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added UBX_CFG_SMGR configuration support
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‎examples/Example33_TimeFreqSyncManager/Example33_TimeFreqSyncManager.ino‎

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/*
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Configure Time & Frequency Sync manager (UBX-CFG-SMGR)
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By: Danylo Ulianych
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SparkFun Electronics
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Date: March 6th, 2024
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example reads / sets UBX-CFG-SMGR configuration and polls for UBX messages.
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Works only with Time & Frequency Sync products like LEA-M8F, etc.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/15136
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NEO-M8P RTK: https://www.sparkfun.com/products/15005
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SAM-M8Q: https://www.sparkfun.com/products/15106
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Hardware Connections:
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Plug a Qwiic cable into the GNSS and a BlackBoard
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GNSS
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS;
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void printUbxCfgSmgr(const UBX_CFG_SMGR_data_t& smgr) {
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Serial.printf("\nUBX-CFG-SMGR:");
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Serial.printf("\n version %u (0x%02x)", smgr.version, smgr.version);
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Serial.printf("\n minGNSSFix %u (0x%02x)", smgr.minGNSSFix, smgr.minGNSSFix);
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Serial.printf("\n maxFreqChangeRate %u (0x%02x)", smgr.maxFreqChangeRate, smgr.maxFreqChangeRate);
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Serial.printf("\n maxPhaseCorrRate %u (0x%02x)", smgr.maxPhaseCorrRate, smgr.maxPhaseCorrRate);
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Serial.printf("\n freqTolerance %u (0x%02x)", smgr.freqTolerance, smgr.freqTolerance);
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Serial.printf("\n timeTolerance %u (0x%02x)", smgr.timeTolerance, smgr.timeTolerance);
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Serial.printf("\n messageCfg:");
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Serial.printf("\n measInternal: %u", smgr.messageCfg.measInternal);
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Serial.printf("\n measGNSS: %u", smgr.messageCfg.measGNSS);
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Serial.printf("\n measEXTINT0: %u", smgr.messageCfg.measEXTINT0);
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Serial.printf("\n measEXTINT1: %u", smgr.messageCfg.measEXTINT1);
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Serial.printf("\n maxSlewRate %u (0x%02x)", smgr.maxSlewRate, smgr.maxSlewRate);
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Serial.printf("\n flags:");
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Serial.printf("\n disableInternal: %u", smgr.flags.disableInternal);
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Serial.printf("\n disableExternal: %u", smgr.flags.disableExternal);
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Serial.printf("\n preferenceMode: %u", smgr.flags.preferenceMode);
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Serial.printf("\n enableGNSS: %u", smgr.flags.enableGNSS);
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Serial.printf("\n enableEXTINT0: %u", smgr.flags.enableEXTINT0);
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Serial.printf("\n enableEXTINT1: %u", smgr.flags.enableEXTINT1);
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Serial.printf("\n enableHostMeasInt: %u", smgr.flags.enableHostMeasInt);
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Serial.printf("\n enableHostMeasExt: %u", smgr.flags.enableHostMeasExt);
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Serial.printf("\n useAnyFix: %u", smgr.flags.useAnyFix);
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Serial.printf("\n disableMaxSlewRate: %u", smgr.flags.disableMaxSlewRate);
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Serial.printf("\n issueFreqWarn: %u", smgr.flags.issueFreqWarn);
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Serial.printf("\n issueTimeWarn: %u", smgr.flags.issueTimeWarn);
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Serial.printf("\n TPCoherent: %u", smgr.flags.TPCoherent);
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Serial.printf("\n disableOffset: %u", smgr.flags.disableOffset);
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Serial.println("\n");
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}
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); // wait for Serial ready
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Serial.println("SparkFun u-blox Example");
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Wire.begin();
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if (myGNSS.begin() == false)
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{
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Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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myGNSS.setI2COutput(COM_TYPE_UBX); // ignore NMEA messages
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// setPacketCfgPayloadSize tells the library how many bytes our customPayload can hold.
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// It is more memory-efficient to call setPacketCfgPayloadSize before .begin (to avoid creating a new buffer, copying across
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// the contents of the old buffer and then deleting the old buffer). But let's call it here just to prove that we can.
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myGNSS.setPacketCfgPayloadSize(MAX_PAYLOAD_SIZE);
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UBX_CFG_SMGR_data_t cfgSmgrPayload;
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// The next line creates and initialises the packet information which wraps around the payload
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ubxPacket customCfg = {0, 0, 0, 0, 0, (uint8_t*) &cfgSmgrPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
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// The structure of ubxPacket is:
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// uint8_t cls : The message Class
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// uint8_t id : The message ID
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// uint16_t len : Length of the payload. Does not include cls, id, or checksum bytes
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// uint16_t counter : Keeps track of number of overall bytes received. Some responses are larger than 255 bytes.
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// uint16_t startingSpot : The counter value needed to go past before we begin recording into payload array
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// uint8_t *payload : The payload
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// uint8_t checksumA : Given to us by the module. Checked against the rolling calculated A/B checksums.
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// uint8_t checksumB
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// sfe_ublox_packet_validity_e valid : Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked
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// sfe_ublox_packet_validity_e classAndIDmatch : Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID
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// sendCommand will return:
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// SFE_UBLOX_STATUS_DATA_RECEIVED if the data we requested was read / polled successfully
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// SFE_UBLOX_STATUS_DATA_SENT if the data we sent was writted successfully (ACK'd)
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// Other values indicate errors. Please see the sfe_ublox_status_e enum for further details.
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// Referring to the u-blox M8 Receiver Description and Protocol Specification we see that
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// the navigation rate is configured using the UBX-CFG-RATE message. So let's load our
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// custom packet with the correct information so we can read (poll / get) the current settings.
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customCfg.cls = UBX_CLASS_CFG; // This is the message Class
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customCfg.id = UBX_CFG_SMGR; // This is the message ID
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customCfg.len = 0; // Setting the len (length) to zero let's us poll the current settings
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customCfg.startingSpot = 0; // Always set the startingSpot to zero (unless you really know what you are doing)
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// We also need to tell sendCommand how long it should wait for a reply
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uint16_t maxWait = 250; // Wait for up to 250ms (Serial may need a lot longer e.g. 1100)
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// Now let's read the current UBX-CFG-SMGR settings. The results will be loaded into customCfg.
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if (myGNSS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
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{
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Serial.println(F("sendCommand (poll / get) failed! Freezing..."));
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while (1)
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;
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}
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printUbxCfgSmgr(cfgSmgrPayload);
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cfgSmgrPayload.minGNSSFix = 5; // update the min no. of GNSS fixes to start freq/phase sync
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cfgSmgrPayload.flags.useAnyFix = 1; // use any fix
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// Now let's set the updated settings.
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if (myGNSS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT) // We are expecting data and an ACK
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{
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Serial.println(F("sendCommand set failed! Freezing..."));
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while (1)
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;
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}
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Serial.println("UBX-CFG-SMGR successfully updated");
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myGNSS.setOutputPort(Serial);
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}
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void loop()
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{
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myGNSS.checkUblox(); //See if new UBX data is available. Process bytes as they come in.
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delay(250); //Don't pound too hard on the I2C bus
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}

‎src/SparkFun_u-blox_GNSS_Arduino_Library.h‎

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const uint8_t UBX_CFG_RST = 0x04; // Reset Receiver / Clear Backup Data Structures. Used to reset device.
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const uint8_t UBX_CFG_RXM = 0x11; // RXM configuration
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const uint8_t UBX_CFG_SBAS = 0x16; // SBAS configuration
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const uint8_t UBX_CFG_SMGR = 0x62; // Synchronization manager configuration
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const uint8_t UBX_CFG_TMODE3 = 0x71; // Time Mode Settings 3. Used to enable Survey In Mode
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const uint8_t UBX_CFG_TP5 = 0x31; // Time Pulse Parameters
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const uint8_t UBX_CFG_USB = 0x1B; // USB Configuration

‎src/u-blox_structs.h‎

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uint8_t reserved3[8];
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} UBX_CFG_TMODE3_data_t;
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// UBX-CFG-SMGR (0x06 0x62): Synchronization manager configuration
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const uint16_t UBX_CFG_SMGR_LEN = 20;
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typedef struct
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{
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uint8_t version; /* Message version (0x00 for this version) */
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uint8_t minGNSSFix; /* Minimum number of GNSS fixes before we commit to use it as a source */
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uint16_t maxFreqChangeRate; /* Maximum frequency change rate during disciplining. Must not exceed 30ppb/s*/
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uint16_t maxPhaseCorrRate; /* Maximum phase correction rate in coherent time pulse mode. */
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uint16_t reserved1; /* Reserved. Do not use */
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uint16_t freqTolerance; /* Freq limit of possible deviation from nominal */
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uint16_t timeTolerance; /* Time pulse limit of possible deviation from nominal */
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union {
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uint16_t messageCfgX;
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struct {
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uint8_t measInternal : 1; /* 1 = report the estimated offset of the internal oscillator based on the oscillator model */
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uint8_t measGNSS : 1; /* 1 = report the internal oscillator's offset relative to GNSS */
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uint8_t measEXTINT0 : 1; /* 1 = report the internal oscillator's offset relative to the source on EXTINT0 */
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uint8_t measEXTINT1 : 1; /* 1 = report the internal oscillator's offset relative to the source on EXTINT1 */
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} messageCfg;
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};
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uint16_t maxSlewRate;
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union {
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uint32_t flagsX;
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struct {
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uint8_t disableInternal : 1; /* 1 = disable disciplining of the internal oscillator */
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uint8_t disableExternal : 1; /* 1 = disable disciplining of the external oscillator */
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uint8_t preferenceMode : 1; /* Reference selection preference: 0 - best frequency accuracy; 1 - best phase accuracy */
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uint8_t enableGNSS : 1; /* 1 = enable use of GNSS as synchronization source */
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uint8_t enableEXTINT0 : 1; /* 1 = enable use of EXTINT0 as synchronization source */
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uint8_t enableEXTINT1 : 1; /* 1 = enable use of EXTINT1 as synchronization source */
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uint8_t enableHostMeasInt : 1; /* 1 = enable use of host measurements on the internal oscillator as synchronization source */
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uint8_t enableHostMeasExt : 1; /* 1 = enable use of host measurements on the external oscillator as synchronization source */
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uint8_t reserved : 2; /* Reserved. Do not use */
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uint8_t useAnyFix : 1; /* 0 - use over-determined navigation solutions only; 1 - use any fix */
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uint8_t disableMaxSlewRate : 1; /* 1 - don't use the value in the field maxSlewRate */
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uint8_t issueFreqWarn : 1; /* 1 - issue a warning (via UBX-TIM-TOS flag) when frequency uncertainty exceeds freqTolerance */
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uint8_t issueTimeWarn : 1; /* 1 = issue a warning (via UBX-TIM-TOS flag) when time uncertainty exceeds timeTolerance */
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uint8_t TPCoherent : 2; /* Control time pulse coherency: 0 - Coherent pulses; 1 - Non-coherent pulses; 2 - Post-initialization coherent pulses*/
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uint8_t disableOffset : 1; /* 1 = disable automatic storage of oscillator offset */
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} flags;
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};
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} UBX_CFG_SMGR_data_t;
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// MON-specific structs
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// UBX-MON-HW (0x0A 0x09): Hardware status

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