Move I2C transaction size from platform guards to global variable

Author: nseidle

Diff for: keywords.txt

@@ -155,6 +155,11 @@ getEsfRawDataInfo	KEYWORD2
 
 getSensState	KEYWORD2
 getVehAtt	KEYWORD2
+
+setI2CTransactionSize	KEYWORD2
+getI2CTransactionSize	KEYWORD2
+
+
 #######################################
 # Constants (LITERAL1)
 #######################################

Diff for: src/SparkFun_Ublox_Arduino_Library.cpp

@@ -51,6 +51,28 @@ SFE_UBLOX_GPS::SFE_UBLOX_GPS(void)
     pinMode((uint8_t)checksumFailurePin, OUTPUT);
     digitalWrite((uint8_t)checksumFailurePin, HIGH);
   }
+
+  //Define the size of the I2C buffer based on the platform the user has
+  //In general we found that most platforms use 32 bytes as the I2C buffer size. We could
+  //implement platform gaurds here but as you can see, none currently benefit from >32
+  //so we'll leave it up to the user to set it using setI2CTransactionSize if they will benefit from it
+  // //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+  // #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
+
+  // i2cTransactionSize = 32;
+
+  // #elif defined(__SAMD21G18A__)
+
+  // i2cTransactionSize = 32;
+
+  //#elif __MK20DX256__
+  //Teensy
+
+  // #elif defined(ARDUINO_ARCH_ESP32)
+
+  // i2cTransactionSize = 32; //The ESP32 has an I2C buffer length of 128. We reduce it to 32 bytes to increase stability with the module
+
+  // #endif
 }
 
 //Initialize the Serial port
@@ -81,6 +103,19 @@ boolean SFE_UBLOX_GPS::begin(Stream &serialPort)
   return (isConnected());
 }
 
+//Sets the global size for I2C transactions
+//Most platforms use 32 bytes (the default) but this allows users to increase the transaction
+//size if the platform supports it
+//Note: If the transaction size is set larger than the platforms buffer size, bad things will happen.
+void SFE_UBLOX_GPS::setI2CTransactionSize(uint8_t transactionSize)
+{
+  i2cTransactionSize = transactionSize;
+}
+uint8_t SFE_UBLOX_GPS::getI2CTransactionSize(void)
+{
+  return (i2cTransactionSize);
+}
+
 //Enable or disable the printing of sent/response HEX values.
 //Use this in conjunction with 'Transport Logging' from the Universal Reader Assistant to see what they're doing that we're not
 void SFE_UBLOX_GPS::enableDebugging(Stream &debugPort, boolean printLimitedDebug)
@@ -384,8 +419,8 @@ boolean SFE_UBLOX_GPS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedCl
 
       //Limit to 32 bytes or whatever the buffer limit is for given platform
       uint16_t bytesToRead = bytesAvailable;
-      if (bytesToRead > I2C_BUFFER_LENGTH)
-        bytesToRead = I2C_BUFFER_LENGTH;
+      if (bytesToRead > i2cTransactionSize)
+        bytesToRead = i2cTransactionSize;
 
     TRY_AGAIN:
 
@@ -1093,8 +1128,8 @@ sfe_ublox_status_e SFE_UBLOX_GPS::sendI2cCommand(ubxPacket *outgoingUBX, uint16_
   while (bytesToSend > 1)
   {
     uint8_t len = bytesToSend;
-    if (len > I2C_BUFFER_LENGTH)
-      len = I2C_BUFFER_LENGTH;
+    if (len > i2cTransactionSize)
+      len = i2cTransactionSize;
 
     _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress);
     //_i2cPort->write(outgoingUBX->payload, len); //Write a portion of the payload to the bus
@@ -2573,7 +2608,7 @@ uint8_t SFE_UBLOX_GPS::getPowerSaveMode(uint16_t maxWait)
 // NOTE: Querying the device before the duration is complete, for example by "getLatitude()" will wake it up!
 // Returns true if command has not been not acknowledged.
 // Returns false if command has not been acknowledged or maxWait = 0.
-boolean SFE_UBLOX_GPS::powerOff(uint32_t durationInMs,  uint16_t maxWait)
+boolean SFE_UBLOX_GPS::powerOff(uint32_t durationInMs, uint16_t maxWait)
 {
   // use durationInMs = 0 for infinite duration
   if (_printDebug == true)
@@ -2584,17 +2619,17 @@ boolean SFE_UBLOX_GPS::powerOff(uint32_t durationInMs,  uint16_t maxWait)
   }
 
   // Power off device using UBX-RXM-PMREQ
-  packetCfg.cls = UBX_CLASS_RXM;  // 0x02
-  packetCfg.id =  UBX_RXM_PMREQ;  // 0x41
+  packetCfg.cls = UBX_CLASS_RXM; // 0x02
+  packetCfg.id = UBX_RXM_PMREQ;  // 0x41
   packetCfg.len = 8;
   packetCfg.startingSpot = 0;
 
   // duration
   // big endian to little endian, switch byte order
-  payloadCfg[0] = (durationInMs >> (8*0)) & 0xff;
-  payloadCfg[1] = (durationInMs >> (8*1)) & 0xff;
-  payloadCfg[2] = (durationInMs >> (8*2)) & 0xff;
-  payloadCfg[3] = (durationInMs >> (8*3)) & 0xff;
+  payloadCfg[0] = (durationInMs >> (8 * 0)) & 0xff;
+  payloadCfg[1] = (durationInMs >> (8 * 1)) & 0xff;
+  payloadCfg[2] = (durationInMs >> (8 * 2)) & 0xff;
+  payloadCfg[3] = (durationInMs >> (8 * 3)) & 0xff;
 
   payloadCfg[4] = 0x02; //Flags : set the backup bit
   payloadCfg[5] = 0x00; //Flags
@@ -2630,8 +2665,8 @@ boolean SFE_UBLOX_GPS::powerOffWithInterrupt(uint32_t durationInMs, uint32_t wak
   }
 
   // Power off device using UBX-RXM-PMREQ
-  packetCfg.cls = UBX_CLASS_RXM;  // 0x02
-  packetCfg.id =  UBX_RXM_PMREQ;  // 0x41
+  packetCfg.cls = UBX_CLASS_RXM; // 0x02
+  packetCfg.id = UBX_RXM_PMREQ;  // 0x41
   packetCfg.len = 16;
   packetCfg.startingSpot = 0;
 
@@ -2644,10 +2679,10 @@ boolean SFE_UBLOX_GPS::powerOffWithInterrupt(uint32_t durationInMs, uint32_t wak
 
   // duration
   // big endian to little endian, switch byte order
-  payloadCfg[4] = (durationInMs >> (8*0)) & 0xff;
-  payloadCfg[5] = (durationInMs >> (8*1)) & 0xff;
-  payloadCfg[6] = (durationInMs >> (8*2)) & 0xff;
-  payloadCfg[7] = (durationInMs >> (8*3)) & 0xff;
+  payloadCfg[4] = (durationInMs >> (8 * 0)) & 0xff;
+  payloadCfg[5] = (durationInMs >> (8 * 1)) & 0xff;
+  payloadCfg[6] = (durationInMs >> (8 * 2)) & 0xff;
+  payloadCfg[7] = (durationInMs >> (8 * 3)) & 0xff;
 
   // flags
 
@@ -2675,10 +2710,10 @@ boolean SFE_UBLOX_GPS::powerOffWithInterrupt(uint32_t durationInMs, uint32_t wak
   // VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT1
   // VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS
 
-  payloadCfg[12] = (wakeupSources >> (8*0)) & 0xff;
-  payloadCfg[13] = (wakeupSources >> (8*1)) & 0xff;
-  payloadCfg[14] = (wakeupSources >> (8*2)) & 0xff;
-  payloadCfg[15] = (wakeupSources >> (8*3)) & 0xff;
+  payloadCfg[12] = (wakeupSources >> (8 * 0)) & 0xff;
+  payloadCfg[13] = (wakeupSources >> (8 * 1)) & 0xff;
+  payloadCfg[14] = (wakeupSources >> (8 * 2)) & 0xff;
+  payloadCfg[15] = (wakeupSources >> (8 * 3)) & 0xff;
 
   if (maxWait != 0)
   {

Diff for: src/SparkFun_Ublox_Arduino_Library.h

@@ -49,45 +49,18 @@
 
 #include <Wire.h>
 
-//Platform specific configurations
-
-//Define the size of the I2C buffer based on the platform the user has
-//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
-#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
-
-//I2C_BUFFER_LENGTH is defined in Wire.H
-#define I2C_BUFFER_LENGTH BUFFER_LENGTH
-
-#elif defined(__SAMD21G18A__)
-
-//SAMD21 uses RingBuffer.h
-#define I2C_BUFFER_LENGTH SERIAL_BUFFER_SIZE
-
-//#elif __MK20DX256__
-//Teensy
-
-#endif
-
-#ifndef I2C_BUFFER_LENGTH
-
-//The catch-all default is 32
-#define I2C_BUFFER_LENGTH 32
-//#define I2C_BUFFER_LENGTH 16 //For testing on Artemis
-
-#endif
-
 // Define Serial for SparkFun SAMD based boards.
 // Boards like the RedBoard Turbo use SerialUSB (not Serial).
 // But other boards like the SAMD51 Thing Plus use Serial (not SerialUSB).
 // The next nine lines let the code compile cleanly on as many SAMD boards as possible.
-#if defined(ARDUINO_ARCH_SAMD) // Is this a SAMD board?
-	#if defined(USB_VID) // Is the USB Vendor ID defined?
-		#if (USB_VID == 0x1B4F) // Is this a SparkFun board?
-			#if !defined(ARDUINO_SAMD51_THING_PLUS) // If it is not a SAMD51 Thing Plus
-				#define Serial SerialUSB // Define Serial as SerialUSB
-			#endif
-		#endif
-	#endif
+#if defined(ARDUINO_ARCH_SAMD)			// Is this a SAMD board?
+#if defined(USB_VID)					// Is the USB Vendor ID defined?
+#if (USB_VID == 0x1B4F)					// Is this a SparkFun board?
+#if !defined(ARDUINO_SAMD51_THING_PLUS) // If it is not a SAMD51 Thing Plus
+#define Serial SerialUSB				// Define Serial as SerialUSB
+#endif
+#endif
+#endif
 #endif
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
@@ -408,10 +381,10 @@ const uint32_t VAL_CFG_SUBSEC_LOGCONF = 0x00000800;	 // logConf - logging config
 const uint32_t VAL_CFG_SUBSEC_FTSCONF = 0x00001000;	 // ftsConf - FTS configuration (FTS products only)
 
 // Bitfield wakeupSources for UBX_RXM_PMREQ
-const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_UARTRX = 0x00000008; // uartrx
+const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_UARTRX = 0x00000008;	// uartrx
 const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0 = 0x00000020; // extint0
 const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT1 = 0x00000040; // extint1
-const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS = 0x00000080; // spics
+const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS = 0x00000080;	// spics
 
 enum dynModel // Possible values for the dynamic platform model, which provide more accuract position output for the situation. Description extracted from ZED-F9P Integration Manual
 {
@@ -485,6 +458,13 @@ class SFE_UBLOX_GPS
 	//serialPort needs to be perviously initialized to correct baud rate
 	boolean begin(Stream &serialPort); //Returns true if module is detected
 
+	//Control the size of the internal I2C transaction amount
+	void setI2CTransactionSize(uint8_t bufferSize);
+	uint8_t getI2CTransactionSize(void);
+	
+	//Set the max number of bytes set in a given I2C transaction
+	uint8_t i2cTransactionSize = 32; //Default to ATmega328 limit
+
 	//Returns true if device answers on _gpsI2Caddress address or via Serial
 	//maxWait is only used for Serial
 	boolean isConnected(uint16_t maxWait = 1100);
@@ -632,11 +612,11 @@ class SFE_UBLOX_GPS
 
 	boolean getRELPOSNED(uint16_t maxWait = 1100); //Get Relative Positioning Information of the NED frame
 
-	void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false);  //Given a port to print to, enable debug messages. Default to all, not limited.
-	void disableDebugging(void);					   //Turn off debug statements
-	void debugPrint(char *message);					   //Safely print debug statements
-	void debugPrintln(char *message);				   //Safely print debug statements
-	const char *statusString(sfe_ublox_status_e stat); //Pretty print the return value
+	void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited.
+	void disableDebugging(void);														 //Turn off debug statements
+	void debugPrint(char *message);														 //Safely print debug statements
+	void debugPrintln(char *message);													 //Safely print debug statements
+	const char *statusString(sfe_ublox_status_e stat);									 //Pretty print the return value
 
 	//Support for geofences
 	boolean addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence = 0, byte pinPolarity = 0, byte pin = 0, uint16_t maxWait = 1100); // Add a new geofence
@@ -843,7 +823,7 @@ class SFE_UBLOX_GPS
 	uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8/F9 series
 	//This can be changed using the ublox configuration software
 
-	boolean _printDebug = false; //Flag to print the serial commands we are sending to the Serial port for debug
+	boolean _printDebug = false;		//Flag to print the serial commands we are sending to the Serial port for debug
 	boolean _printLimitedDebug = false; //Flag to print limited debug messages. Useful for I2C debugging or high navigation rates
 
 	//The packet buffers