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store multiple RXM-QZSSL6 messages

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This commit is contained in:
Michael Ammann
2022-07-26 10:07:19 +02:00
committed by GitHub
parent 11b9cf40d4
commit 7014e5bd46
3 changed files with 47 additions and 128 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+27 -114
View File
@@ -321,21 +321,11 @@ void SFE_UBLOX_GNSS::end(void)
packetUBXRXMPMPmessage = NULL; // Redundant?
}
if (packetUBXRXMQZSSL6 != NULL)
{
if (packetUBXRXMQZSSL6->callbackData != NULL)
{
delete packetUBXRXMQZSSL6->callbackData;
}
delete packetUBXRXMQZSSL6;
packetUBXRXMQZSSL6 = NULL; // Redundant?
}
if (packetUBXRXMQZSSL6message != NULL)
{
if (packetUBXRXMQZSSL6message->callbackData != NULL)
{
delete packetUBXRXMQZSSL6message->callbackData;
delete [] packetUBXRXMQZSSL6message->callbackData;
}
delete packetUBXRXMQZSSL6message;
packetUBXRXMQZSSL6message = NULL; // Redundant?
@@ -1391,7 +1381,7 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
result = true;
break;
case UBX_RXM_QZSSL6:
if ((packetUBXRXMQZSSL6 != NULL) || (packetUBXRXMQZSSL6message != NULL))
if (packetUBXRXMQZSSL6message != NULL)
result = true;
break;
case UBX_RXM_COR:
@@ -3861,49 +3851,25 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
// Note: length is variable with version 0x01
// Note: the field positions depend on the version
{
// Parse various byte fields into storage - but only if we have memory allocated for it.
// By default, new QZSSL6 data will always overwrite 'old' data (data which is valid but which has not yet been read by the callback).
// To prevent this, uncomment the line two lines below
if ((packetUBXRXMQZSSL6 != NULL) && (packetUBXRXMQZSSL6->callbackData != NULL)
//&& (packetUBXRXMQZSSL6->automaticFlags.flags.bits.callbackCopyValid == false) // <=== Uncomment this line to prevent new data from overwriting 'old'
)
{
packetUBXRXMQZSSL6->callbackData->version = extractByte(msg, 0);
packetUBXRXMQZSSL6->callbackData->svId = extractByte(msg, 1);
packetUBXRXMQZSSL6->callbackData->cno = extractInt(msg, 2);
packetUBXRXMQZSSL6->callbackData->timeTag = extractLong(msg, 4);
packetUBXRXMQZSSL6->callbackData->groupDelay = extractByte(msg, 8);
packetUBXRXMQZSSL6->callbackData->bitErrCorr = extractByte(msg, 9);
packetUBXRXMQZSSL6->callbackData->chInfo = extractInt(msg, 10);
packetUBXRXMQZSSL6->callbackData->reserved0[0] = extractByte(msg, 12);
packetUBXRXMQZSSL6->callbackData->reserved0[0] = extractByte(msg, 13);
for (uint16_t i = 0; (i < UBX_RXM_QZSSL6_DATALEN); i++)
{
packetUBXRXMQZSSL6->callbackData->msgBytes[i] = extractByte(msg, i + 14);
}
packetUBXRXMQZSSL6->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
}
// Full QZSSL6 message, including Class, ID and checksum
// By default, new QZSSL6 data will always overwrite 'old' data (data which is valid but which has not yet been read by the callback).
// To prevent this, uncomment the line two lines below
if ((packetUBXRXMQZSSL6message != NULL) && (packetUBXRXMQZSSL6message->callbackData != NULL)
//&& (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid == false) // <=== Uncomment this line to prevent new data from overwriting 'old'
)
{
packetUBXRXMQZSSL6message->callbackData->sync1 = UBX_SYNCH_1;
packetUBXRXMQZSSL6message->callbackData->sync2 = UBX_SYNCH_2;
packetUBXRXMQZSSL6message->callbackData->cls = UBX_CLASS_RXM;
packetUBXRXMQZSSL6message->callbackData->ID = UBX_RXM_QZSSL6;
packetUBXRXMQZSSL6message->callbackData->lengthLSB = msg->len & 0xFF;
packetUBXRXMQZSSL6message->callbackData->lengthMSB = msg->len >> 8;
for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch ++) {
if (0 == (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid & (1<<ch))) {
memcpy(packetUBXRXMQZSSL6message->callbackData->payload, msg->payload, msg->len);
packetUBXRXMQZSSL6message->callbackData[ch].sync1 = UBX_SYNCH_1;
packetUBXRXMQZSSL6message->callbackData[ch].sync2 = UBX_SYNCH_2;
packetUBXRXMQZSSL6message->callbackData[ch].cls = UBX_CLASS_RXM;
packetUBXRXMQZSSL6message->callbackData[ch].ID = UBX_RXM_QZSSL6;
packetUBXRXMQZSSL6message->callbackData[ch].lengthLSB = msg->len & 0xFF;
packetUBXRXMQZSSL6message->callbackData[ch].lengthMSB = msg->len >> 8;
packetUBXRXMQZSSL6message->callbackData->checksumA = msg->checksumA;
packetUBXRXMQZSSL6message->callbackData->checksumB = msg->checksumB;
memcpy(packetUBXRXMQZSSL6message->callbackData[ch].payload, msg->payload, msg->len);
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
packetUBXRXMQZSSL6message->callbackData[ch].checksumA = msg->checksumA;
packetUBXRXMQZSSL6message->callbackData[ch].checksumB = msg->checksumB;
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid |= (1 << ch);
break; // abort when added
}
}
}
else if (msg->id == UBX_RXM_COR)
@@ -5521,26 +5487,17 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXRXMQZSSL6 != NULL) // If RAM has been allocated for message storage
&& (packetUBXRXMQZSSL6->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXRXMQZSSL6->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
&& (packetUBXRXMQZSSL6->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
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 (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callbackPtr for RXM QZSSL6"));
packetUBXRXMQZSSL6->callbackPointerPtr(packetUBXRXMQZSSL6->callbackData); // Call the callback
packetUBXRXMQZSSL6->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
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
}
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
&& (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callbackPtr for RXM QZSSL6 message"));
packetUBXRXMQZSSL6message->callbackPointerPtr(packetUBXRXMQZSSL6message->callbackData); // Call the callback
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid = 0; // Mark the data as stale
}
if ((packetUBXRXMCOR != NULL) // If RAM has been allocated for message storage
@@ -12661,50 +12618,6 @@ bool SFE_UBLOX_GNSS::initPacketUBXRXMPMPmessage()
// ***** RXM QZSSL6 automatic support
// Callback receives a pointer to the data, instead of _all_ the data. Much kinder on the stack!
bool SFE_UBLOX_GNSS::setRXMQZSSL6callbackPtr(void (*callbackPointer)(UBX_RXM_QZSSL6_data_t *))
{
if (packetUBXRXMQZSSL6 == NULL)
initPacketUBXRXMQZSSL6(); // Check that RAM has been allocated for the data
if (packetUBXRXMQZSSL6 == NULL) // Only attempt this if RAM allocation was successful
return false;
if (packetUBXRXMQZSSL6->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXRXMQZSSL6->callbackData = new UBX_RXM_QZSSL6_data_t; // Allocate RAM for the main struct
}
if (packetUBXRXMQZSSL6->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("setAutoRXMQZSSL6callbackPtr: RAM alloc failed!"));
#endif
return (false);
}
packetUBXRXMQZSSL6->callbackPointerPtr = callbackPointer;
return (true);
}
// PRIVATE: Allocate RAM for packetUBXRXMQZSSL6 and initialize it
bool SFE_UBLOX_GNSS::initPacketUBXRXMQZSSL6()
{
packetUBXRXMQZSSL6 = new UBX_RXM_QZSSL6_t; // Allocate RAM for the main struct
if (packetUBXRXMQZSSL6 == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXRXMQZSSL6: RAM alloc failed!"));
#endif
return (false);
}
packetUBXRXMQZSSL6->automaticFlags.flags.all = 0;
packetUBXRXMQZSSL6->callbackPointerPtr = NULL;
packetUBXRXMQZSSL6->callbackData = NULL;
return (true);
}
// Callback receives a pointer to the data, instead of _all_ the data. Much kinder on the stack!
bool SFE_UBLOX_GNSS::setRXMQZSSL6messageCallbackPtr(void (*callbackPointer)(UBX_RXM_QZSSL6_message_data_t *))
{
@@ -12715,7 +12628,7 @@ bool SFE_UBLOX_GNSS::setRXMQZSSL6messageCallbackPtr(void (*callbackPointer)(UBX_
if (packetUBXRXMQZSSL6message->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXRXMQZSSL6message->callbackData = new UBX_RXM_QZSSL6_message_data_t; // Allocate RAM for the main struct
packetUBXRXMQZSSL6message->callbackData = new UBX_RXM_QZSSL6_message_data_t[UBX_RXM_QZSSL6_NUM_CHANNELS]; // Allocate RAM for the main struct
}
if (packetUBXRXMQZSSL6message->callbackData == NULL)
src/SparkFun_u-blox_GNSS_Arduino_Library.h
-2
View File
@@ -1168,7 +1168,6 @@ public:
// Note: on the NEO-D9C, the UBX-RXM-QZSSL6 messages are enabled by default on all ports.
// You can disable them by calling (e.g.) setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C, 0)
// The NEO-D9C does not support UBX-CFG-MSG
bool setRXMQZSSL6callbackPtr(void (*callbackPointerPtr)(UBX_RXM_QZSSL6_data_t *)); // Callback receives a pointer to the data, instead of _all_ the data. Much kinder on the stack!
bool setRXMQZSSL6messageCallbackPtr(void (*callbackPointerPtr)(UBX_RXM_QZSSL6_message_data_t *)); // Use this if you want all of the QZSSL6 message (including sync chars, checksum, etc.) to push to a GNSS
bool setRXMCORcallbackPtr(void (*callbackPointerPtr)(UBX_RXM_COR_data_t *)); // RXM COR
@@ -1526,7 +1525,6 @@ public:
UBX_RXM_PMP_t *packetUBXRXMPMP = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_PMP_message_t *packetUBXRXMPMPmessage = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_QZSSL6_t *packetUBXRXMQZSSL6 = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_QZSSL6_message_t *packetUBXRXMQZSSL6message = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_COR_t *packetUBXRXMCOR = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_SFRBX_t *packetUBXRXMSFRBX = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
src/u-blox_structs.h
+15 -7
View File
@@ -1600,7 +1600,8 @@ typedef struct
} UBX_RXM_PMP_message_t;
// UBX-RXM-QZSSL6 (0x02 0x73): QZSS L6 raw data (D9C modules)
#define UBX_RXM_QZSSL6_DATALEN 250
#define UBX_RXM_QZSSL6_NUM_CHANNELS 2
const uint16_t UBX_RXM_QZSSL6_DATALEN = 250;
const uint16_t UBX_RXM_QZSSL6_MAX_LEN = UBX_RXM_QZSSL6_DATALEN + 14;
typedef struct
@@ -1616,13 +1617,20 @@ typedef struct
uint8_t msgBytes[UBX_RXM_QZSSL6_DATALEN]; // Bytes in a QZSS L6 message
} UBX_RXM_QZSSL6_data_t;
// The QZSSL6 data can only be accessed via a callback. QZSSL6 cannot be polled.
typedef struct
struct ubxQZSSL6AutomaticFlags
{
ubxAutomaticFlags automaticFlags;
void (*callbackPointerPtr)(UBX_RXM_QZSSL6_data_t *);
UBX_RXM_QZSSL6_data_t *callbackData;
} UBX_RXM_QZSSL6_t;
union
{
uint8_t all;
struct
{
uint8_t automatic : 1; // Will this message be delivered and parsed "automatically" (without polling)
uint8_t implicitUpdate : 1; // Is the update triggered by accessing stale data (=true) or by a call to checkUblox (=false)
uint8_t addToFileBuffer : 1; // Should the raw UBX data be added to the file buffer?
uint8_t callbackCopyValid : UBX_RXM_QZSSL6_NUM_CHANNELS; // Is the copies of the data structs used by the callback valid/fresh?
} bits;
} flags;
};
// Define a struct to hold the entire QZSSL6 message so the whole thing can be pushed to a GNSS.
// Remember that the length of the payload could be variable (with version 1 messages).