PlatformIO-Libs/SparkFunGNSS
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Add flushCFGRATE. Ensure CFG RATE data is marked as stale by the set rate functions

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This commit is contained in:
PaulZC
2021-04-13 10:36:11 +01:00
parent b20579e279
commit 63d8b60f42
4 changed files with 44 additions and 39 deletions
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examples/Example25_MeasurementAndNavigationRate/Example25_MeasurementAndNavigationRate.ino
-3
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@@ -81,9 +81,6 @@ void setup()
while (1);
}
// Another trick we can use is to mark the CFG RATE data as stale so we can be sure we read fresh data
myGNSS.packetUBXCFGRATE->moduleQueried.moduleQueried.all = 0; // Mark all of the CFG RATE data as stale
// Read and print the updated measurement rate and navigation rate
rate = myGNSS.getMeasurementRate(); //Get the measurement rate of this module
keywords.txt
+1
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@@ -388,6 +388,7 @@ setMeasurementRate KEYWORD2
getMeasurementRate KEYWORD2
setNavigationRate KEYWORD2
getNavigationRate KEYWORD2
flushCFGRATE KEYWORD2
getGeometricDOP KEYWORD2
getPositionDOP KEYWORD2
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+42 -36
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@@ -7387,38 +7387,25 @@ boolean SFE_UBLOX_GNSS::getNavigationFrequencyInternal(uint16_t maxWait)
if (packetUBXCFGRATE == NULL) //Bail if the RAM allocation failed
return (false);
if (packetUBXCFGRATE->automaticFlags.flags.bits.automatic && packetUBXCFGRATE->automaticFlags.flags.bits.implicitUpdate)
// The CFG RATE message will never be produced automatically - that would be pointless.
// There is no setAutoCFGRATE function. We always need to poll explicitly.
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_RATE;
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)
{
//The GPS is automatically reporting, we just check whether we got unread data
checkUbloxInternal(&packetCfg, UBX_CLASS_CFG, UBX_CFG_RATE);
return packetUBXCFGRATE->moduleQueried.moduleQueried.bits.all;
return (true);
}
else if (packetUBXCFGRATE->automaticFlags.flags.bits.automatic && !packetUBXCFGRATE->automaticFlags.flags.bits.implicitUpdate)
{
//Someone else has to call checkUblox for us...
return (false);
}
else
{
//The GPS is not automatically reporting navigation rate so we have to poll explicitly
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_RATE;
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);
}
return (false);
}
// PRIVATE: Allocate RAM for packetUBXCFGRATE and initialize it
@@ -7431,10 +7418,10 @@ boolean SFE_UBLOX_GNSS::initPacketUBXCFGRATE()
_debugSerial->println(F("initPacketUBXCFGRATE: PANIC! RAM allocation failed!"));
return (false);
}
packetUBXCFGRATE->automaticFlags.flags.all = 0;
packetUBXCFGRATE->callbackPointer = NULL;
packetUBXCFGRATE->callbackData = NULL;
packetUBXCFGRATE->moduleQueried.moduleQueried.all = 0;
packetUBXCFGRATE->automaticFlags.flags.all = 0; // Redundant
packetUBXCFGRATE->callbackPointer = NULL; // Redundant
packetUBXCFGRATE->callbackData = NULL; // Redundant
packetUBXCFGRATE->moduleQueried.moduleQueried.all = 0; // Mark all data as stale/read
return (true);
}
@@ -9114,7 +9101,11 @@ boolean SFE_UBLOX_GNSS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait
payloadCfg[0] = measurementRate & 0xFF; //measRate LSB
payloadCfg[1] = measurementRate >> 8; //measRate MSB
return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
boolean result = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
flushCFGRATE(); // Mark the polled measurement and navigation rate data as stale
return (result);
}
//Get the rate at which the module is outputting nav solutions
@@ -9155,7 +9146,11 @@ boolean SFE_UBLOX_GNSS::setMeasurementRate(uint16_t rate, uint16_t maxWait)
payloadCfg[0] = rate & 0xFF; //measRate LSB
payloadCfg[1] = rate >> 8; //measRate MSB
return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
boolean result = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
flushCFGRATE(); // Mark the polled measurement and navigation rate data as stale
return (result);
}
//Return the elapsed time between GNSS measurements in milliseconds, which defines the rate
@@ -9190,7 +9185,11 @@ boolean SFE_UBLOX_GNSS::setNavigationRate(uint16_t rate, uint16_t maxWait)
payloadCfg[2] = rate & 0xFF; //navRate LSB
payloadCfg[3] = rate >> 8; //navRate MSB
return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
boolean result = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
flushCFGRATE(); // Mark the polled measurement and navigation rate data as stale
return (result);
}
//Return the ratio between the number of measurements and the number of navigation solutions. Unit is cycles
@@ -9208,6 +9207,13 @@ uint16_t SFE_UBLOX_GNSS::getNavigationRate(uint16_t maxWait)
return (packetUBXCFGRATE->data.navRate);
}
//Mark the CFG RATE data as read/stale
void SFE_UBLOX_GNSS::flushCFGRATE()
{
if (packetUBXCFGRATE == NULL) return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXCFGRATE->moduleQueried.moduleQueried.all = 0; //Mark all datums as stale (read before)
}
// ***** DOP Helper Functions
uint16_t SFE_UBLOX_GNSS::getGeometricDOP(uint16_t maxWait)
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+1
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@@ -936,6 +936,7 @@ public:
uint16_t getMeasurementRate(uint16_t maxWait = defaultMaxWait); //Return the elapsed time between GNSS measurements in milliseconds
boolean setNavigationRate(uint16_t rate, uint16_t maxWait = defaultMaxWait); //Set the ratio between the number of measurements and the number of navigation solutions. Unit is cycles. Max is 127
uint16_t getNavigationRate(uint16_t maxWait = defaultMaxWait); //Return the ratio between the number of measurements and the number of navigation solutions. Unit is cycles
void flushCFGRATE(); // Mark the measurement and navigation rate data as stale - used by the set rate functions
// Helper functions for DOP