Skip to content

Commit c3bb47c

Browse files
PaulZCPaulZC
authored
Merge pull request #57 from sparkfun/release_candidate
v2.0.12
2 parents 99f261a + ff75d2a commit c3bb47c

3 files changed

+71
-23
lines changed

Diff for: ‎library.properties

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
name=SparkFun u-blox GNSS Arduino Library
2-
version=2.0.11
2+
version=2.0.12
33
author=SparkFun Electronics <[email protected]>
44
maintainer=SparkFun Electronics <sparkfun.com>
55
sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>

Diff for: ‎src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

+68-22
Original file line numberDiff line numberDiff line change
@@ -715,11 +715,28 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
715715
uint16_t bytesAvailable = 0;
716716
_i2cPort->beginTransmission(_gpsI2Caddress);
717717
_i2cPort->write(0xFD); //0xFD (MSB) and 0xFE (LSB) are the registers that contain number of bytes available
718-
if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
718+
uint8_t i2cError = _i2cPort->endTransmission(false); //Send a restart command. Do not release bus.
719+
if (i2cError != 0)
720+
{
721+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
722+
{
723+
_debugSerial->print(F("checkUbloxI2C: I2C error: endTransmission returned "));
724+
_debugSerial->println(i2cError);
725+
}
719726
return (false); //Sensor did not ACK
727+
}
720728

721-
_i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)2);
722-
if (_i2cPort->available())
729+
uint8_t bytesReturned = _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)2);
730+
if (bytesReturned != 2)
731+
{
732+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
733+
{
734+
_debugSerial->print(F("checkUbloxI2C: I2C error: requestFrom 0xFD returned "));
735+
_debugSerial->println(bytesReturned);
736+
}
737+
return (false); //Sensor did not return 2 bytes
738+
}
739+
//if (_i2cPort->available())
723740
{
724741
uint8_t msb = _i2cPort->read();
725742
uint8_t lsb = _i2cPort->read();
@@ -728,7 +745,8 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
728745
//I believe this is a u-blox bug. Device should never present an 0xFF.
729746
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
730747
{
731-
_debugSerial->println(F("checkUbloxI2C: u-blox bug, length lsb is 0xFF"));
748+
_debugSerial->print(F("checkUbloxI2C: u-blox bug? Length lsb is 0xFF. i2cPollingWait is "));
749+
_debugSerial->println(i2cPollingWait);
732750
}
733751
if (debugPin >= 0)
734752
{
@@ -739,6 +757,23 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
739757
lastCheck = millis(); //Put off checking to avoid I2C bus traffic
740758
return (false);
741759
}
760+
// if (msb == 0xFF)
761+
// {
762+
// //I believe this is a u-blox bug. Device should never present an 0xFF.
763+
// if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
764+
// {
765+
// _debugSerial->print(F("checkUbloxI2C: u-blox bug? Length msb is 0xFF. i2cPollingWait is "));
766+
// _debugSerial->println(i2cPollingWait);
767+
// }
768+
// if (debugPin >= 0)
769+
// {
770+
// digitalWrite((uint8_t)debugPin, LOW);
771+
// delay(10);
772+
// digitalWrite((uint8_t)debugPin, HIGH);
773+
// }
774+
// lastCheck = millis(); //Put off checking to avoid I2C bus traffic
775+
// return (false);
776+
// }
742777
bytesAvailable = (uint16_t)msb << 8 | lsb;
743778
}
744779

@@ -762,17 +797,17 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
762797
//Clear the MSbit
763798
bytesAvailable &= ~((uint16_t)1 << 15);
764799

765-
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
766-
{
767-
_debugSerial->print(F("checkUbloxI2C: Bytes available error: "));
768-
_debugSerial->println(bytesAvailable);
769-
if (debugPin >= 0)
770-
{
771-
digitalWrite((uint8_t)debugPin, LOW);
772-
delay(10);
773-
digitalWrite((uint8_t)debugPin, HIGH);
774-
}
775-
}
800+
// if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
801+
// {
802+
// _debugSerial->print(F("checkUbloxI2C: Bytes available error: "));
803+
// _debugSerial->println(bytesAvailable);
804+
// if (debugPin >= 0)
805+
// {
806+
// digitalWrite((uint8_t)debugPin, LOW);
807+
// delay(10);
808+
// digitalWrite((uint8_t)debugPin, HIGH);
809+
// }
810+
// }
776811
}
777812

778813
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
@@ -9615,10 +9650,13 @@ uint32_t SFE_UBLOX_GNSS::getProcessNMEAMask()
96159650
//Max is 40Hz(?!)
96169651
boolean SFE_UBLOX_GNSS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
96179652
{
9618-
//if(updateRate > 40) updateRate = 40; //Not needed: module will correct out of bounds values
9653+
if (navFreq > 40)
9654+
navFreq = 40; // Limit navFreq to 40Hz so i2cPollingWait is set correctly
96199655

96209656
//Adjust the I2C polling timeout based on update rate
9621-
i2cPollingWait = 1000 / (((int)navFreq) * 4); //This is the number of ms to wait between checks for new I2C data
9657+
//Do this even if the sendCommand fails
9658+
i2cPollingWaitNAV = 1000 / (((int)navFreq) * 4); //This is the number of ms to wait between checks for new I2C data
9659+
i2cPollingWait = i2cPollingWaitNAV < i2cPollingWaitHNR ? i2cPollingWaitNAV : i2cPollingWaitHNR; // Set i2cPollingWait to the lower of NAV and HNR
96229660

96239661
//Query the module
96249662
packetCfg.cls = UBX_CLASS_CFG;
@@ -9664,8 +9702,12 @@ uint8_t SFE_UBLOX_GNSS::getNavigationFrequency(uint16_t maxWait)
96649702
//Set the elapsed time between GNSS measurements in milliseconds, which defines the rate
96659703
boolean SFE_UBLOX_GNSS::setMeasurementRate(uint16_t rate, uint16_t maxWait)
96669704
{
9705+
if (rate < 25) // "Measurement rate should be greater than or equal to 25 ms."
9706+
rate = 25;
9707+
96679708
//Adjust the I2C polling timeout based on update rate
9668-
i2cPollingWait = rate / 4; //This is the number of ms to wait between checks for new I2C data
9709+
i2cPollingWaitNAV = rate / 4; //This is the number of ms to wait between checks for new I2C data
9710+
i2cPollingWait = i2cPollingWaitNAV < i2cPollingWaitHNR ? i2cPollingWaitNAV : i2cPollingWaitHNR; // Set i2cPollingWait to the lower of NAV and HNR
96699711

96709712
//Query the module
96719713
packetCfg.cls = UBX_CLASS_CFG;
@@ -10950,6 +10992,14 @@ boolean SFE_UBLOX_GNSS::getSensorFusionStatus(UBX_ESF_STATUS_sensorStatus_t *sen
1095010992
// Returns true if the setHNRNavigationRate is successful
1095110993
boolean SFE_UBLOX_GNSS::setHNRNavigationRate(uint8_t rate, uint16_t maxWait)
1095210994
{
10995+
if (rate > 40)
10996+
rate = 40; // Limit rate to 40Hz so i2cPollingWait is set correctly
10997+
10998+
//Adjust the I2C polling timeout based on update rate
10999+
//Do this even if the sendCommand is not ACK'd
11000+
i2cPollingWaitHNR = 1000 / (((int)rate) * 4); //This is the number of ms to wait between checks for new I2C data
11001+
i2cPollingWait = i2cPollingWaitNAV < i2cPollingWaitHNR ? i2cPollingWaitNAV : i2cPollingWaitHNR; // Set i2cPollingWait to the lower of NAV and HNR
11002+
1095311003
packetCfg.cls = UBX_CLASS_CFG;
1095411004
packetCfg.id = UBX_CFG_HNR;
1095511005
packetCfg.len = 0;
@@ -10965,10 +11015,6 @@ boolean SFE_UBLOX_GNSS::setHNRNavigationRate(uint8_t rate, uint16_t maxWait)
1096511015
//Update the navigation rate
1096611016
sfe_ublox_status_e result = sendCommand(&packetCfg, maxWait); // We are only expecting an ACK
1096711017

10968-
//Adjust the I2C polling timeout based on update rate
10969-
if (result == SFE_UBLOX_STATUS_DATA_SENT)
10970-
i2cPollingWait = 1000 / (((int)rate) * 4); //This is the number of ms to wait between checks for new I2C data
10971-
1097211018
return (result == SFE_UBLOX_STATUS_DATA_SENT);
1097311019
}
1097411020

Diff for: ‎src/SparkFun_u-blox_GNSS_Arduino_Library.h

+2
Original file line numberDiff line numberDiff line change
@@ -1351,6 +1351,8 @@ class SFE_UBLOX_GNSS
13511351
//If we are expecting an update every X Hz then we should check every quarter that amount of time
13521352
//Otherwise we may block ourselves from seeing new data
13531353
uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency() or setHNRNavigationRate() or setMeasurementRate()
1354+
uint8_t i2cPollingWaitNAV = 100; //We need to record the desired polling rate for standard nav messages
1355+
uint8_t i2cPollingWaitHNR = 100; //and for HNR too so we can set i2cPollingWait to the lower of the two
13541356

13551357
//The SPI polling wait is a little different. checkUbloxSpi will delay for this amount before returning if
13561358
//there is no data waiting to be read. This prevents waitForACKResponse from pounding the SPI bus too hard.

0 commit comments

Comments
 (0)