PlatformIO-Libs/SparkFunGNSS
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AssistNow_Online Example1 is working nicely!

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TO DO:
Overload (?) pushAssistNowData so it can accept uint8_t * as the data source, instead of a String.
This commit is contained in:
PaulZC
2021-11-25 20:31:44 +00:00
parent 28e7c12b32
commit 19ff31b8b7
3 changed files with 111 additions and 50 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+58 -31
View File
@@ -1075,6 +1075,11 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
}
}
break;
case UBX_CLASS_MGA:
{
if (packetUBXMGAACK != NULL) result = true;
}
break;
case UBX_CLASS_HNR:
{
switch (ID)
@@ -1205,6 +1210,11 @@ uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
}
}
break;
case UBX_CLASS_MGA:
{
maxSize = UBX_MGA_ACK_DATA0_LEN;
}
break;
case UBX_CLASS_HNR:
{
switch (ID)
@@ -3973,7 +3983,7 @@ bool SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes, bool s
// Check for UBX-MGA-ACK responses if required (if mgaAck is YES or ENQUIRE)
// Wait for maxWait millis after sending each packet (if mgaAck is NO)
// Return how many MGA packets were pushed successfully
uint16_t SFE_UBLOX_GNSS::pushAssistNowData(uint8_t *dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
uint16_t SFE_UBLOX_GNSS::pushAssistNowData(String dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
{
size_t dataPtr = 0; // Pointer into dataBytes
uint16_t packetsProcessed = 0; // Keep count of how many packets have been processed
@@ -3986,9 +3996,15 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(uint8_t *dataBytes, size_t numDataByt
uint8_t ackAiding = getAckAiding(maxWait); // Enquire if we should expect Acks
if (ackAiding == 1)
checkForAcks = true;
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: mgaAck is ENQUIRE. getAckAiding returned "));
_debugSerial->println(ackAiding);
}
}
// If checkForAcks is true, then we need to set up storage for the UBX-MGA-ACK-DATA0 messages and use the callback
// If checkForAcks is true, then we need to set up storage for the UBX-MGA-ACK-DATA0 messages
if (checkForAcks)
{
if (packetUBXMGAACK == NULL) initPacketUBXMGAACK(); //Check that RAM has been allocated for the MGA_ACK data
@@ -4001,31 +4017,43 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(uint8_t *dataBytes, size_t numDataByt
// Start by checking the validity of the packet being pointed to
bool dataIsOK = true;
dataIsOK &= dataBytes[dataPtr + 0] == UBX_SYNCH_1; // Check for 0xB5
dataIsOK &= dataBytes[dataPtr + 1] == UBX_SYNCH_2; // Check for 0x62
dataIsOK &= dataBytes[dataPtr + 2] == UBX_CLASS_MGA; // Check for class UBX-MGA
dataIsOK &= (dataBytes[dataPtr + 0] == UBX_SYNCH_1); // Check for 0xB5
dataIsOK &= (dataBytes[dataPtr + 1] == UBX_SYNCH_2); // Check for 0x62
dataIsOK &= (dataBytes[dataPtr + 2] == UBX_CLASS_MGA); // Check for class UBX-MGA
size_t packetLength = (size_t)dataBytes[dataPtr + 4] + ((size_t)dataBytes[dataPtr + 5] << 8); // Extract the length
size_t packetLength = ((size_t)dataBytes[dataPtr + 4]) | (((size_t)dataBytes[dataPtr + 5]) << 8); // Extract the length
uint8_t checksumA = 0;
uint8_t checksumB = 0;
// Calculate the checksum bytes
// Keep going until the end of the packet is reached (payloadPtr == (dataPtr + packetLength))
// or we reach the end of the AssistNow data (payloadPtr == numDataBytes)
for (size_t payloadPtr = dataPtr + ((size_t)6); (payloadPtr < (dataPtr + packetLength + ((size_t)6))) && (payloadPtr < numDataBytes); payloadPtr++)
for (size_t payloadPtr = dataPtr + ((size_t)2); (payloadPtr < (dataPtr + packetLength + ((size_t)6))) && (payloadPtr < numDataBytes); payloadPtr++)
{
checksumA += dataBytes[payloadPtr];
checksumB += checksumA;
}
// Check the checksum bytes
dataIsOK &= checksumA == dataBytes[dataPtr + packetLength + ((size_t)6)];
dataIsOK &= checksumB == dataBytes[dataPtr + packetLength + ((size_t)7)];
dataIsOK &= (dataPtr + packetLength + ((size_t)8)) <= numDataBytes; // Check we haven't overrun
dataIsOK &= (checksumA == dataBytes[dataPtr + packetLength + ((size_t)6)]);
dataIsOK &= (checksumB == dataBytes[dataPtr + packetLength + ((size_t)7)]);
dataIsOK &= ((dataPtr + packetLength + ((size_t)8)) <= numDataBytes); // Check we haven't overrun
// If the data is valid, push it
if (dataIsOK)
{
pushRawData((uint8_t *)&dataBytes[dataPtr], packetLength + ((size_t)8)); // Push the data
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: packet ID 0x"));
if (dataBytes[dataPtr + 3] < 0x10)
_debugSerial->print(F("0"));
_debugSerial->print(dataBytes[dataPtr + 3], HEX);
_debugSerial->print(F(" length "));
_debugSerial->println(packetLength);
}
if (checkForAcks)
{
unsigned long startTime = millis();
@@ -4036,26 +4064,21 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(uint8_t *dataBytes, size_t numDataByt
if (packetUBXMGAACK->head != packetUBXMGAACK->tail) // Does the MGA ACK ringbuffer contain any ACK's?
{
bool dataAckd = true; // Check if we've received the correct ACK
dataAckd &= packetUBXMGAACK->data[packetUBXMGAACK->tail].msgId == dataBytes[dataPtr + 3];
dataAckd &= packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[0] == dataBytes[dataPtr + 6];
dataAckd &= packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[1] == dataBytes[dataPtr + 7];
dataAckd &= packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[2] == dataBytes[dataPtr + 8];
dataAckd &= packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[3] == dataBytes[dataPtr + 9];
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgId == dataBytes[dataPtr + 3]); // Check if the message ID matches
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[0] == dataBytes[dataPtr + 6]); // Check if the first four data bytes match
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[1] == dataBytes[dataPtr + 7]);
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[2] == dataBytes[dataPtr + 8]);
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[3] == dataBytes[dataPtr + 9]);
if (dataAckd) // Is this the ACK we are looking for?
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: packet ID 0x"));
if (dataBytes[dataPtr + 3] < 0x10)
_debugSerial->print(F("0"));
_debugSerial->print(dataBytes[dataPtr + 3], HEX);
}
if ((packetUBXMGAACK->data[packetUBXMGAACK->tail].type == (uint8_t)1) && (packetUBXMGAACK->data[packetUBXMGAACK->tail].infoCode == (uint8_t)SFE_UBLOX_MGA_ACK_INFOCODE_ACCEPTED))
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F(" was accepted"));
_debugSerial->print(F("pushAssistNowData: packet was accepted after "));
_debugSerial->print(millis() - startTime);
_debugSerial->println(F(" ms"));
}
packetsProcessed++;
}
@@ -4063,7 +4086,7 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(uint8_t *dataBytes, size_t numDataByt
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F(" was _not_ accepted. infoCode is "));
_debugSerial->print(F("pushAssistNowData: packet was _not_ accepted. infoCode is "));
_debugSerial->println(packetUBXMGAACK->data[packetUBXMGAACK->tail].infoCode);
}
}
@@ -4079,16 +4102,14 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(uint8_t *dataBytes, size_t numDataByt
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: packet ID 0x"));
if (dataBytes[dataPtr + 3] < 0x10)
_debugSerial->print(F("0"));
_debugSerial->print(dataBytes[dataPtr + 3], HEX);
_debugSerial->println(F(" timed out!"));
_debugSerial->println(F("pushAssistNowData: packet ack timed out!"));
}
}
}
else
{
// We are not checking for Acks, so let's assume the send was successful?
packetsProcessed++;
// We are not checking for Acks, so delay for maxWait millis unless we've reached the end of the data
if ((dataPtr + packetLength + ((size_t)8)) < numDataBytes)
{
@@ -4103,7 +4124,7 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(uint8_t *dataBytes, size_t numDataByt
// The data was invalid. Send a debug message and then try to find the next 0xB5
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: bad data - ignored! dataPtr is"));
_debugSerial->print(F("pushAssistNowData: bad data - ignored! dataPtr is "));
_debugSerial->println(dataPtr);
}
@@ -4114,6 +4135,12 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(uint8_t *dataBytes, size_t numDataByt
}
}
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: packetsProcessed: "));
_debugSerial->println(packetsProcessed);
}
return (packetsProcessed);
}
@@ -5615,7 +5642,7 @@ bool SFE_UBLOX_GNSS::setAckAiding(uint8_t ackAiding, uint16_t maxWait) // Set th
// There are three versions of UBX-CFG-NAVX5 but the ackAid flag is always in bit 10 of mask1
payloadCfg[2] = 0x00; // Clear the LS byte of mask1
payloadCfg[3] = 0x40; // Set _only_ the ackAid flag = bit 10 of mask1 = bit 2 of the MS byte
payloadCfg[3] = 0x04; // Set _only_ the ackAid flag = bit 10 of mask1 = bit 2 of the MS byte
payloadCfg[4] = 0x00; // Clear the LS byte of mask2, just in case
payloadCfg[5] = 0x00; // Clear the LS byte of mask2, just in case