SparkFun_u-blox_GNSS_v3.h

/*
  An Arduino Library which allows you to communicate seamlessly with u-blox GNSS modules using the Configuration Interface

  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/15136
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  https://www.sparkfun.com/products/18037
  https://www.sparkfun.com/products/18719
  https://www.sparkfun.com/products/18774
  https://www.sparkfun.com/products/19663
  https://www.sparkfun.com/products/17722

  Original version by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
  v2.0 rework by Paul Clark @ SparkFun Electronics, December 31st, 2020
  v3.0 rework by Paul Clark @ SparkFun Electronics, December 8th, 2022

  https://github.com/sparkfun/SparkFun_u-blox_GNSS_v3

  This library is an updated version of the popular SparkFun u-blox GNSS Arduino Library.
  v3 uses the u-blox Configuration Interface (VALSET and VALGET) to:
  detect the module (during begin); configure message intervals; configure the base location; etc..

  This version of the library will not work with older GNSS modules.
  It is specifically written for newer modules like the ZED-F9P, ZED-F9R and MAX-M10S.
  For older modules, please use v2 of the library: https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library

  Development environment specifics:
  Arduino IDE 1.8.19

  SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
  The MIT License (MIT)
  Copyright (c) 2018 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.
*/

#pragma once

#include <Arduino.h>

#include <Wire.h>

#include <SPI.h>

#include "u-blox_GNSS.h"
#include "u-blox_external_typedefs.h"
#include "sfe_bus.h"

class SFE_UBLOX_GNSS : public DevUBLOXGNSS
{
public:
  SFE_UBLOX_GNSS() { _commType = COMM_TYPE_I2C; }

  ///////////////////////////////////////////////////////////////////////
  // begin()
  //
  // This method is called to initialize the SFE_UBLOX_GNSS library and connect to
  // the GNSS device. This method must be called before calling any other method
  // that interacts with the device.
  //
  // Begin will then return true if "signs of life" have been seen: reception of _any_ valid UBX packet or _any_ valid NMEA header.
  //
  // This method follows the standard startup pattern in SparkFun Arduino
  // libraries.
  //
  //  Parameter   Description
  //  ---------   ----------------------------
  //  wirePort    optional. The Wire port. If not provided, the default port is used
  //  address     optional. I2C Address. If not provided, the default address is used.
  //  retval      true on success, false on startup failure
  //
  // This methond is overridden, implementing two versions.
  //
  // Version 1:
  // User skips passing in an I2C object which then defaults to Wire.
  bool begin(uint8_t deviceAddress = kUBLOXGNSSDefaultAddress, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
    // Setup  I2C object and pass into the superclass
    setCommunicationBus(_i2cBus);

    // Initialize the I2C buss class i.e. setup default Wire port
    _i2cBus.init(deviceAddress);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

  // Version 2:
  //  User passes in an I2C object and an address (optional).
  bool begin(TwoWire &wirePort, uint8_t deviceAddress = kUBLOXGNSSDefaultAddress, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
    // Setup  I2C object and pass into the superclass
    setCommunicationBus(_i2cBus);

    // Give the I2C port provided by the user to the I2C bus class.
    _i2cBus.init(wirePort, deviceAddress);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

private:
  // I2C bus class
  SparkFun_UBLOX_GNSS::SfeI2C _i2cBus;
};

class SFE_UBLOX_GNSS_SPI : public DevUBLOXGNSS
{
public:
  SFE_UBLOX_GNSS_SPI() { _commType = COMM_TYPE_SPI; }

  ///////////////////////////////////////////////////////////////////////
  // begin()
  //
  // This method is called to initialize the ISM330DHCX library and connect to
  // the ISM330DHCX device. This method must be called before calling any other method
  // that interacts with the device.
  //
  // This method follows the standard startup pattern in SparkFun Arduino
  // libraries.
  //
  //  Parameter   Description
  //  ---------   ----------------------------
  //  spiPort     optional. The SPI port. If not provided, the default port is used
  //  SPISettings optional. SPI "transaction" settings are need for every data transfer.
  //												Default used if not provided.
  //  Chip Select mandatory. The chip select pin ("CS") can't be guessed, so must be provided.
  //  retval      true on success, false on startup failure
  //
  // This methond is overridden, implementing three versions.
  //
  // Version 1:
  // User skips passing in an SPI object which then defaults to SPI.

  bool begin(uint8_t cs, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
    // Setup a SPI object and pass into the superclass
    setCommunicationBus(_spiBus);

    // Initialize the SPI bus class with the chip select pin, SPI port defaults to SPI,
    // and SPI settings are set to class defaults.
    _spiBus.init(cs);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

  // Version 2:
  // User passes in an SPI object and SPISettings (optional).
  bool begin(SPIClass &spiPort, uint8_t cs, SPISettings ismSettings, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
    // Setup a SPI object and pass into the superclass
    setCommunicationBus(_spiBus);

    // Initialize the SPI bus class with provided SPI port, SPI setttings, and chip select pin.
    _spiBus.init(spiPort, ismSettings, cs, true);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

  // Version 3:
  // User passes in an SPI object and SPI speed (optional).
  bool begin(SPIClass &spiPort, uint8_t cs, uint32_t spiSpeed, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
    // Setup a SPI object and pass into the superclass
    setCommunicationBus(_spiBus);

    // Initialize the SPI bus class with provided SPI port, SPI setttings, and chip select pin.
    _spiBus.init(spiPort, spiSpeed, cs, true);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

private:
  // SPI bus class
  SparkFun_UBLOX_GNSS::SfeSPI _spiBus;
};

class SFE_UBLOX_GNSS_SERIAL : public DevUBLOXGNSS
{
public:
  SFE_UBLOX_GNSS_SERIAL() { _commType = COMM_TYPE_SERIAL; }

  ///////////////////////////////////////////////////////////////////////
  // begin()
  //
  // This method is called to initialize the SFE_UBLOX_GNSS library and connect to
  // the GNSS device. This method must be called before calling any other method
  // that interacts with the device.
  //
  // Begin will then return true if "signs of life" have been seen: reception of _any_ valid UBX packet or _any_ valid NMEA header.
  //
  // This method follows the standard startup pattern in SparkFun Arduino
  // libraries.
  //
  //  Parameter   Description
  //  ---------   ----------------------------
  //  serialPort  The Serial Stream
  //  retval      true on success, false on startup failure
  //
  bool begin(Stream &serialPort, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
    // Setup Serial object and pass into the superclass
    setCommunicationBus(_serialBus);

    // Initialize the Serial bus class
    _serialBus.init(serialPort);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

private:
  // I2C bus class
  SparkFun_UBLOX_GNSS::SfeSerial _serialBus;
};

class SFE_UBLOX_GNSS_SUPER : public DevUBLOXGNSS // A Super Class - all three in one
{
public:
  SFE_UBLOX_GNSS_SUPER(){};

  bool begin(uint8_t deviceAddress = kUBLOXGNSSDefaultAddress, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
     _commType = COMM_TYPE_I2C;

    // Setup  I2C object and pass into the superclass
    setCommunicationBus(_i2cBus);

    // Initialize the I2C buss class i.e. setup default Wire port
    _i2cBus.init(deviceAddress);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

  bool begin(TwoWire &wirePort, uint8_t deviceAddress = kUBLOXGNSSDefaultAddress, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
     _commType = COMM_TYPE_I2C;

    // Setup  I2C object and pass into the superclass
    setCommunicationBus(_i2cBus);

    // Give the I2C port provided by the user to the I2C bus class.
    _i2cBus.init(wirePort, deviceAddress);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

  bool begin(SPIClass &spiPort, uint8_t cs, SPISettings ismSettings, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
     _commType = COMM_TYPE_SPI;

    // Setup a SPI object and pass into the superclass
    setCommunicationBus(_spiBus);

    // Initialize the SPI bus class with provided SPI port, SPI setttings, and chip select pin.
    _spiBus.init(spiPort, ismSettings, cs, true);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

  bool begin(SPIClass &spiPort, uint8_t cs, uint32_t spiSpeed = 4000000, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
     _commType = COMM_TYPE_SPI;

    // Setup a SPI object and pass into the superclass
    setCommunicationBus(_spiBus);

    // Initialize the SPI bus class with provided SPI port, SPI setttings, and chip select pin.
    _spiBus.init(spiPort, spiSpeed, cs, true);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

  bool begin(Stream &serialPort, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait, bool assumeSuccess = false)
  {
     _commType = COMM_TYPE_SERIAL;

    // Setup Serial object and pass into the superclass
    setCommunicationBus(_serialBus);

    // Initialize the Serial bus class
    _serialBus.init(serialPort);

    // Initialize the system - return results
    return this->DevUBLOXGNSS::init(maxWait, assumeSuccess);
  }

private:
  SparkFun_UBLOX_GNSS::SfeI2C _i2cBus;
  SparkFun_UBLOX_GNSS::SfeSPI _spiBus;
  SparkFun_UBLOX_GNSS::SfeSerial _serialBus;
};