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Commit a3621c2

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nseidlenseidle
committed
Change debug from #define to callable function
1 parent 74c1568 commit a3621c2

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2 files changed

+115
-79
lines changed

2 files changed

+115
-79
lines changed

‎src/SparkFun_Ublox_Arduino_Library.cpp

+111-78
Original file line numberDiff line numberDiff line change
@@ -61,6 +61,19 @@ boolean SFE_UBLOX_GPS::begin(Stream &serialPort)
6161
return (isConnected());
6262
}
6363

64+
//Enable or disable the printing of sent/response HEX values.
65+
//Use this in conjunction with 'Transport Logging' from the Universal Reader Assistant to see what they're doing that we're not
66+
void RFID::enableDebugging(Stream &debugPort)
67+
{
68+
_debugSerial = &debugPort; //Grab which port the user wants us to use for debugging
69+
70+
_printDebug = true; //Should we print the commands we send? Good for debugging
71+
}
72+
void RFID::disableDebugging(void)
73+
{
74+
_printDebug = false; //Turn off extra print statements
75+
}
76+
6477
void SFE_UBLOX_GPS::factoryReset()
6578
{
6679
// Copy default settings to permanent
@@ -99,10 +112,12 @@ void SFE_UBLOX_GPS::setSerialRate(uint32_t baudrate, uint8_t uartPort, uint16_t
99112
{
100113
//Get the current config values for the UART port
101114
getPortSettings(uartPort, maxWait); //This will load the payloadCfg array with current port settings
102-
#ifdef DEBUG
103-
debug.print("Current baud rate: ");
104-
debug.println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
105-
#endif
115+
116+
if (_printDebug == true)
117+
{
118+
debug.print("Current baud rate: ");
119+
debug.println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
120+
}
106121

107122
packetCfg.cls = UBX_CLASS_CFG;
108123
packetCfg.id = UBX_CFG_PRT;
@@ -114,10 +129,12 @@ void SFE_UBLOX_GPS::setSerialRate(uint32_t baudrate, uint8_t uartPort, uint16_t
114129
payloadCfg[9] = baudrate >> 8;
115130
payloadCfg[10] = baudrate >> 16;
116131
payloadCfg[11] = baudrate >> 24;
117-
#ifdef DEBUG
118-
debug.print("New baud rate:");
119-
debug.println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
120-
#endif
132+
133+
if (_printDebug == true)
134+
{
135+
debug.print("New baud rate:");
136+
debug.println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
137+
}
121138

122139
sendCommand(packetCfg);
123140
}
@@ -184,9 +201,10 @@ boolean SFE_UBLOX_GPS::checkUbloxI2C()
184201

185202
if (bytesAvailable == 0)
186203
{
187-
#ifdef DEBUG
188-
debug.println("No bytes available");
189-
#endif
204+
if (_printDebug == true)
205+
{
206+
debug.println("No bytes available");
207+
}
190208
lastCheck = millis(); //Put off checking to avoid I2C bus traffic
191209
return true;
192210
}
@@ -238,13 +256,14 @@ boolean SFE_UBLOX_GPS::checkUbloxSerial()
238256
void SFE_UBLOX_GPS::process(uint8_t incoming)
239257
{
240258

241-
#ifdef DEBUG
242-
//if (currentSentence == NONE && incoming == 0xB5) //UBX binary frames start with 0xB5, aka μ
243-
// debug.println(); //Show new packet start
259+
if (_printDebug == true)
260+
{
261+
//if (currentSentence == NONE && incoming == 0xB5) //UBX binary frames start with 0xB5, aka μ
262+
// debug.println(); //Show new packet start
244263

245-
//debug.print(" ");
246-
//debug.print(incoming, HEX);
247-
#endif
264+
//debug.print(" ");
265+
//debug.print(incoming, HEX);
266+
}
248267

249268
if (currentSentence == NONE || currentSentence == NMEA)
250269
{
@@ -426,17 +445,18 @@ void SFE_UBLOX_GPS::processUBX(uint8_t incoming, ubxPacket *incomingUBX)
426445
//Validate this sentence
427446
if (incomingUBX->checksumA == rollingChecksumA && incomingUBX->checksumB == rollingChecksumB)
428447
{
429-
#ifdef DEBUG
430-
debug.print("Received: ");
431-
printPacket(incomingUBX);
432-
#endif
448+
if (_printDebug == true)
449+
{
450+
debug.print("Received: ");
451+
printPacket(incomingUBX);
452+
}
433453
incomingUBX->valid = true;
434454
processUBXpacket(incomingUBX); //We've got a valid packet, now do something with it
435455
}
436-
#ifdef DEBUG
437-
else
438-
debug.println("Checksum failed. Response too big?");
439-
#endif
456+
if (_printDebug == true)
457+
{
458+
else debug.println("Checksum failed. Response too big?");
459+
}
440460
}
441461
else //Load this byte into the payload array
442462
{
@@ -466,9 +486,10 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
466486
if (msg->id == UBX_ACK_ACK && msg->payload[0] == packetCfg.cls && msg->payload[1] == packetCfg.id)
467487
{
468488
//The ack we just received matched the CLS/ID of last packetCfg sent
469-
#ifdef DEBUG
470-
debug.println("Command sent/ack'd successfully");
471-
#endif
489+
if (_printDebug == true)
490+
{
491+
debug.println("Command sent/ack'd successfully");
492+
}
472493
commandAck = true;
473494
}
474495
break;
@@ -512,11 +533,11 @@ boolean SFE_UBLOX_GPS::sendCommand(ubxPacket outgoingUBX, uint16_t maxWait)
512533
commandAck = false; //We're about to send a command. Begin waiting for ack.
513534
calcChecksum(&outgoingUBX); //Sets checksum A and B bytes of the packet
514535

515-
#ifdef DEBUG
516-
debug.print("Sending: ");
517-
printPacket(&outgoingUBX);
518-
#endif
519-
536+
if (_printDebug == true)
537+
{
538+
debug.print("Sending: ");
539+
printPacket(&outgoingUBX);
540+
}
520541
if (commType == COMM_TYPE_I2C)
521542
{
522543
if (!sendI2cCommand(outgoingUBX, maxWait))
@@ -674,25 +695,26 @@ void SFE_UBLOX_GPS::addToChecksum(uint8_t incoming)
674695
//Pretty prints the current ubxPacket
675696
void SFE_UBLOX_GPS::printPacket(ubxPacket *packet)
676697
{
677-
#ifdef DEBUG
678-
debug.print("CLS:");
679-
debug.print(packet->cls, HEX);
698+
if (_printDebug == true)
699+
{
700+
debug.print("CLS:");
701+
debug.print(packet->cls, HEX);
680702

681-
debug.print(" ID:");
682-
debug.print(packet->id, HEX);
703+
debug.print(" ID:");
704+
debug.print(packet->id, HEX);
683705

684-
//debug.print(" Len: 0x");
685-
//debug.print(packet->len, HEX);
706+
//debug.print(" Len: 0x");
707+
//debug.print(packet->len, HEX);
686708

687-
debug.print(" Payload:");
709+
debug.print(" Payload:");
688710

689-
for (int x = 0; x < packet->len; x++)
690-
{
691-
debug.print(" ");
692-
debug.print(packet->payload[x], HEX);
711+
for (int x = 0; x < packet->len; x++)
712+
{
713+
debug.print(" ");
714+
debug.print(packet->payload[x], HEX);
715+
}
716+
debug.println();
693717
}
694-
debug.println();
695-
#endif
696718
}
697719

698720
//=-=-=-=-=-=-=-= Specific commands =-=-=-=-=-=-=-==-=-=-=-=-=-=-=
@@ -716,26 +738,29 @@ boolean SFE_UBLOX_GPS::waitForResponse(uint8_t requestedClass, uint8_t requested
716738
//Did we receive a config packet that matches the cls/id we requested?
717739
if (packetCfg.cls == requestedClass && packetCfg.id == requestedID)
718740
{
719-
#ifdef DEBUG
720-
debug.println(F("CLS/ID match!"));
721-
#endif
741+
if (_printDebug == true)
742+
{
743+
debug.println(F("CLS/ID match!"));
744+
}
722745
return (true); //If the packet we just sent was a NAV packet then we'll just get data back
723746
}
724-
#ifdef DEBUG
725-
else
747+
if (_printDebug == true)
726748
{
727-
debug.print(F("Packet didn't match CLS/ID"));
728-
printPacket(&packetCfg);
749+
else
750+
{
751+
debug.print(F("Packet didn't match CLS/ID"));
752+
printPacket(&packetCfg);
753+
}
729754
}
730-
#endif
731755
}
732756

733757
delay(1);
734758
}
735759

736-
#ifdef DEBUG
737-
debug.println(F("waitForResponse timeout"));
738-
#endif
760+
if (_printDebug == true)
761+
{
762+
debug.println(F("waitForResponse timeout"));
763+
}
739764

740765
return (false);
741766
}
@@ -789,27 +814,28 @@ uint8_t SFE_UBLOX_GPS::getVal(uint16_t group, uint16_t id, uint8_t size, uint8_t
789814
{
790815
packetCfg.cls = UBX_CLASS_CFG;
791816
packetCfg.id = UBX_CFG_VALGET;
792-
packetCfg.len = 4 + 4 * 1; //Only one key at a time
817+
packetCfg.len = 4 + 4 * 1; //While multiple keys are allowed, we will send only one key at a time
793818
packetCfg.startingSpot = 0;
794819

795820
//Clear packet payload
796821
for (uint8_t x = 0; x < packetCfg.len; x++)
797822
packetCfg.payload[x] = 0;
798823

799-
payloadCfg[0] = 0; //Message Version - set to 0
800-
payloadCfg[1] = layer;
824+
payloadCfg[0] = 0; //Message Version - set to 0
825+
payloadCfg[1] = layer; //By default we ask for the flash layer
801826

802827
//Create key
803828
uint32_t key = 0;
804829
key |= (uint32_t)id;
805830
key |= (uint32_t)group << 16;
806831
key |= (uint32_t)size << 28;
807832

808-
#ifdef DEBUG
809-
debug.print("key: 0x");
810-
debug.print(key, HEX);
811-
debug.println();
812-
#endif
833+
if (_printDebug == true)
834+
{
835+
debug.print("key: 0x");
836+
debug.print(key, HEX);
837+
debug.println();
838+
}
813839

814840
//Load key into outgoing payload
815841
payloadCfg[4] = key >> 8 * 0; //Key LSB
@@ -821,8 +847,15 @@ uint8_t SFE_UBLOX_GPS::getVal(uint16_t group, uint16_t id, uint8_t size, uint8_t
821847
if (sendCommand(packetCfg, maxWait) == false)
822848
return (false); //If command send fails then bail
823849

850+
if (_printDebug == true)
851+
{
852+
debug.print("response (should be 0x01): 0x");
853+
debug.print(payloadCfg[0], HEX);
854+
debug.println();
855+
}
856+
824857
//Pull the requested value from the response
825-
return (extractByte(8)); //Look for our response value at location 4+4*N
858+
return (extractByte(4)); //Look for our response value at location 4+1*N
826859
}
827860

828861
//Get the current TimeMode3 settings - these contain survey in statuses
@@ -1314,19 +1347,19 @@ boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
13141347
if (sendCommand(packetCfg, maxWait) == false)
13151348
return (false); //If command send fails then bail
13161349

1317-
#ifdef DEBUG
1318-
debug.print("Extension ");
1319-
debug.print(extensionNumber);
1320-
debug.print(": ");
1321-
for (int location = 0; location < MAX_PAYLOAD_SIZE; location++)
1350+
if (_printDebug == true)
13221351
{
1323-
if (payloadCfg[location] == '\0')
1324-
break;
1325-
debug.write(payloadCfg[location]);
1352+
debug.print("Extension ");
1353+
debug.print(extensionNumber);
1354+
debug.print(": ");
1355+
for (int location = 0; location < MAX_PAYLOAD_SIZE; location++)
1356+
{
1357+
if (payloadCfg[location] == '\0')
1358+
break;
1359+
debug.write(payloadCfg[location]);
1360+
}
1361+
debug.println();
13261362
}
1327-
debug.println();
1328-
#endif
1329-
13301363
//Now we need to find "PROTVER=18.00" in the incoming byte stream
13311364
if (payloadCfg[0] == 'P' && payloadCfg[6] == 'R')
13321365
{

‎src/SparkFun_Ublox_Arduino_Library.h

+4-1
Original file line numberDiff line numberDiff line change
@@ -250,7 +250,7 @@ class SFE_UBLOX_GPS
250250
boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof
251251

252252
//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
253-
uint8_t getVal(uint16_t group, uint16_t id, uint8_t size, uint8_t layer, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
253+
uint8_t getVal(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_FLASH, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
254254

255255
//Functions used for RTK and base station setup
256256
boolean getSurveyMode(uint16_t maxWait = 250); //Get the current TimeMode3 settings
@@ -351,10 +351,13 @@ class SFE_UBLOX_GPS
351351
TwoWire *_i2cPort; //The generic connection to user's chosen I2C hardware
352352
Stream *_serialPort; //The generic connection to user's chosen Serial hardware
353353
Stream *_nmeaOutputPort = NULL; //The user can assign an output port to print NMEA sentences if they wish
354+
Stream *_debugSerial; //The stream to send debug messages to if enabled
354355

355356
uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8/F9 series
356357
//This can be changed using the ublox configuration software
357358

359+
boolean _printDebug = false; //Flag to print the serial commands we are sending to the Serial port for debug
360+
358361
//These are pointed at from within the ubxPacket
359362
uint8_t payloadAck[2];
360363
uint8_t payloadCfg[MAX_PAYLOAD_SIZE];

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