saveConfigSelective (UBX-CFG-CFG)
 const uint32_t VAL_CFG_SUBSEC_IOPORT = 0x00000001;   // ioPort - communications port settings (causes IO system reset!)
 const uint32_t VAL_CFG_SUBSEC_MSGCONF = 0x00000002;  // msgConf - message configuration
@@ -909,8 +925,11 @@ class SFE_UBLOX_GNSS
   bool setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = defaultMaxWait);
   uint8_t getDynamicModel(uint16_t maxWait = defaultMaxWait); // Get the dynamic model - returns 255 if the sendCommand fails
 
-  // Reset the odometer
+  // Reset / enable / configure the odometer
   bool resetOdometer(uint16_t maxWait = defaultMaxWait); // Reset the odometer
+  bool enableOdometer(bool enable = true, uint16_t maxWait = defaultMaxWait); // Enable / disable the odometer
+  bool getOdometerConfig(uint8_t *flags, uint8_t *odoCfg, uint8_t *cogMaxSpeed, uint8_t *cogMaxPosAcc, uint8_t *velLpGain, uint8_t *cogLpGain, uint16_t maxWait = defaultMaxWait); // Read the odometer configuration
+  bool setOdometerConfig(uint8_t flags, uint8_t odoCfg, uint8_t cogMaxSpeed, uint8_t cogMaxPosAcc, uint8_t velLpGain, uint8_t cogLpGain, uint16_t maxWait = defaultMaxWait); // Configure the odometer
 
   // Enable/Disable individual GNSS systems using UBX-CFG-GNSS
   // Note: you must leave at least one major GNSS enabled! If in doubt, enable GPS before disabling the others