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Add EOE and TIMEUTC messaging.

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This commit is contained in:
rislec
2022-07-01 10:28:47 -04:00
parent d2e76e6aff
commit 2386888962
3 changed files with 567 additions and 0 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+511
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@@ -1295,6 +1295,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
if (packetUBXNAVDOP != NULL)
result = true;
break;
case UBX_NAV_EOE:
if (packetUBXNAVEOE != NULL)
result = true;
break;
case UBX_NAV_ATT:
if (packetUBXNAVATT != NULL)
result = true;
@@ -1307,6 +1311,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
if (packetUBXNAVODO != NULL)
result = true;
break;
case UBX_NAV_TIMEUTC:
if (packetUBXNAVTIMEUTC != NULL)
result = true;
break;
case UBX_NAV_VELECEF:
if (packetUBXNAVVELECEF != NULL)
result = true;
@@ -1487,6 +1495,9 @@ uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
case UBX_NAV_DOP:
maxSize = UBX_NAV_DOP_LEN;
break;
case UBX_NAV_EOE:
maxSize = UBX_NAV_EOE_LEN;
break;
case UBX_NAV_ATT:
maxSize = UBX_NAV_ATT_LEN;
break;
@@ -1496,6 +1507,9 @@ uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
case UBX_NAV_ODO:
maxSize = UBX_NAV_ODO_LEN;
break;
case UBX_NAV_TIMEUTC:
maxSize = UBX_NAV_TIMEUTC;
break;
case UBX_NAV_VELECEF:
maxSize = UBX_NAV_VELECEF_LEN;
break;
@@ -3231,6 +3245,31 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
}
}
}
else if (msg->id == UBX_NAV_EOE && msg->len == UBX_NAV_EOE_LEN)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
if (packetUBXNAVEOE != NULL)
{
packetUBXNAVEOE->data.iTOW = extractLong(msg, 0);
// Mark all datums as fresh (not read before)
packetUBXNAVEOE->moduleQueried.moduleQueried.all = 0xFFFFFFFF;
// Check if we need to copy the data for the callback
if ((packetUBXNAVEOE->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVEOE->automaticFlags.flags.bits.callbackCopyValid == false)) // AND the data is stale
{
memcpy(&packetUBXNAVEOE->callbackData->iTOW, &packetUBXNAVEOE->data.iTOW, sizeof(UBX_NAV_EOE_data_t));
packetUBXNAVEOE->automaticFlags.flags.bits.callbackCopyValid = true;
}
// Check if we need to copy the data into the file buffer
if (packetUBXNAVEOE->automaticFlags.flags.bits.addToFileBuffer)
{
storePacket(msg);
}
}
}
else if (msg->id == UBX_NAV_ATT && msg->len == UBX_NAV_ATT_LEN)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
@@ -3349,6 +3388,40 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
}
}
}
else if (msg->id == UBX_NAV_TIMEUTC && msg->len == UBX_NAV_TIMEUTC_LEN)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
if (packetUBXNAVTIMEUTC != NULL)
{
packetUBXNAVTIMEUTC->data.iTOW = extractLong(msg, 0);
packetUBXNAVTIMEUTC->data.tAcc = extractLong(msg, 4);
packetUBXNAVTIMEUTC->data.nano = extractSignedLong(msg, 8);
packetUBXNAVTIMEUTC->data.year = extractInt(msg, 12);
packetUBXNAVTIMEUTC->data.month = extractByte(msg, 14);
packetUBXNAVTIMEUTC->data.day = extractByte(msg, 15);
packetUBXNAVTIMEUTC->data.hour = extractByte(msg, 16);
packetUBXNAVTIMEUTC->data.min = extractByte(msg, 17);
packetUBXNAVTIMEUTC->data.sec = extractByte(msg, 18);
packetUBXNAVTIMEUTC->data.valid.all = extractByte(msg, 19);
// Mark all datums as fresh (not read before)
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
{
memcpy(&packetUBXNAVTIMEUTC->callbackData->iTOW, &packetUBXNAVTIMEUTC->data.iTOW, sizeof(UBX_NAV_TIMEUTC_data_t));
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid = true;
}
// Check if we need to copy the data into the file buffer
if (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.addToFileBuffer)
{
storePacket(msg);
}
}
}
else if (msg->id == UBX_NAV_VELECEF && msg->len == UBX_NAV_VELECEF_LEN)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
@@ -5182,6 +5255,25 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXNAVDOP->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->callbackPointer != NULL) // If the pointer to the callback has been defined
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callback for NAV EOE"));
packetUBXNAVEOE->callbackPointer(*packetUBXNAVEOE->callbackData); // Call the callback
}
if (packetUBXNAVEOE->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callbackPtr for NAV EOE"));
packetUBXNAVEOE->callbackPointerPtr(packetUBXNAVEOE->callbackData); // Call the callback
}
packetUBXNAVEOE->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXNAVATT != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVATT->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVATT->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
@@ -5239,6 +5331,25 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXNAVODO->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->callbackPointer != NULL) // If the pointer to the callback has been defined
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callback for NAV TIMEUTC"));
packetUBXNAVTIMEUTC->callbackPointer(*packetUBXNAVTIMEUTC->callbackData); // Call the callback
}
if (packetUBXNAVTIMEUTC->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callbackPtr for NAV TIMEUTC"));
packetUBXNAVTIMEUTC->callbackPointerPtr(packetUBXNAVTIMEUTC->callbackData); // Call the callback
}
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXNAVVELECEF != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVVELECEF->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVVELECEF->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
@@ -9864,6 +9975,217 @@ void SFE_UBLOX_GNSS::logNAVDOP(bool enabled)
packetUBXNAVDOP->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
}
// ***** EOE automatic support
bool SFE_UBLOX_GNSS::getEOE(uint16_t maxWait)
{
if (packetUBXNAVEOE == NULL)
initPacketUBXNAVEOE(); // Check that RAM has been allocated for the EOE data
if (packetUBXNAVEOE == NULL) // Bail if the RAM allocation failed
return (false);
if (packetUBXNAVEOE->automaticFlags.flags.bits.automatic && packetUBXNAVEOE->automaticFlags.flags.bits.implicitUpdate)
{
// The GPS is automatically reporting, we just check whether we got unread data
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEOE: Autoreporting"));
// }
checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_EOE);
return packetUBXNAVEOE->moduleQueried.moduleQueried.bits.all;
}
else if (packetUBXNAVEOE->automaticFlags.flags.bits.automatic && !packetUBXNAVEOE->automaticFlags.flags.bits.implicitUpdate)
{
// Someone else has to call checkUblox for us...
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEOE: Exit immediately"));
// }
return (false);
}
else
{
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEOE: Polling"));
// }
// The GPS is not automatically reporting navigation position so we have to poll explicitly
packetCfg.cls = UBX_CLASS_NAV;
packetCfg.id = UBX_NAV_EOE;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// The data is parsed as part of processing the response
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
return (true);
if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
{
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEOE: data in packetCfg was OVERWRITTEN by another message (but that's OK)"));
// }
return (true);
}
// if (_printDebug == true)
// {
// _debugSerial->print(F("getEOE retVal: "));
// _debugSerial->println(statusString(retVal));
// }
return (false);
}
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getEOE
// works.
bool SFE_UBLOX_GNSS::setAutoEOE(bool enable, uint16_t maxWait)
{
return setAutoEOErate(enable ? 1 : 0, true, maxWait);
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getEOE
// works.
bool SFE_UBLOX_GNSS::setAutoEOE(bool enable, bool implicitUpdate, uint16_t maxWait)
{
return setAutoEOErate(enable ? 1 : 0, implicitUpdate, maxWait);
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getEOE
// works.
bool SFE_UBLOX_GNSS::setAutoEOErate(uint8_t rate, bool implicitUpdate, uint16_t maxWait)
{
if (packetUBXNAVEOE == NULL)
initPacketUBXNAVEOE(); // Check that RAM has been allocated for the data
if (packetUBXNAVEOE == NULL) // Only attempt this if RAM allocation was successful
return false;
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_MSG;
packetCfg.len = 3;
packetCfg.startingSpot = 0;
payloadCfg[0] = UBX_CLASS_NAV;
payloadCfg[1] = UBX_NAV_EOE;
payloadCfg[2] = rate; // rate relative to navigation freq.
bool ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
if (ok)
{
packetUBXNAVEOE->automaticFlags.flags.bits.automatic = (rate > 0);
packetUBXNAVEOE->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
packetUBXNAVEOE->moduleQueried.moduleQueried.bits.all = false;
return ok;
}
// Enable automatic navigation message generation by the GNSS.
bool SFE_UBLOX_GNSS::setAutoEOEcallback(void (*callbackPointer)(UBX_NAV_EOE_data_t), uint16_t maxWait)
{
// Enable auto messages. Set implicitUpdate to false as we expect the user to call checkUblox manually.
bool result = setAutoEOE(true, false, maxWait);
if (!result)
return (result); // Bail if setAuto failed
if (packetUBXNAVEOE->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXNAVEOE->callbackData = new UBX_NAV_EOE_data_t; // Allocate RAM for the main struct
}
if (packetUBXNAVEOE->callbackData == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoEOEcallback: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVEOE->callbackPointer = callbackPointer;
return (true);
}
bool SFE_UBLOX_GNSS::setAutoEOEcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_EOE_data_t *), uint16_t maxWait)
{
// Enable auto messages. Set implicitUpdate to false as we expect the user to call checkUblox manually.
bool result = setAutoEOE(true, false, maxWait);
if (!result)
return (result); // Bail if setAuto failed
if (packetUBXNAVEOE->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXNAVEOE->callbackData = new UBX_NAV_EOE_data_t; // Allocate RAM for the main struct
}
if (packetUBXNAVEOE->callbackData == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoEOEcallbackPtr: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVEOE->callbackPointerPtr = callbackPointerPtr;
return (true);
}
// In case no config access to the GNSS is possible and EOE is send cyclically already
// set config to suitable parameters
bool SFE_UBLOX_GNSS::assumeAutoEOE(bool enabled, bool implicitUpdate)
{
if (packetUBXNAVEOE == NULL)
initPacketUBXNAVEOE(); // Check that RAM has been allocated for the data
if (packetUBXNAVEOE == NULL) // Only attempt this if RAM allocation was successful
return false;
bool changes = packetUBXNAVEOE->automaticFlags.flags.bits.automatic != enabled || packetUBXNAVEOE->automaticFlags.flags.bits.implicitUpdate != implicitUpdate;
if (changes)
{
packetUBXNAVEOE->automaticFlags.flags.bits.automatic = enabled;
packetUBXNAVEOE->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
return changes;
}
// PRIVATE: Allocate RAM for packetUBXNAVEOE and initialize it
bool SFE_UBLOX_GNSS::initPacketUBXNAVEOE()
{
packetUBXNAVEOE = new UBX_NAV_EOE_t; // Allocate RAM for the main struct
if (packetUBXNAVEOE == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVEOE: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVEOE->automaticFlags.flags.all = 0;
packetUBXNAVEOE->callbackPointer = NULL;
packetUBXNAVEOE->callbackPointerPtr = NULL;
packetUBXNAVEOE->callbackData = NULL;
packetUBXNAVEOE->moduleQueried.moduleQueried.all = 0;
return (true);
}
// Mark all the EOE data as read/stale. This is handy to get data alignment after CRC failure
void SFE_UBLOX_GNSS::flushEOE()
{
if (packetUBXNAVEOE == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXNAVEOE->moduleQueried.moduleQueried.all = 0; // Mark all EOEs as stale (read before)
}
// Log this data in file buffer
void SFE_UBLOX_GNSS::logNAVEOE(bool enabled)
{
if (packetUBXNAVEOE == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXNAVEOE->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
}
// ***** VEH ATT automatic support
bool SFE_UBLOX_GNSS::getVehAtt(uint16_t maxWait)
@@ -10475,6 +10797,195 @@ void SFE_UBLOX_GNSS::logNAVODO(bool enabled)
packetUBXNAVODO->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
}
// ***** NAV TIMEUTC automatic support
bool SFE_UBLOX_GNSS::getNAVTIMEUTC(uint16_t maxWait)
{
if (packetUBXNAVTIMEUTC == NULL)
initPacketUBXNAVTIMEUTC(); // Check that RAM has been allocated for the TIMEUTC data
if (packetUBXNAVTIMEUTC == NULL) // Bail if the RAM allocation failed
return (false);
if (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.automatic && packetUBXNAVTIMEUTC->automaticFlags.flags.bits.implicitUpdate)
{
// The GPS is automatically reporting, we just check whether we got unread data
checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_TIMEUTC);
return packetUBXNAVTIMEUTC->moduleQueried.moduleQueried.bits.all;
}
else if (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.automatic && !packetUBXNAVTIMEUTC->automaticFlags.flags.bits.implicitUpdate)
{
// Someone else has to call checkUblox for us...
return (false);
}
else
{
// The GPS is not automatically reporting navigation position so we have to poll explicitly
packetCfg.cls = UBX_CLASS_NAV;
packetCfg.id = UBX_NAV_TIMEUTC;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// The data is parsed as part of processing the response
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
return (true);
if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
{
return (true);
}
return (false);
}
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getTIMEUTC
// works.
bool SFE_UBLOX_GNSS::setAutoNAVTIMEUTC(bool enable, uint16_t maxWait)
{
return setAutoNAVTIMEUTCrate(enable ? 1 : 0, true, maxWait);
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getTIMEUTC
// works.
bool SFE_UBLOX_GNSS::setAutoNAVTIMEUTC(bool enable, bool implicitUpdate, uint16_t maxWait)
{
return setAutoNAVTIMEUTCrate(enable ? 1 : 0, implicitUpdate, maxWait);
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getTIMEUTC
// works.
bool SFE_UBLOX_GNSS::setAutoNAVTIMEUTCrate(uint8_t rate, bool implicitUpdate, uint16_t maxWait)
{
if (packetUBXNAVTIMEUTC == NULL)
initPacketUBXNAVTIMEUTC(); // Check that RAM has been allocated for the data
if (packetUBXNAVTIMEUTC == NULL) // Only attempt this if RAM allocation was successful
return false;
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_MSG;
packetCfg.len = 3;
packetCfg.startingSpot = 0;
payloadCfg[0] = UBX_CLASS_NAV;
payloadCfg[1] = UBX_NAV_TIMEUTC;
payloadCfg[2] = rate; // rate relative to navigation freq.
bool ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
if (ok)
{
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.automatic = (rate > 0);
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
packetUBXNAVTIMEUTC->moduleQueried.moduleQueried.bits.all = false;
return ok;
}
// Enable automatic navigation message generation by the GNSS.
bool SFE_UBLOX_GNSS::setAutoNAVTIMEUTCcallback(void (*callbackPointer)(UBX_NAV_TIMEUTC_data_t), uint16_t maxWait)
{
// Enable auto messages. Set implicitUpdate to false as we expect the user to call checkUblox manually.
bool result = setAutoNAVTIMEUTC(true, false, maxWait);
if (!result)
return (result); // Bail if setAuto failed
if (packetUBXNAVTIMEUTC->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXNAVTIMEUTC->callbackData = new UBX_NAV_TIMEUTC_data_t; // Allocate RAM for the main struct
}
if (packetUBXNAVTIMEUTC->callbackData == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVTIMEUTCcallback: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVTIMEUTC->callbackPointer = callbackPointer;
return (true);
}
bool SFE_UBLOX_GNSS::setAutoNAVTIMEUTCcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_TIMEUTC_data_t *), uint16_t maxWait)
{
// Enable auto messages. Set implicitUpdate to false as we expect the user to call checkUblox manually.
bool result = setAutoNAVTIMEUTC(true, false, maxWait);
if (!result)
return (result); // Bail if setAuto failed
if (packetUBXNAVTIMEUTC->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXNAVTIMEUTC->callbackData = new UBX_NAV_TIMEUTC_data_t; // Allocate RAM for the main struct
}
if (packetUBXNAVTIMEUTC->callbackData == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVTIMEUTCcallbackPtr: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVTIMEUTC->callbackPointerPtr = callbackPointerPtr;
return (true);
}
// In case no config access to the GNSS is possible and TIMEUTC is send cyclically already
// set config to suitable parameters
bool SFE_UBLOX_GNSS::assumeAutoNAVTIMEUTC(bool enabled, bool implicitUpdate)
{
if (packetUBXNAVTIMEUTC == NULL)
initPacketUBXNAVTIMEUTC(); // Check that RAM has been allocated for the data
if (packetUBXNAVTIMEUTC == NULL) // Only attempt this if RAM allocation was successful
return false;
bool changes = packetUBXNAVTIMEUTC->automaticFlags.flags.bits.automatic != enabled || packetUBXNAVTIMEUTC->automaticFlags.flags.bits.implicitUpdate != implicitUpdate;
if (changes)
{
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.automatic = enabled;
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
return changes;
}
// PRIVATE: Allocate RAM for packetUBXNAVTIMEUTC and initialize it
bool SFE_UBLOX_GNSS::initPacketUBXNAVTIMEUTC()
{
packetUBXNAVTIMEUTC = new UBX_NAV_TIMEUTC_t; // Allocate RAM for the main struct
if (packetUBXNAVTIMEUTC == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVTIMEUTC: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVTIMEUTC->automaticFlags.flags.all = 0;
packetUBXNAVTIMEUTC->callbackPointer = NULL;
packetUBXNAVTIMEUTC->callbackPointerPtr = NULL;
packetUBXNAVTIMEUTC->callbackData = NULL;
packetUBXNAVTIMEUTC->moduleQueried.moduleQueried.all = 0;
return (true);
}
// Mark all the data as read/stale
void SFE_UBLOX_GNSS::flushNAVTIMEUTC()
{
if (packetUBXNAVTIMEUTC == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXNAVTIMEUTC->moduleQueried.moduleQueried.all = 0; // Mark all datums as stale (read before)
}
// Log this data in file buffer
void SFE_UBLOX_GNSS::logNAVTIMEUTC(bool enabled)
{
if (packetUBXNAVTIMEUTC == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
}
// ***** NAV VELECEF automatic support
bool SFE_UBLOX_GNSS::getNAVVELECEF(uint16_t maxWait)