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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 (packetUBXNAVPVAT != NULL)
{
if (packetUBXNAVPVAT->callbackData != NULL)
{
delete packetUBXNAVPVAT->callbackData;
}
delete packetUBXNAVPVAT;
packetUBXNAVPVAT = 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 (packetUBXRXMPMP != NULL)
{
if (packetUBXRXMPMP->callbackData != NULL)
{
delete packetUBXRXMPMP->callbackData;
}
delete packetUBXRXMPMP;
packetUBXRXMPMP = NULL; // Redundant?
}
if (packetUBXRXMPMPmessage != NULL)
{
if (packetUBXRXMPMPmessage->callbackData != NULL)
{
delete packetUBXRXMPMPmessage->callbackData;
}
delete packetUBXRXMPMPmessage;
packetUBXRXMPMPmessage = NULL; // Redundant?
}
if (packetUBXRXMCOR != NULL)
{
if (packetUBXRXMCOR->callbackData != NULL)
{
delete packetUBXRXMCOR->callbackData;
}
delete packetUBXRXMCOR;
packetUBXRXMCOR = 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)
{
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?
}
#ifndef SFE_UBLOX_DISABLE_AUTO_NMEA
if (storageNMEAGPGGA != NULL)
{
if (storageNMEAGPGGA->callbackCopy != NULL)
{
delete storageNMEAGPGGA->callbackCopy;
}
delete storageNMEAGPGGA;
storageNMEAGPGGA = NULL; // Redundant?
}
if (storageNMEAGNGGA != NULL)
{
if (storageNMEAGNGGA->callbackCopy != NULL)
{
delete storageNMEAGNGGA->callbackCopy;
}
delete storageNMEAGNGGA;
storageNMEAGNGGA = NULL; // Redundant?
}
if (storageNMEAGPVTG != NULL)
{
if (storageNMEAGPVTG->callbackCopy != NULL)
{
delete storageNMEAGPVTG->callbackCopy;
}
delete storageNMEAGPVTG;
storageNMEAGPVTG = NULL; // Redundant?
}
if (storageNMEAGNVTG != NULL)
{
if (storageNMEAGNVTG->callbackCopy != NULL)
{
delete storageNMEAGNVTG->callbackCopy;
}
delete storageNMEAGNVTG;
storageNMEAGNVTG = NULL; // Redundant?
}
if (storageNMEAGPRMC != NULL)
{
if (storageNMEAGPRMC->callbackCopy != NULL)
{
delete storageNMEAGPRMC->callbackCopy;
}
delete storageNMEAGPRMC;
storageNMEAGPRMC = NULL; // Redundant?
}
if (storageNMEAGNRMC != NULL)
{
if (storageNMEAGNRMC->callbackCopy != NULL)
{
delete storageNMEAGNRMC->callbackCopy;
}
delete storageNMEAGNRMC;
storageNMEAGNRMC = NULL; // Redundant?
}
if (storageNMEAGPZDA != NULL)
{
if (storageNMEAGPZDA->callbackCopy != NULL)
{
delete storageNMEAGPZDA->callbackCopy;
}
delete storageNMEAGPZDA;
storageNMEAGPZDA = NULL; // Redundant?
}
if (storageNMEAGNZDA != NULL)
{
if (storageNMEAGNZDA->callbackCopy != NULL)
{
delete storageNMEAGNZDA->callbackCopy;
}
delete storageNMEAGNZDA;
storageNMEAGNZDA = NULL; // Redundant?
}
#endif
}
// 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
bool SFE_UBLOX_GNSS::setPacketCfgPayloadSize(size_t payloadSize)
{
bool success = true;
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;
packetCfgPayloadSize = payloadSize;
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)
{
success = false;
packetCfgPayloadSize = 0;
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setPacketCfgPayloadSize: RAM alloc failed!"));
}
else
packetCfgPayloadSize = payloadSize;
}
else // Memory has already been allocated - so resize
{
uint8_t *newPayload = new uint8_t[payloadSize];
if (newPayload == NULL) // Check if the alloc was successful
{
success = false; // Report failure. Don't change payloadCfg, packetCfg.payload or packetCfgPayloadSize
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setPacketCfgPayloadSize: RAM resize failed!"));
}
else
{
memcpy(newPayload, payloadCfg, payloadSize <= packetCfgPayloadSize ? payloadSize : packetCfgPayloadSize); // Copy as much existing data as we can
delete[] payloadCfg; // Free payloadCfg. Created with new[]
payloadCfg = newPayload; // Point to the newPayload
packetCfg.payload = payloadCfg; // Update the packet pointer
packetCfgPayloadSize = payloadSize; // Update the packet payload size
}
}
return (success);
}
// Initialize the I2C port
bool SFE_UBLOX_GNSS::begin(TwoWire &wirePort, uint8_t deviceAddress, uint16_t maxWait, bool assumeSuccess)
{
commType = COMM_TYPE_I2C;
_i2cPort = &wirePort; // Grab which port the user wants us to use
_signsOfLife = false; // Clear the _signsOfLife flag. It will be set true if valid traffic is seen.
// 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(maxWait);
if (!connected)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("begin: isConnected - second attempt"));
}
#endif
connected = isConnected(maxWait);
}
if (!connected)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("begin: isConnected - third attempt"));
}
#endif
connected = isConnected(maxWait);
}
if ((!connected) && assumeSuccess && _signsOfLife) // Advanced users can assume success if required. Useful if the port is outputting messages at high navigation rate.
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("begin: third attempt failed. Assuming success..."));
}
#endif
return (true);
}
return (connected);
}
// Initialize the Serial port
bool SFE_UBLOX_GNSS::begin(Stream &serialPort, uint16_t maxWait, bool assumeSuccess)
{
commType = COMM_TYPE_SERIAL;
_serialPort = &serialPort; // Grab which port the user wants us to use
_signsOfLife = false; // Clear the _signsOfLife flag. It will be set true if valid traffic is seen.
// 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();
// Get rid of any stale serial data already in the processor's RX buffer
while (_serialPort->available())
_serialPort->read();
// If assumeSuccess is true, the user must really want begin to succeed. So, let's empty the module's serial transmit buffer too!
// Keep discarding new serial data until we see a gap of 2ms - hopefully indicating that the module's TX buffer is empty.
if (assumeSuccess)
{
unsigned long startTime = millis();
unsigned long lastActivity = startTime;
bool keepGoing = true;
while (keepGoing && (millis() < (startTime + (unsigned long)maxWait)))
{
while (_serialPort->available()) // Discard any new data
{
_serialPort->read();
lastActivity = millis();
}
if (millis() > (lastActivity + (unsigned long)2)) // Check if we have seen no new data for at least 2ms
keepGoing = false;
}
}
// Call isConnected up to three times - tests on the NEO-M8U show the CFG RATE poll occasionally being ignored
bool connected = isConnected(maxWait);
if (!connected)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("begin: isConnected - second attempt"));
}
#endif
connected = isConnected(maxWait);
}
if (!connected)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("begin: isConnected - third attempt"));
}
#endif
connected = isConnected(maxWait);
}
if ((!connected) && assumeSuccess && _signsOfLife) // Advanced users can assume success if required. Useful if the port is outputting messages at high navigation rate.
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("begin: third attempt failed. Assuming success..."));
}
#endif
return (true);
}
return (connected);
}
// Initialize for SPI
bool SFE_UBLOX_GNSS::begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed, uint16_t maxWait, bool assumeSuccess)
{
commType = COMM_TYPE_SPI;
_spiPort = &spiPort;
_csPin = csPin;
_spiSpeed = spiSpeed;
_signsOfLife = false; // Clear the _signsOfLife flag. It will be set true if valid traffic is seen.
// 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 - tests on the NEO-M8U show the CFG RATE poll occasionally being ignored
bool connected = isConnected(maxWait);
if (!connected)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("begin: isConnected - second attempt"));
}
#endif
connected = isConnected(maxWait);
}
if (!connected)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("begin: isConnected - third attempt"));
}
#endif
connected = isConnected(maxWait);
}
if ((!connected) && assumeSuccess && _signsOfLife) // Advanced users can assume success if required. Useful if the port is outputting messages at high navigation rate.
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("begin: third attempt failed. Assuming success..."));
}
#endif
return (true);
}
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 port configuration to see whether we get a meaningful response
// We could simply request the config for any port but, just for giggles, let's request the config for most appropriate port
if (commType == COMM_TYPE_I2C)
return (getPortSettingsInternal(COM_PORT_I2C, maxWait));
else if (commType == COMM_TYPE_SERIAL)
return (getPortSettingsInternal(COM_PORT_UART1, maxWait)); // Could be UART2 - but this is just a response check
else // if (commType == COMM_TYPE_SPI)
return (getPortSettingsInternal(COM_PORT_SPI, 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)
{