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Send command return corrections #88

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Apr 16, 2020
Merged

Send command return corrections #88

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5f916bc
Work in progress: corrections for sendCommand return values
PaulZC Apr 15, 2020
bd00cde
Corrections for the sendCommand return value
PaulZC Apr 16, 2020
38c9edc
Merge branch 'master' into sendCommand_return_corrections
PaulZC Apr 16, 2020
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129 changes: 56 additions & 73 deletions src/SparkFun_Ublox_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -224,7 +224,12 @@ void SFE_UBLOX_GPS::setSerialRate(uint32_t baudrate, uint8_t uartPort, uint16_t
_debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
}

sendCommand(packetCfg, maxWait);
sfe_ublox_status_e retVal = sendCommand(packetCfg, maxWait);
if (_printDebug == true)
{
_debugSerial->print(F("setSerialRate: sendCommand returned: "));
_debugSerial->println(statusString(retVal));
}
}

//Changes the I2C address that the Ublox module responds to
Expand All @@ -242,7 +247,7 @@ boolean SFE_UBLOX_GPS::setI2CAddress(uint8_t deviceAddress, uint16_t maxWait)
//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[4] = deviceAddress << 1; //DDC mode LSB

if (sendCommand(packetCfg, maxWait) == true)
if (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT) // We are only expecting an ACK
{
//Success! Now change our internal global.
_gpsI2Caddress = deviceAddress; //Store the I2C address from user
Expand Down Expand Up @@ -975,7 +980,7 @@ boolean SFE_UBLOX_GPS::isConnected(uint16_t maxWait)
packetCfg.len = 0;
packetCfg.startingSpot = 0;

return sendCommand(packetCfg, maxWait);
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are polling the RATE so we expect data and an ACK
}
return false;
}
Expand Down Expand Up @@ -1257,10 +1262,7 @@ boolean SFE_UBLOX_GPS::saveConfiguration(uint16_t maxWait)
packetCfg.payload[4] = 0xFF; //Set any bit in the saveMask field to save current config to Flash and BBR
packetCfg.payload[5] = 0xFF;

if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

return (true);
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
Expand All @@ -1281,10 +1283,7 @@ boolean SFE_UBLOX_GPS::saveConfigSelective(uint32_t configMask, uint16_t maxWait
packetCfg.payload[6] = (configMask >> 16) & 0xFF;
packetCfg.payload[7] = (configMask >> 24) & 0xFF;

if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

return (true);
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Reset module to factory defaults
Expand All @@ -1305,10 +1304,7 @@ boolean SFE_UBLOX_GPS::factoryDefault(uint16_t maxWait)
packetCfg.payload[8] = 0xFF; //Set any bit in the loadMask field to discard current config and rebuild from lower non-volatile memory layers
packetCfg.payload[9] = 0xFF;

if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

return (true);
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Given a group, ID and size, return the value of this config spot
Expand Down Expand Up @@ -1375,8 +1371,15 @@ uint8_t SFE_UBLOX_GPS::getVal8(uint32_t key, uint8_t layer, uint16_t maxWait)
}

//Send VALGET command with this key
if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

sfe_ublox_status_e retVal = sendCommand(packetCfg, maxWait);
if (_printDebug == true)
{
_debugSerial->print(F("getVal8: sendCommand returned: "));
_debugSerial->println(statusString(retVal));
}
if (retVal != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (0); //If command send fails then bail

//Verify the response is the correct length as compared to what the user called (did the module respond with 8-bits but the user called getVal32?)
//Response is 8 bytes plus cfg data
Expand Down Expand Up @@ -1425,11 +1428,7 @@ uint8_t SFE_UBLOX_GPS::setVal16(uint32_t key, uint16_t value, uint8_t layer, uin
payloadCfg[9] = value >> 8 * 1;

//Send VALSET command with this key and value
if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

//All done
return (true);
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Given a key, set an 8-bit value
Expand Down Expand Up @@ -1460,11 +1459,7 @@ uint8_t SFE_UBLOX_GPS::setVal8(uint32_t key, uint8_t value, uint8_t layer, uint1
payloadCfg[8] = value; //Value

//Send VALSET command with this key and value
if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

//All done
return (true);
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Given a key, set a 32-bit value
Expand Down Expand Up @@ -1498,11 +1493,7 @@ uint8_t SFE_UBLOX_GPS::setVal32(uint32_t key, uint32_t value, uint8_t layer, uin
payloadCfg[11] = value >> 8 * 3;

//Send VALSET command with this key and value
if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

//All done
return (true);
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Start defining a new UBX-CFG-VALSET ubxPacket
Expand Down Expand Up @@ -1674,11 +1665,7 @@ uint8_t SFE_UBLOX_GPS::sendCfgValset32(uint32_t key, uint32_t value, uint16_t ma
addCfgValset32(key, value);

//Send VALSET command with this key and value
if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

//All done
return (true);
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
Expand All @@ -1689,11 +1676,7 @@ uint8_t SFE_UBLOX_GPS::sendCfgValset16(uint32_t key, uint16_t value, uint16_t ma
addCfgValset16(key, value);

//Send VALSET command with this key and value
if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

//All done
return (true);
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
Expand All @@ -1704,11 +1687,7 @@ uint8_t SFE_UBLOX_GPS::sendCfgValset8(uint32_t key, uint8_t value, uint16_t maxW
addCfgValset8(key, value);

//Send VALSET command with this key and value
if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

//All done
return (true);
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Get the current TimeMode3 settings - these contain survey in statuses
Expand All @@ -1719,7 +1698,7 @@ boolean SFE_UBLOX_GPS::getSurveyMode(uint16_t maxWait)
packetCfg.len = 0;
packetCfg.startingSpot = 0;

return (sendCommand(packetCfg, maxWait));
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
}

//Control Survey-In for NEO-M8P
Expand Down Expand Up @@ -1748,7 +1727,7 @@ boolean SFE_UBLOX_GPS::setSurveyMode(uint8_t mode, uint16_t observationTime, flo
payloadCfg[29] = svinAccLimit >> 8;
payloadCfg[30] = svinAccLimit >> 16;

return (sendCommand(packetCfg, maxWait)); //Wait for ack
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Begin Survey-In for NEO-M8P
Expand Down Expand Up @@ -1779,7 +1758,7 @@ boolean SFE_UBLOX_GPS::getSurveyStatus(uint16_t maxWait)
packetCfg.len = 0;
packetCfg.startingSpot = 0;

if (sendCommand(packetCfg, maxWait) == false)
if ((sendCommand(packetCfg, maxWait)) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false); //If command send fails then bail

//We got a response, now parse the bits into the svin structure
Expand All @@ -1804,7 +1783,7 @@ boolean SFE_UBLOX_GPS::getPortSettings(uint8_t portID, uint16_t maxWait)

payloadCfg[0] = portID;

return (sendCommand(packetCfg, maxWait));
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
}

//Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
Expand Down Expand Up @@ -1833,7 +1812,7 @@ boolean SFE_UBLOX_GPS::setPortOutput(uint8_t portID, uint8_t outStreamSettings,
//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[14] = outStreamSettings; //OutProtocolMask LSB - Set outStream bits

return (sendCommand(packetCfg, maxWait));
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
Expand All @@ -1854,7 +1833,7 @@ boolean SFE_UBLOX_GPS::setPortInput(uint8_t portID, uint8_t inStreamSettings, ui
//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[12] = inStreamSettings; //InProtocolMask LSB - Set inStream bits

return (sendCommand(packetCfg, maxWait));
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Configure a port to output UBX, NMEA, RTCM3 or a combination thereof
Expand Down Expand Up @@ -1895,16 +1874,17 @@ boolean SFE_UBLOX_GPS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
packetCfg.len = 0;
packetCfg.startingSpot = 0;

if (sendCommand(packetCfg, maxWait) == false) //This will load the payloadCfg array with current settings of the given register
return (false); //If command send fails then bail
//This will load the payloadCfg array with current settings of the given register
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false); //If command send fails then bail

uint16_t measurementRate = 1000 / navFreq;

//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[0] = measurementRate & 0xFF; //measRate LSB
payloadCfg[1] = measurementRate >> 8; //measRate MSB

return (sendCommand(packetCfg, maxWait));
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Get the rate at which the module is outputting nav solutions
Expand All @@ -1916,8 +1896,9 @@ uint8_t SFE_UBLOX_GPS::getNavigationFrequency(uint16_t maxWait)
packetCfg.len = 0;
packetCfg.startingSpot = 0;

if (sendCommand(packetCfg, maxWait) == false) //This will load the payloadCfg array with current settings of the given register
return (0); //If command send fails then bail
//This will load the payloadCfg array with current settings of the given register
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (0); //If command send fails then bail

uint16_t measurementRate = 0;

Expand Down Expand Up @@ -1960,7 +1941,7 @@ boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, boolean implicitUpdate, uint16
payloadCfg[1] = UBX_NAV_PVT;
payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq.

bool ok = sendCommand(packetCfg, maxWait);
boolean ok = ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
if (ok)
{
autoPVT = enable;
Expand All @@ -1986,7 +1967,7 @@ boolean SFE_UBLOX_GPS::configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t
packetCfg.payload[1] = msgID;
packetCfg.payload[2 + portID] = sendRate; //Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every 2nd navigation solution.

return (sendCommand(packetCfg, maxWait));
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Enable a given message type, default of 1 per update rate (usually 1 per second)
Expand Down Expand Up @@ -2124,7 +2105,7 @@ boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t
payloadCfg[54] = currentGeofenceParams.rads[3] >> 16;
payloadCfg[55] = currentGeofenceParams.rads[3] >> 24;
}
return (sendCommand(packetCfg, maxWait)); //Wait for ack
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Clear all geofences using UBX-CFG-GEOFENCE
Expand All @@ -2146,7 +2127,7 @@ boolean SFE_UBLOX_GPS::clearGeofences(uint16_t maxWait)

currentGeofenceParams.numFences = 0; // Zero the number of geofences currently in use

return (sendCommand(packetCfg, maxWait)); //Wait for ack
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Clear the antenna control settings using UBX-CFG-ANT
Expand All @@ -2164,7 +2145,7 @@ boolean SFE_UBLOX_GPS::clearAntPIO(uint16_t maxWait)
payloadCfg[2] = 0xFF; // Antenna pin configuration: set pinSwitch and pinSCD to 31
payloadCfg[3] = 0xFF; // Antenna pin configuration: set pinOCD to 31, set reconfig bit

return (sendCommand(packetCfg, maxWait)); //Wait for ack
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Returns the combined geofence state using UBX-NAV-GEOFENCE
Expand All @@ -2175,7 +2156,8 @@ boolean SFE_UBLOX_GPS::getGeofenceState(geofenceState &currentGeofenceState, uin
packetCfg.len = 0;
packetCfg.startingSpot = 0;

if (sendCommand(packetCfg, maxWait) == false) //Ask module for the geofence status. Loads into payloadCfg.
//Ask module for the geofence status. Loads into payloadCfg.
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false);

currentGeofenceState.status = payloadCfg[5]; // Extract the status
Expand Down Expand Up @@ -2221,7 +2203,8 @@ boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait)
packetCfg.len = 0;
packetCfg.startingSpot = 0;

if (sendCommand(packetCfg, maxWait) == false) //Ask module for the current power management settings. Loads into payloadCfg.
//Ask module for the current power management settings. Loads into payloadCfg.
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false);

if (power_save)
Expand All @@ -2236,7 +2219,7 @@ boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait)
packetCfg.len = 2;
packetCfg.startingSpot = 0;

return (sendCommand(packetCfg, maxWait)); //Wait for ack
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Change the dynamic platform model using UBX-CFG-NAV5
Expand All @@ -2252,7 +2235,8 @@ boolean SFE_UBLOX_GPS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWai
packetCfg.len = 0;
packetCfg.startingSpot = 0;

if (sendCommand(packetCfg, maxWait) == false) //Ask module for the current navigation model settings. Loads into payloadCfg.
//Ask module for the current navigation model settings. Loads into payloadCfg.
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false);

payloadCfg[0] = 0x01; // mask: set only the dyn bit (0)
Expand All @@ -2262,7 +2246,7 @@ boolean SFE_UBLOX_GPS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWai
packetCfg.len = 36;
packetCfg.startingSpot = 0;

return (sendCommand(packetCfg, maxWait)); //Wait for ack
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Given a spot in the payload array, extract four bytes and build a long
Expand Down Expand Up @@ -2484,8 +2468,7 @@ boolean SFE_UBLOX_GPS::getHPPOSLLH(uint16_t maxWait)
packetCfg.id = UBX_NAV_HPPOSLLH;
packetCfg.len = 0;

return sendCommand(packetCfg, maxWait);
return (false); //If command send fails then bail
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are only expecting data (no ACK)
}

//Get the current 3D high precision positional accuracy - a fun thing to watch
Expand All @@ -2497,7 +2480,7 @@ uint32_t SFE_UBLOX_GPS::getPositionAccuracy(uint16_t maxWait)
packetCfg.len = 0;
packetCfg.startingSpot = 0;

if (sendCommand(packetCfg, maxWait) == false)
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
return (0); //If command send fails then bail

uint32_t tempAccuracy = extractLong(24); //We got a response, now extract a long beginning at a given position
Expand Down Expand Up @@ -2657,7 +2640,7 @@ boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
packetCfg.len = 0;
packetCfg.startingSpot = 40; //Start at first "extended software information" string

if (sendCommand(packetCfg, maxWait) == false)
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
return (false); //If command send fails then bail

//Payload should now contain ~220 characters (depends on module type)
Expand Down Expand Up @@ -2733,7 +2716,7 @@ boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
packetCfg.len = 0;
packetCfg.startingSpot = 0;

if (sendCommand(packetCfg, maxWait) == false)
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
return (false); //If command send fails then bail

//We got a response, now parse the bits
Expand Down