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Update keywords.txt. Add TIMEUTC and EOE to end(). Rename NAVEOE functions.

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This commit is contained in:
PaulZC
2022-07-02 12:37:34 +01:00
parent 5f30c48c93
commit 81d058f66e
5 changed files with 363 additions and 393 deletions
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Theory.md
+2 -1
View File
@@ -55,11 +55,13 @@ In v2.0, the full list of messages which can be processed and logged automatical
- UBX-NAV-HPPOSECEF (0x01 0x13): High precision position solution in ECEF
- UBX-NAV-HPPOSLLH (0x01 0x14): High precision geodetic position solution
- UBX-NAV-PVAT (0x01 0x17): Navigation position velocity attitude time solution (**only with ADR or UDR products**)
- UBX-NAV-TIMEUTC (0x01 0x21): UTC time solution
- UBX-NAV-CLOCK (0x01 0x22): Clock solution
- UBX-NAV-SAT (0x01 0x35): Satellite information
- UBX-NAV-SVIN (0x01 0x3B): Survey-in data (**only with High Precision GNSS products**)
- UBX-NAV-RELPOSNED (0x01 0x3C): Relative positioning information in NED frame (**only with High Precision GNSS products**)
- UBX-NAV-AOPSTATUS (0x01 0x60): AssistNow Autonomous status
- UBX-NAV-EOE (0x01 0x61): End of epoch
- UBX-RXM-SFRBX (0x02 0x13): Broadcast navigation data subframe
- UBX-RXM-RAWX (0x02 0x15): Multi-GNSS raw measurement data (**only with ADR or High Precision GNSS or Time Sync products**)
- UBX-TIM-TM2 (0x0D 0x03): Time mark data
@@ -76,7 +78,6 @@ Please see [Adding_New_Messages](./Adding_New_Messages.md) for details on how to
Notes:
- UBX-NAV-POSLLH is not supported as UBX-NAV-PVT contains the same information
- UBX-NAV-TIMEUTC is not supported as UBX-NAV-PVT contains the same information
## Migrating your code to v2.0
keywords.txt
+17
View File
@@ -45,6 +45,7 @@ UBX_NAV_SVIN_data_t KEYWORD1
UBX_NAV_RELPOSNED_data_t KEYWORD1
UBX_NAV_TIMELS_data_t KEYWORD1
UBX_NAV_AOPSTATUS_data_t KEYWORD1
UBX_NAV_EOE_data_t KEYWORD1
UBX_RXM_PMP_data_t KEYWORD1
UBX_RXM_PMP_message_data_t KEYWORD1
@@ -344,6 +345,14 @@ assumeAutoNAVPVAT KEYWORD2
flushNAVPVAT KEYWORD2
logNAVPVAT KEYWORD2
getNAVTIMEUTC KEYWORD2
setAutoNAVTIMEUTC KEYWORD2
setAutoNAVTIMEUTCrate KEYWORD2
setAutoNAVTIMEUTCcallbackPtr KEYWORD2
assumeAutoNAVTIMEUTC KEYWORD2
flushNAVTIMEUTC KEYWORD2
logNAVTIMEUTC KEYWORD2
getNAVCLOCK KEYWORD2
setAutoNAVCLOCK KEYWORD2
setAutoNAVCLOCKrate KEYWORD2
@@ -392,6 +401,14 @@ assumeAutoAOPSTATUS KEYWORD2
flushAOPSTATUS KEYWORD2
logAOPSTATUS KEYWORD2
getNAVEOE KEYWORD2
setAutoNAVEOE KEYWORD2
setAutoNAVEOErate KEYWORD2
setAutoNAVEOEcallbackPtr KEYWORD2
assumeAutoNAVEOE KEYWORD2
flushNAVEOE KEYWORD2
logNAVEOE KEYWORD2
setRXMPMPcallbackPtr KEYWORD2
setRXMPMPmessageCallbackPtr KEYWORD2
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+293 -337
View File
@@ -251,6 +251,16 @@ void SFE_UBLOX_GNSS::end(void)
packetUBXNAVPVAT = NULL; // Redundant?
}
if (packetUBXNAVTIMEUTC != NULL)
{
if (packetUBXNAVTIMEUTC->callbackData != NULL)
{
delete packetUBXNAVTIMEUTC->callbackData;
}
delete packetUBXNAVTIMEUTC;
packetUBXNAVTIMEUTC = NULL; // Redundant?
}
if (packetUBXNAVCLOCK != NULL)
{
if (packetUBXNAVCLOCK->callbackData != NULL)
@@ -301,6 +311,16 @@ void SFE_UBLOX_GNSS::end(void)
packetUBXNAVAOPSTATUS = NULL; // Redundant?
}
if (packetUBXNAVEOE != NULL)
{
if (packetUBXNAVEOE->callbackData != NULL)
{
delete packetUBXNAVEOE->callbackData;
}
delete packetUBXNAVEOE;
packetUBXNAVEOE = NULL; // Redundant?
}
if (packetUBXRXMPMP != NULL)
{
if (packetUBXRXMPMP->callbackData != NULL)
@@ -1295,10 +1315,6 @@ 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;
@@ -1311,10 +1327,6 @@ 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;
@@ -1335,6 +1347,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
if (packetUBXNAVPVAT != NULL)
result = true;
break;
case UBX_NAV_TIMEUTC:
if (packetUBXNAVTIMEUTC != NULL)
result = true;
break;
case UBX_NAV_CLOCK:
if (packetUBXNAVCLOCK != NULL)
result = true;
@@ -1359,6 +1375,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
if (packetUBXNAVAOPSTATUS != NULL)
result = true;
break;
case UBX_NAV_EOE:
if (packetUBXNAVEOE != NULL)
result = true;
break;
}
}
break;
@@ -1495,9 +1515,6 @@ 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;
@@ -1507,9 +1524,6 @@ 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;
@@ -1525,6 +1539,9 @@ uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
case UBX_NAV_PVAT:
maxSize = UBX_NAV_PVAT_LEN;
break;
case UBX_NAV_TIMEUTC:
maxSize = UBX_NAV_TIMEUTC;
break;
case UBX_NAV_CLOCK:
maxSize = UBX_NAV_CLOCK_LEN;
break;
@@ -1543,6 +1560,9 @@ uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
case UBX_NAV_AOPSTATUS:
maxSize = UBX_NAV_AOPSTATUS_LEN;
break;
case UBX_NAV_EOE:
maxSize = UBX_NAV_EOE_LEN;
break;
}
}
break;
@@ -3245,31 +3265,6 @@ 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
@@ -3388,40 +3383,6 @@ 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
@@ -3618,6 +3579,40 @@ 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_CLOCK && msg->len == UBX_NAV_CLOCK_LEN)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
@@ -3838,6 +3833,31 @@ 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);
}
}
}
break;
case UBX_CLASS_RXM:
if (msg->id == UBX_RXM_PMP)
@@ -5255,25 +5275,6 @@ 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
@@ -5331,25 +5332,6 @@ 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
@@ -5445,6 +5427,19 @@ 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->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 ((packetUBXNAVCLOCK != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVCLOCK->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVCLOCK->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
@@ -5534,6 +5529,19 @@ 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->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 ((packetUBXRXMPMP != NULL) // If RAM has been allocated for message storage
&& (packetUBXRXMPMP->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXRXMPMP->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
@@ -9977,7 +9985,7 @@ void SFE_UBLOX_GNSS::logNAVDOP(bool enabled)
// ***** EOE automatic support
bool SFE_UBLOX_GNSS::getEOE(uint16_t maxWait)
bool SFE_UBLOX_GNSS::getNAVEOE(uint16_t maxWait)
{
if (packetUBXNAVEOE == NULL)
initPacketUBXNAVEOE(); // Check that RAM has been allocated for the EOE data
@@ -10042,21 +10050,21 @@ bool SFE_UBLOX_GNSS::getEOE(uint16_t maxWait)
// 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)
bool SFE_UBLOX_GNSS::setAutoNAVEOE(bool enable, uint16_t maxWait)
{
return setAutoEOErate(enable ? 1 : 0, true, maxWait);
return setAutoNAVEOErate(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)
bool SFE_UBLOX_GNSS::setAutoNAVEOE(bool enable, bool implicitUpdate, uint16_t maxWait)
{
return setAutoEOErate(enable ? 1 : 0, implicitUpdate, maxWait);
return setAutoNAVEOErate(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)
bool SFE_UBLOX_GNSS::setAutoNAVEOErate(uint8_t rate, bool implicitUpdate, uint16_t maxWait)
{
if (packetUBXNAVEOE == NULL)
initPacketUBXNAVEOE(); // Check that RAM has been allocated for the data
@@ -10082,10 +10090,10 @@ bool SFE_UBLOX_GNSS::setAutoEOErate(uint8_t rate, bool implicitUpdate, uint16_t
}
// Enable automatic navigation message generation by the GNSS.
bool SFE_UBLOX_GNSS::setAutoEOEcallback(void (*callbackPointer)(UBX_NAV_EOE_data_t), uint16_t maxWait)
bool SFE_UBLOX_GNSS::setAutoNAVEOEcallbackPtr(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);
bool result = setAutoNAVEOE(true, false, maxWait);
if (!result)
return (result); // Bail if setAuto failed
@@ -10098,32 +10106,7 @@ bool SFE_UBLOX_GNSS::setAutoEOEcallback(void (*callbackPointer)(UBX_NAV_EOE_data
{
#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!"));
_debugSerial->println(F("setAutoNAVEOEcallbackPtr: RAM alloc failed!"));
#endif
return (false);
}
@@ -10134,7 +10117,7 @@ bool SFE_UBLOX_GNSS::setAutoEOEcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_EO
// 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)
bool SFE_UBLOX_GNSS::assumeAutoNAVEOE(bool enabled, bool implicitUpdate)
{
if (packetUBXNAVEOE == NULL)
initPacketUBXNAVEOE(); // Check that RAM has been allocated for the data
@@ -10163,7 +10146,6 @@ bool SFE_UBLOX_GNSS::initPacketUBXNAVEOE()
return (false);
}
packetUBXNAVEOE->automaticFlags.flags.all = 0;
packetUBXNAVEOE->callbackPointer = NULL;
packetUBXNAVEOE->callbackPointerPtr = NULL;
packetUBXNAVEOE->callbackData = NULL;
packetUBXNAVEOE->moduleQueried.moduleQueried.all = 0;
@@ -10171,7 +10153,7 @@ bool SFE_UBLOX_GNSS::initPacketUBXNAVEOE()
}
// Mark all the EOE data as read/stale. This is handy to get data alignment after CRC failure
void SFE_UBLOX_GNSS::flushEOE()
void SFE_UBLOX_GNSS::flushNAVEOE()
{
if (packetUBXNAVEOE == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
@@ -10797,195 +10779,6 @@ 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)
@@ -11969,6 +11762,169 @@ void SFE_UBLOX_GNSS::logNAVPVAT(bool enabled)
packetUBXNAVPVAT->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::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->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 CLOCK automatic support
bool SFE_UBLOX_GNSS::getNAVCLOCK(uint16_t maxWait)
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+20 -22
View File
@@ -1021,16 +1021,6 @@ public:
void flushDOP(); // Mark all the DOP data as read/stale
void logNAVDOP(bool enabled = true); // Log data to file buffer
bool getEOE(uint16_t maxWait = defaultMaxWait); // Query module for latest dilution of precision values and load global vars:. If autoEOE is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new EOE is available.
bool setAutoEOE(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic EOE reports at the navigation frequency
bool setAutoEOE(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic EOE reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
bool setAutoEOErate(uint8_t rate, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Set the rate for automatic EOE reports
bool setAutoEOEcallback(void (*callbackPointer)(UBX_NAV_EOE_data_t), uint16_t maxWait = defaultMaxWait); // Enable automatic EOE reports at the navigation frequency. Data is accessed from the callback.
bool setAutoEOEcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_EOE_data_t *), uint16_t maxWait = defaultMaxWait); // Enable automatic EOE reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoEOE(bool enabled, bool implicitUpdate = true); // In case no config access to the GPS is possible and EOE is send cyclically already
void flushEOE(); // Mark all the EOE data as read/stale
void logNAVEOE(bool enabled = true); // Log data to file buffer
bool getVehAtt(uint16_t maxWait = defaultMaxWait); // NAV ATT Helper
bool getNAVATT(uint16_t maxWait = defaultMaxWait); // NAV ATT
bool setAutoNAVATT(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic vehicle attitude reports at the navigation frequency
@@ -1062,16 +1052,6 @@ public:
void flushNAVODO(); // Mark all the data as read/stale
void logNAVODO(bool enabled = true); // Log data to file buffer
bool getNAVTIMEUTC(uint16_t maxWait = defaultMaxWait); // NAV TIMEUTC
bool setAutoNAVTIMEUTC(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic TIMEUTC reports at the navigation frequency
bool setAutoNAVTIMEUTC(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic TIMEUTC reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
bool setAutoNAVTIMEUTCrate(uint8_t rate, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Set the rate for automatic TIMEUTC reports
bool setAutoNAVTIMEUTCcallback(void (*callbackPointer)(UBX_NAV_TIMEUTC_data_t), uint16_t maxWait = defaultMaxWait); // Enable automatic TIMEUTC reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVTIMEUTCcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_TIMEUTC_data_t *), uint16_t maxWait = defaultMaxWait); // Enable automatic TIMEUTC reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVTIMEUTC(bool enabled, bool implicitUpdate = true); // In case no config access to the GPS is possible and TIMEUTC is send cyclically already
void flushNAVTIMEUTC(); // Mark all the data as read/stale
void logNAVTIMEUTC(bool enabled = true); // Log data to file buffer
bool getNAVVELECEF(uint16_t maxWait = defaultMaxWait); // NAV VELECEF
bool setAutoNAVVELECEF(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic VELECEF reports at the navigation frequency
bool setAutoNAVVELECEF(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic VELECEF reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
@@ -1122,6 +1102,15 @@ public:
void flushNAVPVAT(); // Mark all the PVAT data as read/stale
void logNAVPVAT(bool enabled = true); // Log data to file buffer
bool getNAVTIMEUTC(uint16_t maxWait = defaultMaxWait); // NAV TIMEUTC
bool setAutoNAVTIMEUTC(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic TIMEUTC reports at the navigation frequency
bool setAutoNAVTIMEUTC(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic TIMEUTC reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
bool setAutoNAVTIMEUTCrate(uint8_t rate, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Set the rate for automatic TIMEUTC reports
bool setAutoNAVTIMEUTCcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_TIMEUTC_data_t *), uint16_t maxWait = defaultMaxWait); // Enable automatic TIMEUTC reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVTIMEUTC(bool enabled, bool implicitUpdate = true); // In case no config access to the GPS is possible and TIMEUTC is send cyclically already
void flushNAVTIMEUTC(); // Mark all the data as read/stale
void logNAVTIMEUTC(bool enabled = true); // Log data to file buffer
bool getNAVCLOCK(uint16_t maxWait = defaultMaxWait); // NAV CLOCK
bool setAutoNAVCLOCK(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic clock reports at the navigation frequency
bool setAutoNAVCLOCK(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic clock reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
@@ -1141,6 +1130,15 @@ public:
void flushNAVSVIN(); // Mark all the data as read/stale
void logNAVSVIN(bool enabled = true); // Log data to file buffer
bool getNAVEOE(uint16_t maxWait = defaultMaxWait); // Query module for latest dilution of precision values and load global vars:. If autoEOE is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new EOE is available.
bool setAutoNAVEOE(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic EOE reports at the navigation frequency
bool setAutoNAVEOE(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic EOE reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
bool setAutoNAVEOErate(uint8_t rate, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Set the rate for automatic EOE reports
bool setAutoNAVEOEcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_EOE_data_t *), uint16_t maxWait = defaultMaxWait); // Enable automatic EOE reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVEOE(bool enabled, bool implicitUpdate = true); // In case no config access to the GPS is possible and EOE is send cyclically already
void flushNAVEOE(); // Mark all the EOE data as read/stale
void logNAVEOE(bool enabled = true); // Log data to file buffer
// Add "auto" support for NAV TIMELS - to avoid needing 'global' storage
bool getLeapSecondEvent(uint16_t maxWait = defaultMaxWait); // Reads leap second event info
@@ -1623,22 +1621,22 @@ private:
bool initPacketUBXNAVPOSECEF(); // Allocate RAM for packetUBXNAVPOSECEF and initialize it
bool initPacketUBXNAVSTATUS(); // Allocate RAM for packetUBXNAVSTATUS and initialize it
bool initPacketUBXNAVDOP(); // Allocate RAM for packetUBXNAVDOP and initialize it
bool initPacketUBXNAVEOE(); // Allocate RAM for packetUBXNAVEOE and initialize it
bool initPacketUBXNAVATT(); // Allocate RAM for packetUBXNAVATT and initialize it
bool initPacketUBXNAVPVT(); // Allocate RAM for packetUBXNAVPVT and initialize it
bool initPacketUBXNAVODO(); // Allocate RAM for packetUBXNAVODO and initialize it
bool initPacketUBXNAVTIMEUTC(); // Allocate RAM for packetUBXNAVTIMEUTC and initialize it
bool initPacketUBXNAVVELECEF(); // Allocate RAM for packetUBXNAVVELECEF and initialize it
bool initPacketUBXNAVVELNED(); // Allocate RAM for packetUBXNAVVELNED and initialize it
bool initPacketUBXNAVHPPOSECEF(); // Allocate RAM for packetUBXNAVHPPOSECEF and initialize it
bool initPacketUBXNAVHPPOSLLH(); // Allocate RAM for packetUBXNAVHPPOSLLH and initialize it
bool initPacketUBXNAVPVAT(); // Allocate RAM for packetUBXNAVPVAT and initialize it
bool initPacketUBXNAVTIMEUTC(); // Allocate RAM for packetUBXNAVTIMEUTC and initialize it
bool initPacketUBXNAVCLOCK(); // Allocate RAM for packetUBXNAVCLOCK and initialize it
bool initPacketUBXNAVTIMELS(); // Allocate RAM for packetUBXNAVTIMELS and initialize it
bool initPacketUBXNAVSVIN(); // Allocate RAM for packetUBXNAVSVIN and initialize it
bool initPacketUBXNAVSAT(); // Allocate RAM for packetUBXNAVSAT and initialize it
bool initPacketUBXNAVRELPOSNED(); // Allocate RAM for packetUBXNAVRELPOSNED and initialize it
bool initPacketUBXNAVAOPSTATUS(); // Allocate RAM for packetUBXNAVAOPSTATUS and initialize it
bool initPacketUBXNAVEOE(); // Allocate RAM for packetUBXNAVEOE and initialize it
bool initPacketUBXRXMPMP(); // Allocate RAM for packetUBXRXMPMP and initialize it
bool initPacketUBXRXMPMPmessage(); // Allocate RAM for packetUBXRXMPMPRaw and initialize it
bool initPacketUBXRXMCOR(); // Allocate RAM for packetUBXRXMCOR and initialize it
src/u-blox_structs.h
+31 -33
View File
@@ -298,38 +298,6 @@ typedef struct
UBX_NAV_DOP_data_t *callbackData;
} UBX_NAV_DOP_t;
// UBX-NAV-EOE (0x01 0x61): End of Epoch
const uint16_t UBX_NAV_EOE_LEN = 4;
typedef struct
{
uint32_t iTOW; // GPS time of week of the navigation epoch: ms
} UBX_NAV_EOE_data_t;
typedef struct
{
union
{
uint32_t all;
struct
{
uint32_t all : 1;
uint32_t iTOW : 1;
} bits;
} moduleQueried;
} UBX_NAV_EOE_moduleQueried_t;
typedef struct
{
ubxAutomaticFlags automaticFlags;
UBX_NAV_EOE_data_t data;
UBX_NAV_EOE_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_EOE_data_t);
void (*callbackPointerPtr)(UBX_NAV_EOE_data_t *);
UBX_NAV_EOE_data_t *callbackData;
} UBX_NAV_EOE_t;
// UBX-NAV-ATT (0x01 0x05): Attitude solution
const uint16_t UBX_NAV_ATT_LEN = 32;
@@ -1031,7 +999,6 @@ typedef struct
ubxAutomaticFlags automaticFlags;
UBX_NAV_TIMEUTC_data_t data;
UBX_NAV_TIMEUTC_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_TIMEUTC_data_t);
void (*callbackPointerPtr)(UBX_NAV_TIMEUTC_data_t *);
UBX_NAV_TIMEUTC_data_t *callbackData;
} UBX_NAV_TIMEUTC_t;
@@ -1415,6 +1382,37 @@ typedef struct
UBX_NAV_AOPSTATUS_data_t *callbackData;
} UBX_NAV_AOPSTATUS_t;
// UBX-NAV-EOE (0x01 0x61): End of Epoch
const uint16_t UBX_NAV_EOE_LEN = 4;
typedef struct
{
uint32_t iTOW; // GPS time of week of the navigation epoch: ms
} UBX_NAV_EOE_data_t;
typedef struct
{
union
{
uint32_t all;
struct
{
uint32_t all : 1;
uint32_t iTOW : 1;
} bits;
} moduleQueried;
} UBX_NAV_EOE_moduleQueried_t;
typedef struct
{
ubxAutomaticFlags automaticFlags;
UBX_NAV_EOE_data_t data;
UBX_NAV_EOE_moduleQueried_t moduleQueried;
void (*callbackPointerPtr)(UBX_NAV_EOE_data_t *);
UBX_NAV_EOE_data_t *callbackData;
} UBX_NAV_EOE_t;
// RXM-specific structs
// UBX-RXM-SFRBX (0x02 0x13): Broadcast navigation data subframe