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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);
}
}
//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;
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! This will end _very_ badly..."));
}
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: PANIC! RAM allocation failed! This will end _very_ badly..."));
}
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;
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: PANIC! RAM resize failed! This will end _very_ badly..."));
}
packetCfgPayloadSize = payloadSize;
}
//Initialize the I2C port
boolean 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
boolean connected = isConnected();
if (!connected)
connected = isConnected();
if (!connected)
connected = isConnected();
return (connected);
}
//Initialize the Serial port
boolean 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
boolean 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;
}
//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)
{
i2cTransactionSize = transactionSize;
}
uint8_t SFE_UBLOX_GNSS::getI2CTransactionSize(void)
{
return (i2cTransactionSize);
}
//Returns true if I2C device ack's
boolean 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, boolean 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 data
//Allow the user to disable the "7F" check (e.g.) when logging RAWX data
void SFE_UBLOX_GNSS::disableUBX7Fcheck(boolean disabled)
{
ubx7FcheckDisabled = disabled;
}
//Called regularly to check for available bytes on the user' specified port
boolean 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
boolean 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));
return false;
}
//Polls I2C for data, passing any new bytes to process()
//Returns true if new bytes are available
boolean 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
if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
return (false); //Sensor did not ACK
_i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)2);
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->println(F("checkUbloxI2C: u-blox bug, length lsb is 0xFF"));
}
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)
{
if (_printDebug == true)
{
_debugSerial->println(F("checkUbloxI2C: OK, zero bytes available"));
}
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);
}
}
}
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"));
}
}
while (bytesAvailable)
{
_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;
if (bytesToRead > i2cTransactionSize)
bytesToRead = i2cTransactionSize;
TRY_AGAIN:
_i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)bytesToRead);
if (_i2cPort->available())
{
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
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()
boolean 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()
//PRIVATE: Check if we have storage allocated for an incoming "automatic" message
boolean SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
{
boolean result = false;
switch (Class)
{
case UBX_CLASS_NAV:
{
switch (ID)
{
case UBX_NAV_POSECEF:
if (packetUBXNAVPOSECEF != NULL) result = true;
break;
case UBX_NAV_STATUS:
if (packetUBXNAVSTATUS != NULL) result = true;
break;
case UBX_NAV_DOP:
if (packetUBXNAVDOP != NULL) result = true;
break;
case UBX_NAV_ATT:
if (packetUBXNAVATT != NULL) result = true;
break;
case UBX_NAV_PVT:
if (packetUBXNAVPVT != NULL) result = true;
break;
case UBX_NAV_ODO:
if (packetUBXNAVODO != NULL) result = true;
break;
case UBX_NAV_VELECEF:
if (packetUBXNAVVELECEF != NULL) result = true;
break;
case UBX_NAV_VELNED:
if (packetUBXNAVVELNED != NULL) result = true;
break;
case UBX_NAV_HPPOSECEF:
if (packetUBXNAVHPPOSECEF != NULL) result = true;
break;
case UBX_NAV_HPPOSLLH:
if (packetUBXNAVHPPOSLLH != NULL) result = true;
break;
case UBX_NAV_CLOCK:
if (packetUBXNAVCLOCK != NULL) result = true;
break;
case UBX_NAV_SVIN:
if (packetUBXNAVSVIN != NULL) result = true;
break;
case UBX_NAV_RELPOSNED:
if (packetUBXNAVRELPOSNED != NULL) result = true;
break;
}
}
break;
case UBX_CLASS_RXM:
{
switch (ID)
{
case UBX_RXM_SFRBX:
if (packetUBXRXMSFRBX != NULL) result = true;
break;
case UBX_RXM_RAWX:
if (packetUBXRXMRAWX != NULL) result = true;
break;
}
}
break;
case UBX_CLASS_CFG:
{
switch (ID)
{
case UBX_CFG_RATE:
if (packetUBXCFGRATE != NULL) result = true;
break;
}
}
break;
case UBX_CLASS_TIM:
{
switch (ID)
{
case UBX_TIM_TM2:
if (packetUBXTIMTM2 != NULL) result = true;
break;
}
}
break;
case UBX_CLASS_ESF:
{
switch (ID)
{
case UBX_ESF_ALG:
if (packetUBXESFALG != NULL) result = true;
break;
case UBX_ESF_INS:
if (packetUBXESFINS != NULL) result = true;
break;
case UBX_ESF_MEAS:
if (packetUBXESFMEAS != NULL) result = true;
break;
case UBX_ESF_RAW:
if (packetUBXESFRAW != NULL) result = true;
break;
case UBX_ESF_STATUS:
if (packetUBXESFSTATUS != NULL) result = true;
break;
}
}
break;
case UBX_CLASS_HNR:
{
switch (ID)
{
case UBX_HNR_PVT:
if (packetUBXHNRPVT != NULL) result = true;
break;
case UBX_HNR_ATT:
if (packetUBXHNRATT != NULL) result = true;
break;
case UBX_HNR_INS:
if (packetUBXHNRINS != NULL) result = true;
break;
}
}
break;
}
return (result);
}
//PRIVATE: Calculate how much RAM is needed to store the payload for a given automatic message
uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
{
uint16_t maxSize = 0;
switch (Class)
{
case UBX_CLASS_NAV:
{
switch (ID)
{
case UBX_NAV_POSECEF:
maxSize = UBX_NAV_POSECEF_LEN;
break;
case UBX_NAV_STATUS:
maxSize = UBX_NAV_STATUS_LEN;
break;
case UBX_NAV_DOP:
maxSize = UBX_NAV_DOP_LEN;
break;
case UBX_NAV_ATT:
maxSize = UBX_NAV_ATT_LEN;
break;
case UBX_NAV_PVT:
maxSize = UBX_NAV_PVT_LEN;
break;
case UBX_NAV_ODO:
maxSize = UBX_NAV_ODO_LEN;
break;
case UBX_NAV_VELECEF:
maxSize = UBX_NAV_VELECEF_LEN;
break;
case UBX_NAV_VELNED:
maxSize = UBX_NAV_VELNED_LEN;
break;
case UBX_NAV_HPPOSECEF:
maxSize = UBX_NAV_HPPOSECEF_LEN;
break;
case UBX_NAV_HPPOSLLH:
maxSize = UBX_NAV_HPPOSLLH_LEN;
break;
case UBX_NAV_CLOCK:
maxSize = UBX_NAV_CLOCK_LEN;
break;
case UBX_NAV_SVIN:
maxSize = UBX_NAV_SVIN_LEN;
break;
case UBX_NAV_RELPOSNED:
maxSize = UBX_NAV_RELPOSNED_LEN_F9;
break;
}
}
break;
case UBX_CLASS_RXM:
{
switch (ID)
{
case UBX_RXM_SFRBX:
maxSize = UBX_RXM_SFRBX_MAX_LEN;
break;
case UBX_RXM_RAWX:
maxSize = UBX_RXM_RAWX_MAX_LEN;
break;
}
}
break;
case UBX_CLASS_CFG:
{
switch (ID)
{
case UBX_CFG_RATE:
maxSize = UBX_CFG_RATE_LEN;
break;
}
}
break;
case UBX_CLASS_TIM:
{
switch (ID)
{
case UBX_TIM_TM2:
maxSize = UBX_TIM_TM2_LEN;
break;
}
}
break;
case UBX_CLASS_ESF:
{
switch (ID)
{
case UBX_ESF_ALG:
maxSize = UBX_ESF_ALG_LEN;
break;
case UBX_ESF_INS:
maxSize = UBX_ESF_INS_LEN;
break;
case UBX_ESF_MEAS:
maxSize = UBX_ESF_MEAS_MAX_LEN;
break;
case UBX_ESF_RAW:
maxSize = UBX_ESF_RAW_MAX_LEN;
break;
case UBX_ESF_STATUS:
maxSize = UBX_ESF_STATUS_MAX_LEN;
break;
}
}
break;
case UBX_CLASS_HNR:
{
switch (ID)
{
case UBX_HNR_PVT:
maxSize = UBX_HNR_PVT_LEN;
break;
case UBX_HNR_ATT:
maxSize = UBX_HNR_ATT_LEN;
break;
case UBX_HNR_INS:
maxSize = UBX_HNR_INS_LEN;
break;
}
}
break;
}
return (maxSize);
}
//Processes NMEA and UBX binary sentences one byte at a time
//Take a given byte and file it into the proper array
void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
{
if ((currentSentence == NONE) || (currentSentence == NMEA))
{
if (incoming == 0xB5) //UBX binary frames start with 0xB5, aka μ
{
//This is the start of a binary sentence. Reset flags.
//We still don't know the response class
ubxFrameCounter = 0;
currentSentence = UBX;
//Reset the packetBuf.counter even though we will need to reset it again when ubxFrameCounter == 2
packetBuf.counter = 0;
ignoreThisPayload = false; //We should not ignore this payload - yet
//Store data in packetBuf until we know if we have a requested class and ID match
activePacketBuffer = SFE_UBLOX_PACKET_PACKETBUF;
}
else if (incoming == '$')
{
currentSentence = NMEA;
}
else if (incoming == 0xD3) //RTCM frames start with 0xD3
{
rtcmFrameCounter = 0;
currentSentence = RTCM;
}
else
{
//This character is unknown or we missed the previous start of a sentence
}
}
//Depending on the sentence, pass the character to the individual processor
if (currentSentence == UBX)
{
//Decide what type of response this is
if ((ubxFrameCounter == 0) && (incoming != 0xB5)) //ISO 'μ'
currentSentence = NONE; //Something went wrong. Reset.
else if ((ubxFrameCounter == 1) && (incoming != 0x62)) //ASCII 'b'
currentSentence = NONE; //Something went wrong. Reset.
// Note to future self:
// There may be some duplication / redundancy in the next few lines as processUBX will also
// load information into packetBuf, but we'll do it here too for clarity
else if (ubxFrameCounter == 2) //Class
{
// Record the class in packetBuf until we know what to do with it
packetBuf.cls = incoming; // (Duplication)
rollingChecksumA = 0; //Reset our rolling checksums here (not when we receive the 0xB5)
rollingChecksumB = 0;
packetBuf.counter = 0; //Reset the packetBuf.counter (again)
packetBuf.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; // Reset the packet validity (redundant?)
packetBuf.startingSpot = incomingUBX->startingSpot; //Copy the startingSpot
}
else if (ubxFrameCounter == 3) //ID
{
// Record the ID in packetBuf until we know what to do with it
packetBuf.id = incoming; // (Duplication)
//We can now identify the type of response
//If the packet we are receiving is not an ACK then check for a class and ID match
if (packetBuf.cls != UBX_CLASS_ACK)
{
//This is not an ACK so check for a class and ID match
if ((packetBuf.cls == requestedClass) && (packetBuf.id == requestedID))
{
//This is not an ACK and we have a class and ID match
//So start diverting data into incomingUBX (usually packetCfg)
activePacketBuffer = SFE_UBLOX_PACKET_PACKETCFG;
incomingUBX->cls = packetBuf.cls; //Copy the class and ID into incomingUBX (usually packetCfg)
incomingUBX->id = packetBuf.id;
incomingUBX->counter = packetBuf.counter; //Copy over the .counter too
}
//This is not an ACK and we do not have a complete class and ID match
//So let's check if this is an "automatic" message which has its own storage defined
else if (checkAutomatic(packetBuf.cls, packetBuf.id))
{
//This is not the message we were expecting but it has its own storage and so we should process it anyway.
//We'll try to use packetAuto to buffer the message (so it can't overwrite anything in packetCfg).
//We need to allocate memory for the packetAuto payload (payloadAuto) - and delete it once
//reception is complete.
uint16_t maxPayload = getMaxPayloadSize(packetBuf.cls, packetBuf.id); // Calculate how much RAM we need
if (maxPayload == 0)
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("process: getMaxPayloadSize returned ZERO!! Class: 0x"));
_debugSerial->print(packetBuf.cls);
_debugSerial->print(F(" ID: 0x"));
_debugSerial->println(packetBuf.id);
}
}
if (payloadAuto != NULL) // Check if memory is already allocated - this should be impossible!
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("process: memory is already allocated for payloadAuto! Deleting..."));
}
delete[] payloadAuto;
payloadAuto = NULL; // Redundant?
packetAuto.payload = payloadAuto;
}
payloadAuto = new uint8_t[maxPayload]; // Allocate RAM for payloadAuto
packetAuto.payload = payloadAuto;
if (payloadAuto == NULL) // Check if the alloc failed
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("process: memory allocation failed for \"automatic\" message: Class: 0x"));
_debugSerial->print(packetBuf.cls, HEX);
_debugSerial->print(F(" ID: 0x"));
_debugSerial->println(packetBuf.id, HEX);
_debugSerial->println(F("process: \"automatic\" message could overwrite data"));
}
// The RAM allocation failed so fall back to using incomingUBX (usually packetCfg) even though we risk overwriting data
activePacketBuffer = SFE_UBLOX_PACKET_PACKETCFG;
incomingUBX->cls = packetBuf.cls; //Copy the class and ID into incomingUBX (usually packetCfg)
incomingUBX->id = packetBuf.id;
incomingUBX->counter = packetBuf.counter; //Copy over the .counter too
}
else
{
//The RAM allocation was successful so we start diverting data into packetAuto and process it
activePacketBuffer = SFE_UBLOX_PACKET_PACKETAUTO;
packetAuto.cls = packetBuf.cls; //Copy the class and ID into packetAuto
packetAuto.id = packetBuf.id;
packetAuto.counter = packetBuf.counter; //Copy over the .counter too
packetAuto.startingSpot = packetBuf.startingSpot; //And the starting spot? (Probably redundant)
if (_printDebug == true)
{
_debugSerial->print(F("process: incoming \"automatic\" message: Class: 0x"));
_debugSerial->print(packetBuf.cls, HEX);
_debugSerial->print(F(" ID: 0x"));
_debugSerial->println(packetBuf.id, HEX);
}
}
}
else
{
//This is not an ACK and we do not have a class and ID match
//so we should keep diverting data into packetBuf and ignore the payload
ignoreThisPayload = true;
}
}
else
{
// This is an ACK so it is to early to do anything with it
// We need to wait until we have received the length and data bytes
// So we should keep diverting data into packetBuf
}
}
else if (ubxFrameCounter == 4) //Length LSB
{
//We should save the length in packetBuf even if activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG
packetBuf.len = incoming; // (Duplication)
}
else if (ubxFrameCounter == 5) //Length MSB
{
//We should save the length in packetBuf even if activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG
packetBuf.len |= incoming << 8; // (Duplication)
}
else if (ubxFrameCounter == 6) //This should be the first byte of the payload unless .len is zero
{
if (packetBuf.len == 0) // Check if length is zero (hopefully this is impossible!)
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("process: ZERO LENGTH packet received: Class: 0x"));
_debugSerial->print(packetBuf.cls, HEX);
_debugSerial->print(F(" ID: 0x"));
_debugSerial->println(packetBuf.id, HEX);
}
//If length is zero (!) this will be the first byte of the checksum so record it
packetBuf.checksumA = incoming;
}
else
{
//The length is not zero so record this byte in the payload
packetBuf.payload[0] = incoming;
}
}
else if (ubxFrameCounter == 7) //This should be the second byte of the payload unless .len is zero or one
{
if (packetBuf.len == 0) // Check if length is zero (hopefully this is impossible!)
{
//If length is zero (!) this will be the second byte of the checksum so record it
packetBuf.checksumB = incoming;
}
else if (packetBuf.len == 1) // Check if length is one
{
//The length is one so this is the first byte of the checksum
packetBuf.checksumA = incoming;
}
else // Length is >= 2 so this must be a payload byte
{
packetBuf.payload[1] = incoming;
}
// Now that we have received two payload bytes, we can check for a matching ACK/NACK
if ((activePacketBuffer == SFE_UBLOX_PACKET_PACKETBUF) // If we are not already processing a data packet
&& (packetBuf.cls == UBX_CLASS_ACK) // and if this is an ACK/NACK
&& (packetBuf.payload[0] == requestedClass) // and if the class matches
&& (packetBuf.payload[1] == requestedID)) // and if the ID matches
{
if (packetBuf.len == 2) // Check if .len is 2
{
// Then this is a matching ACK so copy it into packetAck
activePacketBuffer = SFE_UBLOX_PACKET_PACKETACK;
packetAck.cls = packetBuf.cls;
packetAck.id = packetBuf.id;
packetAck.len = packetBuf.len;
packetAck.counter = packetBuf.counter;
packetAck.payload[0] = packetBuf.payload[0];
packetAck.payload[1] = packetBuf.payload[1];
}
else // Length is not 2 (hopefully this is impossible!)
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("process: ACK received with .len != 2: Class: 0x"));
_debugSerial->print(packetBuf.payload[0], HEX);
_debugSerial->print(F(" ID: 0x"));
_debugSerial->print(packetBuf.payload[1], HEX);
_debugSerial->print(F(" len: "));
_debugSerial->println(packetBuf.len);
}
}
}
}
//Divert incoming into the correct buffer
if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETACK)
processUBX(incoming, &packetAck, requestedClass, requestedID);
else if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG)
processUBX(incoming, incomingUBX, requestedClass, requestedID);
else if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETBUF)
processUBX(incoming, &packetBuf, requestedClass, requestedID);
else // if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETAUTO)
processUBX(incoming, &packetAuto, requestedClass, requestedID);
//Finally, increment the frame counter
ubxFrameCounter++;
}
else if (currentSentence == NMEA)
{
processNMEA(incoming); //Process each NMEA character
}
else if (currentSentence == RTCM)
{
processRTCMframe(incoming); //Deal with RTCM bytes
}
}
//This is the default or generic NMEA processor. We're only going to pipe the data to serial port so we can see it.
//User could overwrite this function to pipe characters to nmea.process(c) of tinyGPS or MicroNMEA
//Or user could pipe each character to a buffer, radio, etc.
void SFE_UBLOX_GNSS::processNMEA(char incoming)
{
//If user has assigned an output port then pipe the characters there
if (_nmeaOutputPort != NULL)
_nmeaOutputPort->write(incoming); //Echo this byte to the serial port
}
//We need to be able to identify an RTCM packet and then the length
//so that we know when the RTCM message is completely received and we then start
//listening for other sentences (like NMEA or UBX)
//RTCM packet structure is very odd. I never found RTCM STANDARD 10403.2 but
//http://d1.amobbs.com/bbs_upload782111/files_39/ourdev_635123CK0HJT.pdf is good
//https://dspace.cvut.cz/bitstream/handle/10467/65205/F3-BP-2016-Shkalikava-Anastasiya-Prenos%20polohove%20informace%20prostrednictvim%20datove%20site.pdf?sequence=-1
//Lead me to: https://forum.u-blox.com/index.php/4348/how-to-read-rtcm-messages-from-neo-m8p
//RTCM 3.2 bytes look like this:
//Byte 0: Always 0xD3
//Byte 1: 6-bits of zero
//Byte 2: 10-bits of length of this packet including the first two-ish header bytes, + 6.
//byte 3 + 4 bits: Msg type 12 bits
//Example: D3 00 7C 43 F0 ... / 0x7C = 124+6 = 130 bytes in this packet, 0x43F = Msg type 1087
void SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming)
{
if (rtcmFrameCounter == 1)
{
rtcmLen = (incoming & 0x03) << 8; //Get the last two bits of this byte. Bits 8&9 of 10-bit length
}
else if (rtcmFrameCounter == 2)
{
rtcmLen |= incoming; //Bits 0-7 of packet length
rtcmLen += 6; //There are 6 additional bytes of what we presume is header, msgType, CRC, and stuff
}
/*else if (rtcmFrameCounter == 3)
{
rtcmMsgType = incoming << 4; //Message Type, MS 4 bits
}