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Merged
merged 4 commits into from
Aug 10, 2021
Merged

v2.0.12 #57

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5039e51
Merge branch 'main' into release_candidate
PaulZC Aug 9, 2021
cad5529
i2cPollingWait improvements
PaulZC Aug 10, 2021
2f6a085
v2.0.12
PaulZC Aug 10, 2021
ff75d2a
Merge branch 'main' into release_candidate
PaulZC Aug 10, 2021
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2 changes: 1 addition & 1 deletion library.properties
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=SparkFun u-blox GNSS Arduino Library
version=2.0.11
version=2.0.12
author=SparkFun Electronics <[email protected]>
maintainer=SparkFun Electronics <sparkfun.com>
sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>
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90 changes: 68 additions & 22 deletions src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -715,11 +715,28 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
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.
uint8_t i2cError = _i2cPort->endTransmission(false); //Send a restart command. Do not release bus.
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
}

_i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)2);
if (_i2cPort->available())
uint8_t bytesReturned = _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (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
}
//if (_i2cPort->available())
{
uint8_t msb = _i2cPort->read();
uint8_t lsb = _i2cPort->read();
Expand All @@ -728,7 +745,8 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
//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"));
_debugSerial->print(F("checkUbloxI2C: u-blox bug? Length lsb is 0xFF. i2cPollingWait is "));
_debugSerial->println(i2cPollingWait);
}
if (debugPin >= 0)
{
Expand All @@ -739,6 +757,23 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
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;
}

Expand All @@ -762,17 +797,17 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
//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 ((_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
Expand Down Expand Up @@ -9615,10 +9650,13 @@ uint32_t SFE_UBLOX_GNSS::getProcessNMEAMask()
//Max is 40Hz(?!)
boolean SFE_UBLOX_GNSS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
{
//if(updateRate > 40) updateRate = 40; //Not needed: module will correct out of bounds values
if (navFreq > 40)
navFreq = 40; // Limit navFreq to 40Hz so i2cPollingWait is set correctly

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

//Query the module
packetCfg.cls = UBX_CLASS_CFG;
Expand Down Expand Up @@ -9664,8 +9702,12 @@ uint8_t SFE_UBLOX_GNSS::getNavigationFrequency(uint16_t maxWait)
//Set the elapsed time between GNSS measurements in milliseconds, which defines the rate
boolean SFE_UBLOX_GNSS::setMeasurementRate(uint16_t rate, uint16_t maxWait)
{
if (rate < 25) // "Measurement rate should be greater than or equal to 25 ms."
rate = 25;

//Adjust the I2C polling timeout based on update rate
i2cPollingWait = rate / 4; //This is the number of ms to wait between checks for new I2C data
i2cPollingWaitNAV = rate / 4; //This is the number of ms to wait between checks for new I2C data
i2cPollingWait = i2cPollingWaitNAV < i2cPollingWaitHNR ? i2cPollingWaitNAV : i2cPollingWaitHNR; // Set i2cPollingWait to the lower of NAV and HNR

//Query the module
packetCfg.cls = UBX_CLASS_CFG;
Expand Down Expand Up @@ -10950,6 +10992,14 @@ boolean SFE_UBLOX_GNSS::getSensorFusionStatus(UBX_ESF_STATUS_sensorStatus_t *sen
// Returns true if the setHNRNavigationRate is successful
boolean SFE_UBLOX_GNSS::setHNRNavigationRate(uint8_t rate, uint16_t maxWait)
{
if (rate > 40)
rate = 40; // Limit rate to 40Hz so i2cPollingWait is set correctly

//Adjust the I2C polling timeout based on update rate
//Do this even if the sendCommand is not ACK'd
i2cPollingWaitHNR = 1000 / (((int)rate) * 4); //This is the number of ms to wait between checks for new I2C data
i2cPollingWait = i2cPollingWaitNAV < i2cPollingWaitHNR ? i2cPollingWaitNAV : i2cPollingWaitHNR; // Set i2cPollingWait to the lower of NAV and HNR

packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_HNR;
packetCfg.len = 0;
Expand All @@ -10965,10 +11015,6 @@ boolean SFE_UBLOX_GNSS::setHNRNavigationRate(uint8_t rate, uint16_t maxWait)
//Update the navigation rate
sfe_ublox_status_e result = sendCommand(&packetCfg, maxWait); // We are only expecting an ACK

//Adjust the I2C polling timeout based on update rate
if (result == SFE_UBLOX_STATUS_DATA_SENT)
i2cPollingWait = 1000 / (((int)rate) * 4); //This is the number of ms to wait between checks for new I2C data

return (result == SFE_UBLOX_STATUS_DATA_SENT);
}

Expand Down
2 changes: 2 additions & 0 deletions src/SparkFun_u-blox_GNSS_Arduino_Library.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1351,6 +1351,8 @@ class SFE_UBLOX_GNSS
//If we are expecting an update every X Hz then we should check every quarter that amount of time
//Otherwise we may block ourselves from seeing new data
uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency() or setHNRNavigationRate() or setMeasurementRate()
uint8_t i2cPollingWaitNAV = 100; //We need to record the desired polling rate for standard nav messages
uint8_t i2cPollingWaitHNR = 100; //and for HNR too so we can set i2cPollingWait to the lower of the two

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