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Copy pathSparkFun_u-blox_GNSS_Arduino_Library.cpp
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SparkFun_u-blox_GNSS_Arduino_Library.cpp
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/*
This is a library written for the u-blox ZED-F9P and NEO-M8P-2
SparkFun sells these at its website: www.sparkfun.com
Do you like this library? Help support SparkFun. Buy a board!
https://www.sparkfun.com/products/16481
https://www.sparkfun.com/products/15136
https://www.sparkfun.com/products/15005
https://www.sparkfun.com/products/15733
https://www.sparkfun.com/products/15193
https://www.sparkfun.com/products/15210
Original version by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
v2.0 rework by Paul Clark @ SparkFun Electronics, December 31st, 2020
This library handles configuring and handling the responses
from a u-blox GPS module. Works with most modules from u-blox including
the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others.
https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
Development environment specifics:
Arduino IDE 1.8.13
SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
The MIT License (MIT)
Copyright (c) 2016 SparkFun Electronics
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
and/or sell copies of the Software, and to permit persons to whom the Software is furnished to
do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial
portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "SparkFun_u-blox_GNSS_Arduino_Library.h"
SFE_UBLOX_GNSS::SFE_UBLOX_GNSS(void)
{
// Constructor
if (debugPin >= 0)
{
pinMode((uint8_t)debugPin, OUTPUT);
digitalWrite((uint8_t)debugPin, HIGH);
}
_logNMEA.all = 0; // Default to passing no NMEA messages to the file buffer
_processNMEA.all = SFE_UBLOX_FILTER_NMEA_ALL; // Default to passing all NMEA messages to processNMEA
// Support for platforms like ESP32 which do not support multiple I2C restarts
// If _i2cStopRestart is true, endTransmission will always use a stop. If false, a restart will be used where needed.
#if defined(ARDUINO_ARCH_ESP32)
_i2cStopRestart = true; // Always use a stop
#else
_i2cStopRestart = false; // Use a restart where needed
#endif
}
//Stop all automatic message processing. Free all used RAM
void SFE_UBLOX_GNSS::end(void)
{
//Note: payloadCfg is not deleted
//Note: payloadAuto is not deleted
if (ubxFileBuffer != NULL) // Check if RAM has been allocated for the file buffer
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true)
{
_debugSerial->println(F("end: the file buffer has been deleted. You will need to call setFileBufferSize before .begin to create a new one."));
}
#endif
delete[] ubxFileBuffer; // Created with new[]
ubxFileBuffer = NULL; // Redundant?
fileBufferSize = 0; // Reset file buffer size. User will have to call setFileBufferSize again
fileBufferMaxAvail = 0;
}
if (moduleSWVersion != NULL)
{
delete moduleSWVersion; // Created with new moduleSWVersion_t
moduleSWVersion = NULL; // Redundant?
}
if (currentGeofenceParams != NULL)
{
delete currentGeofenceParams; // Created with new geofenceParams_t
currentGeofenceParams = NULL; // Redundant?
}
if (packetUBXNAVTIMELS != NULL)
{
delete packetUBXNAVTIMELS; // Created with new UBX_NAV_TIMELS_t
packetUBXNAVTIMELS = NULL; // Redundant?
}
if (packetUBXNAVPOSECEF != NULL)
{
if (packetUBXNAVPOSECEF->callbackData != NULL)
{
delete packetUBXNAVPOSECEF->callbackData; // Created with new UBX_NAV_POSECEF_data_t
}
delete packetUBXNAVPOSECEF; // Created with new UBX_NAV_POSECEF_t
packetUBXNAVPOSECEF = NULL; // Redundant?
}
if (packetUBXNAVSTATUS != NULL)
{
if (packetUBXNAVSTATUS->callbackData != NULL)
{
delete packetUBXNAVSTATUS->callbackData;
}
delete packetUBXNAVSTATUS;
packetUBXNAVSTATUS = NULL; // Redundant?
}
if (packetUBXNAVDOP != NULL)
{
if (packetUBXNAVDOP->callbackData != NULL)
{
delete packetUBXNAVDOP->callbackData;
}
delete packetUBXNAVDOP;
packetUBXNAVDOP = NULL; // Redundant?
}
if (packetUBXNAVATT != NULL)
{
if (packetUBXNAVATT->callbackData != NULL)
{
delete packetUBXNAVATT->callbackData;
}
delete packetUBXNAVATT;
packetUBXNAVATT = NULL; // Redundant?
}
if (packetUBXNAVPVT != NULL)
{
if (packetUBXNAVPVT->callbackData != NULL)
{
delete packetUBXNAVPVT->callbackData;
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true)
{
_debugSerial->println(F("end: packetUBXNAVPVT->callbackData has been deleted"));
}
#endif
}
delete packetUBXNAVPVT;
packetUBXNAVPVT = NULL; // Redundant?
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true)
{
_debugSerial->println(F("end: packetUBXNAVPVT has been deleted"));
}
#endif
}
if (packetUBXNAVODO != NULL)
{
if (packetUBXNAVODO->callbackData != NULL)
{
delete packetUBXNAVODO->callbackData;
}
delete packetUBXNAVODO;
packetUBXNAVODO = NULL; // Redundant?
}
if (packetUBXNAVVELECEF != NULL)
{
if (packetUBXNAVVELECEF->callbackData != NULL)
{
delete packetUBXNAVVELECEF->callbackData;
}
delete packetUBXNAVVELECEF;
packetUBXNAVVELECEF = NULL; // Redundant?
}
if (packetUBXNAVVELNED != NULL)
{
if (packetUBXNAVVELNED->callbackData != NULL)
{
delete packetUBXNAVVELNED->callbackData;
}
delete packetUBXNAVVELNED;
packetUBXNAVVELNED = NULL; // Redundant?
}
if (packetUBXNAVHPPOSECEF != NULL)
{
if (packetUBXNAVHPPOSECEF->callbackData != NULL)
{
delete packetUBXNAVHPPOSECEF->callbackData;
}
delete packetUBXNAVHPPOSECEF;
packetUBXNAVHPPOSECEF = NULL; // Redundant?
}
if (packetUBXNAVHPPOSLLH != NULL)
{
if (packetUBXNAVHPPOSLLH->callbackData != NULL)
{
delete packetUBXNAVHPPOSLLH->callbackData;
}
delete packetUBXNAVHPPOSLLH;
packetUBXNAVHPPOSLLH = NULL; // Redundant?
}
if (packetUBXNAVCLOCK != NULL)
{
if (packetUBXNAVCLOCK->callbackData != NULL)
{
delete packetUBXNAVCLOCK->callbackData;
}
delete packetUBXNAVCLOCK;
packetUBXNAVCLOCK = NULL; // Redundant?
}
if (packetUBXNAVSVIN != NULL)
{
if (packetUBXNAVSVIN->callbackData != NULL)
{
delete packetUBXNAVSVIN->callbackData;
}
delete packetUBXNAVSVIN;
packetUBXNAVSVIN = NULL; // Redundant?
}
if (packetUBXNAVSAT != NULL)
{
if (packetUBXNAVSAT->callbackData != NULL)
{
delete packetUBXNAVSAT->callbackData;
}
delete packetUBXNAVSAT;
packetUBXNAVSAT = NULL; // Redundant?
}
if (packetUBXNAVRELPOSNED != NULL)
{
if (packetUBXNAVRELPOSNED->callbackData != NULL)
{
delete packetUBXNAVRELPOSNED->callbackData;
}
delete packetUBXNAVRELPOSNED;
packetUBXNAVRELPOSNED = NULL; // Redundant?
}
if (packetUBXNAVAOPSTATUS != NULL)
{
if (packetUBXNAVAOPSTATUS->callbackData != NULL)
{
delete packetUBXNAVAOPSTATUS->callbackData;
}
delete packetUBXNAVAOPSTATUS;
packetUBXNAVAOPSTATUS = NULL; // Redundant?
}
if (packetUBXRXMSFRBX != NULL)
{
if (packetUBXRXMSFRBX->callbackData != NULL)
{
delete packetUBXRXMSFRBX->callbackData;
}
delete packetUBXRXMSFRBX;
packetUBXRXMSFRBX = NULL; // Redundant?
}
if (packetUBXRXMRAWX != NULL)
{
if (packetUBXRXMRAWX->callbackData != NULL)
{
delete packetUBXRXMRAWX->callbackData;
}
delete packetUBXRXMRAWX;
packetUBXRXMRAWX = NULL; // Redundant?
}
if (packetUBXCFGRATE != NULL)
{
if (packetUBXCFGRATE->callbackData != NULL)
{
delete packetUBXCFGRATE->callbackData;
}
delete packetUBXCFGRATE;
packetUBXCFGRATE = NULL; // Redundant?
}
if (packetUBXTIMTM2 != NULL)
{
if (packetUBXTIMTM2->callbackData != NULL)
{
delete packetUBXTIMTM2->callbackData;
}
delete packetUBXTIMTM2;
packetUBXTIMTM2 = NULL; // Redundant?
}
if (packetUBXESFALG != NULL)
{
if (packetUBXESFALG->callbackData != NULL)
{
delete packetUBXESFALG->callbackData;
}
delete packetUBXESFALG;
packetUBXESFALG = NULL; // Redundant?
}
if (packetUBXESFSTATUS != NULL)
{
if (packetUBXESFSTATUS->callbackData != NULL)
{
delete packetUBXESFSTATUS->callbackData;
}
delete packetUBXESFSTATUS;
packetUBXESFSTATUS = NULL; // Redundant?
}
if (packetUBXESFINS != NULL)
{
if (packetUBXESFINS->callbackData != NULL)
{
delete packetUBXESFINS->callbackData;
}
delete packetUBXESFINS;
packetUBXESFINS = NULL; // Redundant?
}
if (packetUBXESFMEAS != NULL)
{
if (packetUBXESFMEAS->callbackData != NULL)
{
delete packetUBXESFMEAS->callbackData;
}
delete packetUBXESFMEAS;
packetUBXESFMEAS = NULL; // Redundant?
}
if (packetUBXESFRAW != NULL)
{
if (packetUBXESFRAW->callbackData != NULL)
{
delete packetUBXESFRAW->callbackData;
}
delete packetUBXESFRAW;
packetUBXESFRAW = NULL; // Redundant?
}
if (packetUBXMGAACK != NULL)
{
delete packetUBXMGAACK;
packetUBXMGAACK = NULL; // Redundant?
}
if (packetUBXMGADBD != NULL)
{
delete packetUBXMGADBD;
packetUBXMGADBD = NULL; // Redundant?
}
if (packetUBXHNRATT != NULL)
{
if (packetUBXHNRATT->callbackData != NULL)
{
delete packetUBXHNRATT->callbackData;
}
delete packetUBXHNRATT;
packetUBXHNRATT = NULL; // Redundant?
}
if (packetUBXHNRINS != NULL)
{
if (packetUBXHNRINS->callbackData != NULL)
{
delete packetUBXHNRINS->callbackData;
}
delete packetUBXHNRINS;
packetUBXHNRINS = NULL; // Redundant?
}
if (packetUBXHNRPVT != NULL)
{
if (packetUBXHNRPVT->callbackData != NULL)
{
delete packetUBXHNRPVT->callbackData;
}
delete packetUBXHNRPVT;
packetUBXHNRPVT = NULL; // Redundant?
}
}
//Allow the user to change packetCfgPayloadSize. Handy if you want to process big messages like RAWX
//This can be called before .begin if required / desired
void SFE_UBLOX_GNSS::setPacketCfgPayloadSize(size_t payloadSize)
{
if ((payloadSize == 0) && (payloadCfg != NULL))
{
// Zero payloadSize? Dangerous! But we'll free the memory anyway...
delete[] payloadCfg; // Created with new[]
payloadCfg = NULL; // Redundant?
packetCfg.payload = payloadCfg;
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setPacketCfgPayloadSize: Zero payloadSize!"));
}
else if (payloadCfg == NULL) //Memory has not yet been allocated - so use new
{
payloadCfg = new uint8_t[payloadSize];
packetCfg.payload = payloadCfg;
if (payloadCfg == NULL)
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setPacketCfgPayloadSize: RAM alloc failed!"));
}
else //Memory has already been allocated - so resize
{
uint8_t *newPayload = new uint8_t[payloadSize];
for (size_t i = 0; (i < payloadSize) && (i < packetCfgPayloadSize); i++) // Copy as much existing data as we can
newPayload[i] = payloadCfg[i];
delete[] payloadCfg; // Created with new[]
payloadCfg = newPayload;
packetCfg.payload = payloadCfg;
if (payloadCfg == NULL)
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setPacketCfgPayloadSize: RAM resize failed!"));
}
packetCfgPayloadSize = payloadSize;
}
//Initialize the I2C port
bool SFE_UBLOX_GNSS::begin(TwoWire &wirePort, uint8_t deviceAddress)
{
commType = COMM_TYPE_I2C;
_i2cPort = &wirePort; //Grab which port the user wants us to use
//We expect caller to begin their I2C port, with the speed of their choice external to the library
//But if they forget, we start the hardware here.
//We're moving away from the practice of starting Wire hardware in a library. This is to avoid cross platform issues.
//ie, there are some platforms that don't handle multiple starts to the wire hardware. Also, every time you start the wire
//hardware the clock speed reverts back to 100kHz regardless of previous Wire.setClocks().
//_i2cPort->begin();
_gpsI2Caddress = deviceAddress; //Store the I2C address from user
//New in v2.0: allocate memory for the packetCfg payload here - if required. (The user may have called setPacketCfgPayloadSize already)
if (packetCfgPayloadSize == 0)
setPacketCfgPayloadSize(MAX_PAYLOAD_SIZE);
//New in v2.0: allocate memory for the file buffer - if required. (The user should have called setFileBufferSize already)
createFileBuffer();
// Call isConnected up to three times - tests on the NEO-M8U show the CFG RATE poll occasionally being ignored
bool connected = isConnected();
if (!connected)
connected = isConnected();
if (!connected)
connected = isConnected();
return (connected);
}
//Initialize the Serial port
bool SFE_UBLOX_GNSS::begin(Stream &serialPort)
{
commType = COMM_TYPE_SERIAL;
_serialPort = &serialPort; //Grab which port the user wants us to use
//New in v2.0: allocate memory for the packetCfg payload here - if required. (The user may have called setPacketCfgPayloadSize already)
if (packetCfgPayloadSize == 0)
setPacketCfgPayloadSize(MAX_PAYLOAD_SIZE);
//New in v2.0: allocate memory for the file buffer - if required. (The user should have called setFileBufferSize already)
createFileBuffer();
// Call isConnected up to three times - tests on the NEO-M8U show the CFG RATE poll occasionally being ignored
bool connected = isConnected();
if (!connected)
connected = isConnected();
if (!connected)
connected = isConnected();
return (connected);
}
// Initialize for SPI
bool SFE_UBLOX_GNSS::begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed)
{
commType = COMM_TYPE_SPI;
_spiPort = &spiPort;
_csPin = csPin;
_spiSpeed = spiSpeed;
// Initialize the chip select pin
pinMode(_csPin, OUTPUT);
digitalWrite(_csPin, HIGH);
//New in v2.0: allocate memory for the packetCfg payload here - if required. (The user may have called setPacketCfgPayloadSize already)
if (packetCfgPayloadSize == 0)
setPacketCfgPayloadSize(MAX_PAYLOAD_SIZE);
createFileBuffer();
//Create the SPI buffer
if (spiBuffer == NULL) //Memory has not yet been allocated - so use new
{
spiBuffer = new uint8_t[getSpiTransactionSize()];
}
if (spiBuffer == NULL)
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("begin (SPI): memory allocation failed for SPI Buffer!"));
return (false);
}
}
else
{
// Initialize/clear the SPI buffer - fill it with 0xFF as this is what is received from the UBLOX module if there's no data to be processed
for (uint8_t i = 0; i < getSpiTransactionSize(); i++)
{
spiBuffer[i] = 0xFF;
}
}
// Call isConnected up to three times
bool connected = isConnected();
if (!connected)
connected = isConnected();
if (!connected)
connected = isConnected();
return (connected);
}
// Allow the user to change I2C polling wait (the minimum interval between I2C data requests - to avoid pounding the bus)
// i2cPollingWait defaults to 100ms and is adjusted automatically when setNavigationFrequency()
// or setHNRNavigationRate() are called. But if the user is using callbacks, it might be advantageous
// to be able to set the polling wait manually.
void SFE_UBLOX_GNSS::setI2CpollingWait(uint8_t newPollingWait_ms)
{
i2cPollingWait = newPollingWait_ms;
}
// Allow the user to change SPI polling wait
// (the minimum interval between SPI data requests when no data is available - to avoid pounding the bus)
void SFE_UBLOX_GNSS::setSPIpollingWait(uint8_t newPollingWait_ms)
{
spiPollingWait = newPollingWait_ms;
}
//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_GNSS::setI2CTransactionSize(uint8_t transactionSize)
{
if (transactionSize < 8)
transactionSize = 8; // Ensure transactionSize is at least 8 bytes otherwise sendI2cCommand will have problems!
i2cTransactionSize = transactionSize;
}
uint8_t SFE_UBLOX_GNSS::getI2CTransactionSize(void)
{
return (i2cTransactionSize);
}
//Sets the global size for the SPI buffer/transactions.
//Call this **before** begin()!
//Note: if the buffer size is too small, incoming characters may be lost if the message sent
//is larger than this buffer. If too big, you may run out of SRAM on constrained architectures!
void SFE_UBLOX_GNSS::setSpiTransactionSize(uint8_t transactionSize)
{
if (spiBuffer == NULL)
{
spiTransactionSize = transactionSize;
}
else
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true)
{
_debugSerial->println(F("setSpiTransactionSize: you need to call setSpiTransactionSize _before_ begin!"));
}
#endif
}
}
uint8_t SFE_UBLOX_GNSS::getSpiTransactionSize(void)
{
return (spiTransactionSize);
}
//Sets the size of maxNMEAByteCount
void SFE_UBLOX_GNSS::setMaxNMEAByteCount(int8_t newMax)
{
maxNMEAByteCount = newMax;
}
int8_t SFE_UBLOX_GNSS::getMaxNMEAByteCount(void)
{
return (maxNMEAByteCount);
}
//Returns true if I2C device ack's
bool SFE_UBLOX_GNSS::isConnected(uint16_t maxWait)
{
if (commType == COMM_TYPE_I2C)
{
_i2cPort->beginTransmission((uint8_t)_gpsI2Caddress);
if (_i2cPort->endTransmission() != 0)
return false; //Sensor did not ack
}
// Query navigation rate to see whether we get a meaningful response
return (getNavigationFrequencyInternal(maxWait));
}
//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_GNSS::enableDebugging(Stream &debugPort, bool printLimitedDebug)
{
_debugSerial = &debugPort; //Grab which port the user wants us to use for debugging
if (printLimitedDebug == false)
{
_printDebug = true; //Should we print the commands we send? Good for debugging
}
else
{
_printLimitedDebug = true; //Should we print limited debug messages? Good for debugging high navigation rates
}
}
void SFE_UBLOX_GNSS::disableDebugging(void)
{
_printDebug = false; //Turn off extra print statements
_printLimitedDebug = false;
}
//Safely print messages
void SFE_UBLOX_GNSS::debugPrint(char *message)
{
if (_printDebug == true)
{
_debugSerial->print(message);
}
}
//Safely print messages
void SFE_UBLOX_GNSS::debugPrintln(char *message)
{
if (_printDebug == true)
{
_debugSerial->println(message);
}
}
const char *SFE_UBLOX_GNSS::statusString(sfe_ublox_status_e stat)
{
switch (stat)
{
case SFE_UBLOX_STATUS_SUCCESS:
return "Success";
break;
case SFE_UBLOX_STATUS_FAIL:
return "General Failure";
break;
case SFE_UBLOX_STATUS_CRC_FAIL:
return "CRC Fail";
break;
case SFE_UBLOX_STATUS_TIMEOUT:
return "Timeout";
break;
case SFE_UBLOX_STATUS_COMMAND_NACK:
return "Command not acknowledged (NACK)";
break;
case SFE_UBLOX_STATUS_OUT_OF_RANGE:
return "Out of range";
break;
case SFE_UBLOX_STATUS_INVALID_ARG:
return "Invalid Arg";
break;
case SFE_UBLOX_STATUS_INVALID_OPERATION:
return "Invalid operation";
break;
case SFE_UBLOX_STATUS_MEM_ERR:
return "Memory Error";
break;
case SFE_UBLOX_STATUS_HW_ERR:
return "Hardware Error";
break;
case SFE_UBLOX_STATUS_DATA_SENT:
return "Data Sent";
break;
case SFE_UBLOX_STATUS_DATA_RECEIVED:
return "Data Received";
break;
case SFE_UBLOX_STATUS_I2C_COMM_FAILURE:
return "I2C Comm Failure";
break;
case SFE_UBLOX_STATUS_DATA_OVERWRITTEN:
return "Data Packet Overwritten";
break;
default:
return "Unknown Status";
break;
}
return "None";
}
// Check for the arrival of new I2C/Serial/SPI data
//Allow the user to disable the "7F" check (e.g.) when logging RAWX data
void SFE_UBLOX_GNSS::disableUBX7Fcheck(bool disabled)
{
ubx7FcheckDisabled = disabled;
}
//Called regularly to check for available bytes on the user' specified port
bool SFE_UBLOX_GNSS::checkUblox(uint8_t requestedClass, uint8_t requestedID)
{
return checkUbloxInternal(&packetCfg, requestedClass, requestedID);
}
//PRIVATE: Called regularly to check for available bytes on the user' specified port
bool SFE_UBLOX_GNSS::checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
{
if (commType == COMM_TYPE_I2C)
return (checkUbloxI2C(incomingUBX, requestedClass, requestedID));
else if (commType == COMM_TYPE_SERIAL)
return (checkUbloxSerial(incomingUBX, requestedClass, requestedID));
else if (commType == COMM_TYPE_SPI)
return (checkUbloxSpi(incomingUBX, requestedClass, requestedID));
return false;
}
//Polls I2C for data, passing any new bytes to process()
//Returns true if new bytes are available
bool SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
{
if (millis() - lastCheck >= i2cPollingWait)
{
//Get the number of bytes available from the module
uint16_t bytesAvailable = 0;
_i2cPort->beginTransmission(_gpsI2Caddress);
_i2cPort->write(0xFD); //0xFD (MSB) and 0xFE (LSB) are the registers that contain number of bytes available
uint8_t i2cError = _i2cPort->endTransmission(false); //Always send a restart command. Do not release the bus. ESP32 supports this.
if (i2cError != 0)
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("checkUbloxI2C: I2C error: endTransmission returned "));
_debugSerial->println(i2cError);
}
return (false); //Sensor did not ACK
}
//Forcing requestFrom to use a restart would be unwise. If bytesAvailable is zero, we want to surrender the bus.
uint8_t bytesReturned = _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, static_cast<uint8_t>(2));
if (bytesReturned != 2)
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("checkUbloxI2C: I2C error: requestFrom 0xFD returned "));
_debugSerial->println(bytesReturned);
}
return (false); //Sensor did not return 2 bytes
}
else //if (_i2cPort->available())
{
uint8_t msb = _i2cPort->read();
uint8_t lsb = _i2cPort->read();
// if (lsb == 0xFF)
// {
// //I believe this is a u-blox bug. Device should never present an 0xFF.
// if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
// {
// _debugSerial->print(F("checkUbloxI2C: u-blox bug? Length lsb is 0xFF. i2cPollingWait is "));
// _debugSerial->println(i2cPollingWait);
// }
// if (debugPin >= 0)
// {
// digitalWrite((uint8_t)debugPin, LOW);
// delay(10);
// digitalWrite((uint8_t)debugPin, HIGH);
// }
// lastCheck = millis(); //Put off checking to avoid I2C bus traffic
// return (false);
// }
// if (msb == 0xFF)
// {
// //I believe this is a u-blox bug. Device should never present an 0xFF.
// if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
// {
// _debugSerial->print(F("checkUbloxI2C: u-blox bug? Length msb is 0xFF. i2cPollingWait is "));
// _debugSerial->println(i2cPollingWait);
// }
// if (debugPin >= 0)
// {
// digitalWrite((uint8_t)debugPin, LOW);
// delay(10);
// digitalWrite((uint8_t)debugPin, HIGH);
// }
// lastCheck = millis(); //Put off checking to avoid I2C bus traffic
// return (false);
// }
bytesAvailable = (uint16_t)msb << 8 | lsb;
}
if (bytesAvailable == 0)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true)
{
_debugSerial->println(F("checkUbloxI2C: OK, zero bytes available"));
}
#endif
lastCheck = millis(); //Put off checking to avoid I2C bus traffic
return (false);
}
//Check for undocumented bit error. We found this doing logic scans.
//This error is rare but if we incorrectly interpret the first bit of the two 'data available' bytes as 1
//then we have far too many bytes to check. May be related to I2C setup time violations: https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues/40
if (bytesAvailable & ((uint16_t)1 << 15))
{
//Clear the MSbit
bytesAvailable &= ~((uint16_t)1 << 15);
// if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
// {
// _debugSerial->print(F("checkUbloxI2C: Bytes available error: "));
// _debugSerial->println(bytesAvailable);
// if (debugPin >= 0)
// {
// digitalWrite((uint8_t)debugPin, LOW);
// delay(10);
// digitalWrite((uint8_t)debugPin, HIGH);
// }
// }
}
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (bytesAvailable > 100)
{
if (_printDebug == true)
{
_debugSerial->print(F("checkUbloxI2C: Large packet of "));
_debugSerial->print(bytesAvailable);
_debugSerial->println(F(" bytes received"));
}
}
else
{
if (_printDebug == true)
{
_debugSerial->print(F("checkUbloxI2C: Reading "));
_debugSerial->print(bytesAvailable);
_debugSerial->println(F(" bytes"));
}
}
#endif
while (bytesAvailable)
{
// From the u-blox integration manual:
// "There are two forms of DDC read transfer. The "random access" form includes a peripheral register
// address and thus allows any register to be read. The second "current address" form omits the
// register address. If this second form is used, then an address pointer in the receiver is used to
// determine which register to read. This address pointer will increment after each read unless it
// is already pointing at register 0xFF, the highest addressable register, in which case it remains
// unaltered."
// This means that after reading bytesAvailable from 0xFD and 0xFE, the address pointer will already be
// pointing at 0xFF, so we do not need to write it here. The next four lines can be commented.
//_i2cPort->beginTransmission(_gpsI2Caddress);
//_i2cPort->write(0xFF); //0xFF is the register to read data from
//if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
// return (false); //Sensor did not ACK
//Limit to 32 bytes or whatever the buffer limit is for given platform
uint16_t bytesToRead = bytesAvailable; // 16-bit
if (bytesToRead > i2cTransactionSize) // Limit for i2cTransactionSize is 8-bit
bytesToRead = i2cTransactionSize;
//TRY_AGAIN:
//Here it would be desireable to use a restart where possible / supported, but only if there will be multiple reads.
//However, if an individual requestFrom fails, we could end up leaving the bus hanging.
//On balance, it is probably safest to not use restarts here.
uint8_t bytesReturned = _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)bytesToRead);
if ((uint16_t)bytesReturned == bytesToRead)
{
for (uint16_t x = 0; x < bytesToRead; x++)
{
uint8_t incoming = _i2cPort->read(); //Grab the actual character
//Check to see if the first read is 0x7F. If it is, the module is not ready to respond. Stop, wait, and try again.
//Note: the integration manual says:
//"If there is no data awaiting transmission from the receiver, then this register will deliver the value 0xFF,
// which cannot be the first byte of a valid message."
//But it can be the first byte waiting to be read from the buffer if we have already read part of the message.
//Therefore I think this check needs to be commented.
// if (x == 0)
// {
// if ((incoming == 0x7F) && (ubx7FcheckDisabled == false))
// {
// if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
// {
// _debugSerial->println(F("checkUbloxU2C: u-blox error, module not ready with data (7F error)"));
// }
// delay(5); //In logic analyzation, the module starting responding after 1.48ms
// if (debugPin >= 0)
// {
// digitalWrite((uint8_t)debugPin, LOW);
// delay(10);
// digitalWrite((uint8_t)debugPin, HIGH);
// }
// goto TRY_AGAIN;
// }
// }
process(incoming, incomingUBX, requestedClass, requestedID); //Process this valid character
}
}
else
return (false); //Sensor did not respond
bytesAvailable -= bytesToRead;
}
}
return (true);
} //end checkUbloxI2C()
//Checks Serial for data, passing any new bytes to process()
bool SFE_UBLOX_GNSS::checkUbloxSerial(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
{
while (_serialPort->available())
{
process(_serialPort->read(), incomingUBX, requestedClass, requestedID);
}
return (true);
} //end checkUbloxSerial()
//Checks SPI for data, passing any new bytes to process()
bool SFE_UBLOX_GNSS::checkUbloxSpi(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
{
// Process the contents of the SPI buffer if not empty!
for (uint8_t i = 0; i < spiBufferIndex; i++) {
process(spiBuffer[i], incomingUBX, requestedClass, requestedID);
}
spiBufferIndex = 0;
_spiPort->beginTransaction(SPISettings(_spiSpeed, MSBFIRST, SPI_MODE0));
digitalWrite(_csPin, LOW);
uint8_t byteReturned = _spiPort->transfer(0xFF);
// Note to future self: I think the 0xFF check might cause problems when attempting to process (e.g.) RAWX data
// which could legitimately contain 0xFF within the data stream. But the currentSentence check will certainly help!
// If we are not receiving a sentence (currentSentence == NONE) and the byteReturned is 0xFF,
// i.e. the module has no data for us, then delay for
if ((byteReturned == 0xFF) && (currentSentence == NONE))
{
digitalWrite(_csPin, HIGH);
_spiPort->endTransaction();
delay(spiPollingWait);
return (true);
}
while ((byteReturned != 0xFF) || (currentSentence != NONE))
{
process(byteReturned, incomingUBX, requestedClass, requestedID);
byteReturned = _spiPort->transfer(0xFF);
}
digitalWrite(_csPin, HIGH);
_spiPort->endTransaction();
return (true);
} //end checkUbloxSpi()
//PRIVATE: Check if we have storage allocated for an incoming "automatic" message