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Merged
merged 5 commits into from
Aug 3, 2022
Merged

v2.2.13 #148

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a1142c2
Make processRTCMframe weak
LeeLeahy2 Jul 30, 2022
cc6fe31
Merge pull request #147 from LeeLeahy2/process-rtcm
PaulZC Aug 1, 2022
f123e3f
Make sentence types less generic. Fix unused variable non-error.
PaulZC Aug 1, 2022
25d60b1
Whitespace and formatting changes
PaulZC Aug 1, 2022
11a8e40
v2.2.13
PaulZC Aug 3, 2022
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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=2.2.12
version=2.2.13
author=SparkFun Electronics <techsupport@sparkfun.com>
maintainer=SparkFun Electronics <sparkfun.com>
sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>
Expand Down
120 changes: 59 additions & 61 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 @@ -345,12 +345,12 @@ void SFE_UBLOX_GNSS::end(void)
{
if (packetUBXRXMQZSSL6message->callbackData != NULL)
{
delete [] packetUBXRXMQZSSL6message->callbackData;
delete[] packetUBXRXMQZSSL6message->callbackData;
}
delete packetUBXRXMQZSSL6message;
packetUBXRXMQZSSL6message = NULL; // Redundant?
}

if (packetUBXRXMCOR != NULL)
{
if (packetUBXRXMCOR->callbackData != NULL)
Expand Down Expand Up @@ -1284,15 +1284,15 @@ bool SFE_UBLOX_GNSS::checkUbloxSpi(ubxPacket *incomingUBX, uint8_t requestedClas

// If we are not receiving a sentence (currentSentence == NONE) and the byteReturned is 0xFF,
// i.e. the module has no data for us, then delay for
if ((byteReturned == 0xFF) && (currentSentence == NONE))
if ((byteReturned == 0xFF) && (currentSentence == SFE_UBLOX_SENTENCE_TYPE_NONE))
{
digitalWrite(_csPin, HIGH);
_spiPort->endTransaction();
delay(spiPollingWait);
return (true);
}

while ((byteReturned != 0xFF) || (currentSentence != NONE))
while ((byteReturned != 0xFF) || (currentSentence != SFE_UBLOX_SENTENCE_TYPE_NONE))
{
process(byteReturned, incomingUBX, requestedClass, requestedID);
byteReturned = _spiPort->transfer(0xFF);
Expand Down Expand Up @@ -1686,14 +1686,14 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
{
if (_outputPort != NULL)
_outputPort->write(incoming); // Echo this byte to the serial port
if ((currentSentence == NONE) || (currentSentence == NMEA))
if ((currentSentence == SFE_UBLOX_SENTENCE_TYPE_NONE) || (currentSentence == SFE_UBLOX_SENTENCE_TYPE_NMEA))
{
if (incoming == UBX_SYNCH_1) // 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;
currentSentence = SFE_UBLOX_SENTENCE_TYPE_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
Expand All @@ -1703,12 +1703,12 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
else if (incoming == '$')
{
nmeaByteCounter = 0; // Reset the NMEA byte counter
currentSentence = NMEA;
currentSentence = SFE_UBLOX_SENTENCE_TYPE_NMEA;
}
else if (incoming == 0xD3) // RTCM frames start with 0xD3
{
rtcmFrameCounter = 0;
currentSentence = RTCM;
currentSentence = SFE_UBLOX_SENTENCE_TYPE_RTCM;
}
else
{
Expand All @@ -1717,13 +1717,13 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
}

// Depending on the sentence, pass the character to the individual processor
if (currentSentence == UBX)
if (currentSentence == SFE_UBLOX_SENTENCE_TYPE_UBX)
{
// Decide what type of response this is
if ((ubxFrameCounter == 0) && (incoming != UBX_SYNCH_1)) // ISO 'μ'
currentSentence = NONE; // Something went wrong. Reset.
currentSentence = SFE_UBLOX_SENTENCE_TYPE_NONE; // Something went wrong. Reset.
else if ((ubxFrameCounter == 1) && (incoming != UBX_SYNCH_2)) // ASCII 'b'
currentSentence = NONE; // Something went wrong. Reset.
currentSentence = SFE_UBLOX_SENTENCE_TYPE_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
Expand Down Expand Up @@ -1936,15 +1936,15 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
// Finally, increment the frame counter
ubxFrameCounter++;
}
else if (currentSentence == NMEA) // Process incoming NMEA mesages. Selectively log if desired.
else if (currentSentence == SFE_UBLOX_SENTENCE_TYPE_NMEA) // Process incoming NMEA mesages. Selectively log if desired.
{
if ((nmeaByteCounter == 0) && (incoming != '$'))
{
currentSentence = NONE; // Something went wrong. Reset. (Almost certainly redundant!)
currentSentence = SFE_UBLOX_SENTENCE_TYPE_NONE; // Something went wrong. Reset. (Almost certainly redundant!)
}
else if ((nmeaByteCounter == 1) && (incoming != 'G'))
{
currentSentence = NONE; // Something went wrong. Reset.
currentSentence = SFE_UBLOX_SENTENCE_TYPE_NONE; // Something went wrong. Reset.
}
else if ((nmeaByteCounter >= 0) && (nmeaByteCounter <= 5))
{
Expand Down Expand Up @@ -2028,8 +2028,8 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r

nmeaByteCounter++; // Increment the byte counter

if (nmeaByteCounter == maxNMEAByteCount) // Check if we have processed too many bytes
currentSentence = NONE; // Something went wrong. Reset.
if (nmeaByteCounter == maxNMEAByteCount) // Check if we have processed too many bytes
currentSentence = SFE_UBLOX_SENTENCE_TYPE_NONE; // Something went wrong. Reset.

if (nmeaByteCounter == 0) // Check if we are done
{
Expand Down Expand Up @@ -2109,12 +2109,12 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
}
}
#endif
currentSentence = NONE; // All done!
currentSentence = SFE_UBLOX_SENTENCE_TYPE_NONE; // All done!
}
}
else if (currentSentence == RTCM)
else if (currentSentence == SFE_UBLOX_SENTENCE_TYPE_RTCM)
{
processRTCMframe(incoming); // Deal with RTCM bytes
currentSentence = processRTCMframe(incoming, &rtcmFrameCounter); // Deal with RTCM bytes
}
}

Expand Down Expand Up @@ -2876,13 +2876,15 @@ nmeaAutomaticFlags *SFE_UBLOX_GNSS::getNMEAFlagsPtr()
// 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)
SFE_UBLOX_GNSS::sfe_ublox_sentence_types_e SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming, uint16_t *rtcmFrameCounter)
{
if (rtcmFrameCounter == 1)
static uint16_t rtcmLen = 0;

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)
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
Expand All @@ -2896,25 +2898,19 @@ void SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming)
rtcmMsgType |= (incoming >> 4); //Message Type, bits 0-7
}*/

rtcmFrameCounter++;
*rtcmFrameCounter = *rtcmFrameCounter + 1;

processRTCM(incoming); // Here is where we expose this byte to the user

if (rtcmFrameCounter == rtcmLen)
{
// We're done!
currentSentence = NONE; // Reset and start looking for next sentence type
}
// Reset and start looking for next sentence type when done
return (*rtcmFrameCounter == rtcmLen) ? SFE_UBLOX_SENTENCE_TYPE_NONE : SFE_UBLOX_SENTENCE_TYPE_RTCM;
}

// This function is called for each byte of an RTCM frame
// Ths user can overwrite this function and process the RTCM frame as they please
// Bytes can be piped to Serial or other interface. The consumer could be a radio or the internet (Ntrip broadcaster)
void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
{
uint8_t ignoreMe = incoming;
ignoreMe += 0; // Do something with incoming just to get rid of the pesky compiler warning!

// Radio.sendReliable((String)incoming); //An example of passing this byte to a radio

//_debugSerial->write(incoming); //An example of passing this byte out the serial port
Expand All @@ -2924,6 +2920,8 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
// if(incoming < 0x10) _debugSerial->print(F("0"));
// _debugSerial->print(incoming, HEX);
// if(rtcmFrameCounter % 16 == 0) _debugSerial->println();

(void)incoming; // Do something with incoming just to get rid of the pesky compiler warning!
}

// Given a character, file it away into the uxb packet structure
Expand Down Expand Up @@ -2996,7 +2994,7 @@ void SFE_UBLOX_GNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_
{
incomingUBX->checksumB = incoming;

currentSentence = NONE; // We're done! Reset the sentence to being looking for a new start char
currentSentence = SFE_UBLOX_SENTENCE_TYPE_NONE; // We're done! Reset the sentence to being looking for a new start char

// Validate this sentence
if ((incomingUBX->checksumA == rollingChecksumA) && (incomingUBX->checksumB == rollingChecksumB))
Expand Down Expand Up @@ -3164,7 +3162,7 @@ void SFE_UBLOX_GNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_
if (overrun || ((incomingUBX->counter == maximum_payload_size + 6) && (ignoreThisPayload == false)))
{
// Something has gone very wrong
currentSentence = NONE; // Reset the sentence to being looking for a new start char
currentSentence = SFE_UBLOX_SENTENCE_TYPE_NONE; // Reset the sentence to being looking for a new start char
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
Expand Down Expand Up @@ -3616,8 +3614,8 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
packetUBXNAVTIMEUTC->moduleQueried.moduleQueried.all = 0xFFFFFFFF;

// Check if we need to copy the data for the callback
if ((packetUBXNAVTIMEUTC->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid == false)) // AND the data is stale
if ((packetUBXNAVTIMEUTC->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid == false)) // AND the data is stale
{
memcpy(&packetUBXNAVTIMEUTC->callbackData->iTOW, &packetUBXNAVTIMEUTC->data.iTOW, sizeof(UBX_NAV_TIMEUTC_data_t));
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid = true;
Expand Down Expand Up @@ -3944,10 +3942,12 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
// Note: length is variable with version 0x01
// Note: the field positions depend on the version
{
// Full QZSSL6 message, including Class, ID and checksum
for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch ++) {
if (0 == (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid & (1 << ch))) {

// Full QZSSL6 message, including Class, ID and checksum
for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch++)
{
if (0 == (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid & (1 << ch)))
{

packetUBXRXMQZSSL6message->callbackData[ch].sync1 = UBX_SYNCH_1;
packetUBXRXMQZSSL6message->callbackData[ch].sync2 = UBX_SYNCH_2;
packetUBXRXMQZSSL6message->callbackData[ch].cls = UBX_CLASS_RXM;
Expand All @@ -3958,12 +3958,12 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
memcpy(packetUBXRXMQZSSL6message->callbackData[ch].payload, msg->payload, msg->len);

packetUBXRXMQZSSL6message->callbackData[ch].checksumA = msg->checksumA;
packetUBXRXMQZSSL6message->callbackData[ch].checksumB = msg->checksumB;
packetUBXRXMQZSSL6message->callbackData[ch].checksumB = msg->checksumB;

packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid |= (1 << ch);
break; // abort when added
}
}
}
}
else if (msg->id == UBX_RXM_COR)
{
Expand Down Expand Up @@ -4621,9 +4621,6 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::sendCommand(ubxPacket *outgoingUBX, uint16_t
// Returns false if sensor fails to respond to I2C traffic
sfe_ublox_status_e SFE_UBLOX_GNSS::sendI2cCommand(ubxPacket *outgoingUBX, uint16_t maxWait)
{
uint16_t ignoreMe = maxWait;
ignoreMe += 0; // Do something with maxWait just to avoid the pesky compiler warnings!

// From the integration guide:
// "The receiver does not provide any write access except for writing UBX and NMEA messages to the
// receiver, such as configuration or aiding data. Therefore, the register set mentioned in section Read
Expand Down Expand Up @@ -4755,6 +4752,8 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::sendI2cCommand(ubxPacket *outgoingUBX, uint16
if (_i2cPort->endTransmission() != 0)
return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); // Sensor did not ACK

(void)maxWait; // Do something with maxWait just to avoid the pesky compiler warnings!

return (SFE_UBLOX_STATUS_SUCCESS);
}

Expand Down Expand Up @@ -4785,7 +4784,7 @@ void SFE_UBLOX_GNSS::sendSerialCommand(ubxPacket *outgoingUBX)
void SFE_UBLOX_GNSS::spiTransfer(uint8_t byteToTransfer)
{
uint8_t returnedByte = _spiPort->transfer(byteToTransfer);
if ((spiBufferIndex < getSpiTransactionSize()) && (returnedByte != 0xFF || currentSentence != NONE))
if ((spiBufferIndex < getSpiTransactionSize()) && (returnedByte != 0xFF || currentSentence != SFE_UBLOX_SENTENCE_TYPE_NONE))
{
spiBuffer[spiBufferIndex] = returnedByte;
spiBufferIndex++;
Expand Down Expand Up @@ -5469,9 +5468,9 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXNAVPVAT->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}

if ((packetUBXNAVTIMEUTC != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVTIMEUTC->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
if ((packetUBXNAVTIMEUTC != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVTIMEUTC->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
{
if (packetUBXNAVTIMEUTC->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
{
Expand Down Expand Up @@ -5571,9 +5570,9 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXNAVAOPSTATUS->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}

if ((packetUBXNAVEOE != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVEOE->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVEOE->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
if ((packetUBXNAVEOE != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVEOE->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVEOE->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
{
if (packetUBXNAVEOE->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
{
Expand Down Expand Up @@ -5605,16 +5604,17 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXRXMPMPmessage->callbackPointerPtr(packetUBXRXMPMPmessage->callbackData); // Call the callback
packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXRXMQZSSL6message != NULL) && // If RAM has been allocated for message storage
(packetUBXRXMQZSSL6message->callbackData != NULL) && // If RAM has been allocated for the copy of the data
(packetUBXRXMQZSSL6message->callbackPointerPtr != NULL)) // If the pointer to the callback has been defined

if ((packetUBXRXMQZSSL6message != NULL) && // If RAM has been allocated for message storage
(packetUBXRXMQZSSL6message->callbackData != NULL) && // If RAM has been allocated for the copy of the data
(packetUBXRXMQZSSL6message->callbackPointerPtr != NULL)) // If the pointer to the callback has been defined
{
for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch ++) {
for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch++)
{
if (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid & (1 << ch)) // If the copy of the data is valid
{
packetUBXRXMQZSSL6message->callbackPointerPtr( &packetUBXRXMQZSSL6message->callbackData[ch] ); // Call the callback
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid &= ~(1 << ch); // clear it
packetUBXRXMQZSSL6message->callbackPointerPtr(&packetUBXRXMQZSSL6message->callbackData[ch]); // Call the callback
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid &= ~(1 << ch); // clear it
}
}
}
Expand Down Expand Up @@ -13130,7 +13130,6 @@ bool SFE_UBLOX_GNSS::initPacketUBXRXMQZSSL6message()
return (true);
}


bool SFE_UBLOX_GNSS::setRXMCORcallbackPtr(void (*callbackPointer)(UBX_RXM_COR_data_t *))
{
if (packetUBXRXMCOR == NULL)
Expand Down Expand Up @@ -17498,8 +17497,7 @@ uint16_t SFE_UBLOX_GNSS::getMagAcc(uint16_t maxWait)
// getGeoidSeparation is currently redundant. The geoid separation seems to only be provided in NMEA GGA and GNS messages.
int32_t SFE_UBLOX_GNSS::getGeoidSeparation(uint16_t maxWait)
{
uint16_t ignoreMe = maxWait;
ignoreMe += 0; // Do something with maxWait just to get rid of the pesky compiler warning
(void)maxWait; // Do something with maxWait just to get rid of the pesky compiler warning

return (0);
}
Expand Down
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