PlatformIO-Libs/SparkFunGNSS
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Correct DBD_RINGBUFFER_LEN. Correct SAT_NAV MAX_BLOCKS checking. Remove negative size_t checks. Add extra diagnostic for readNavigationDatabase.

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This commit is contained in:
PaulZC
2021-12-02 09:53:26 +00:00
parent 0f5f8ebed5
commit 9c52398855
2 changed files with 34 additions and 19 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+27 -17
View File
@@ -2413,10 +2413,11 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
packetUBXNAVSAT->data.header.version = extractByte(msg, 4);
packetUBXNAVSAT->data.header.numSvs = extractByte(msg, 5);
for (uint8_t i = 0; (i < UBX_NAV_SAT_MAX_BLOCKS) && (i < packetUBXNAVSAT->data.header.numSvs)
&& ((((uint16_t)i) * 12) < (msg->len - 8)); i++)
// The NAV SAT message could contain data for 255 SVs max. (numSvs is uint8_t. UBX_NAV_SAT_MAX_BLOCKS is 255)
for (uint16_t i = 0; (i < UBX_NAV_SAT_MAX_BLOCKS) && (i < ((uint16_t)packetUBXNAVSAT->data.header.numSvs))
&& ((i * 12) < (msg->len - 8)); i++)
{
uint16_t offset = (((uint16_t)i) * 12) + 8;
uint16_t offset = (i * 12) + 8;
packetUBXNAVSAT->data.blocks[i].gnssId = extractByte(msg, offset + 0);
packetUBXNAVSAT->data.blocks[i].svId = extractByte(msg, offset + 1);
packetUBXNAVSAT->data.blocks[i].cno = extractByte(msg, offset + 2);
@@ -4217,7 +4218,7 @@ size_t SFE_UBLOX_GNSS::pushAssistNowDataInternal(size_t offset, bool skipTime, c
{
size_t dataPtr = offset; // Pointer into dataBytes
if ((offset >= numDataBytes) || (offset < 0)) // Sanity check. Return now if offset is invalid.
if (offset >= numDataBytes) // Sanity check. Return now if offset is invalid.
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
@@ -4230,17 +4231,6 @@ size_t SFE_UBLOX_GNSS::pushAssistNowDataInternal(size_t offset, bool skipTime, c
return ((size_t)0);
}
if (numDataBytes < 0) // Sanity check. Return now if numDataBytes is negative.
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("pushAssistNowData: numDataBytes is negative! Aborting..."));
}
#endif
return ((size_t)0);
}
size_t packetsProcessed = 0; // Keep count of how many packets have been processed
size_t bytesPushed = 0; // Keep count
@@ -4894,14 +4884,15 @@ size_t SFE_UBLOX_GNSS::readNavigationDatabase(uint8_t *dataBytes, size_t maxNumD
while (packetUBXMGAACK->head != packetUBXMGAACK->tail) // Does the MGA ACK ringbuffer contain any data?
{
// Check if we've received the correct ACK
bool idMatch = (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgId == UBX_MGA_DBD); // Check if the message ID matches
bool dataAckd = true;
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgId == UBX_MGA_DBD); // Check if the message ID matches
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[0] == (uint8_t)(databaseEntriesRX & 0xFF)); // Check if the ACK contents match databaseEntriesRX
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[1] == (uint8_t)((databaseEntriesRX >> 8) & 0xFF));
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[2] == (uint8_t)((databaseEntriesRX >> 16) & 0xFF));
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[3] == (uint8_t)((databaseEntriesRX >> 24) & 0xFF));
if (dataAckd) // Is the ACK valid?
if (idMatch && dataAckd) // Is the ACK valid?
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
@@ -4917,6 +4908,25 @@ size_t SFE_UBLOX_GNSS::readNavigationDatabase(uint8_t *dataBytes, size_t maxNumD
#endif
keepGoing = false;
}
else if (idMatch)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("readNavigationDatabase: unexpected ACK received. databaseEntriesRX is 0x"));
_debugSerial->print(databaseEntriesRX, HEX);
_debugSerial->print(F(". msgPayloadStart is 0x"));
for (uint8_t i = 4; i > 0; i--)
{
if (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[i - 1] < 0x10)
_debugSerial->print(F("0"));
_debugSerial->print(packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[i - 1], HEX);
}
_debugSerial->println();
}
#endif
}
// Increment the tail
packetUBXMGAACK->tail++;
if (packetUBXMGAACK->tail == UBX_MGA_ACK_DATA0_RINGBUFFER_LEN)
src/u-blox_structs.h
+7 -2
View File
@@ -917,7 +917,7 @@ typedef struct
} UBX_NAV_TIMELS_t;
// UBX-NAV-SAT (0x01 0x35): Satellite Information
const uint16_t UBX_NAV_SAT_MAX_BLOCKS = 256; // TO DO: confirm if this is large enough for all modules
const uint16_t UBX_NAV_SAT_MAX_BLOCKS = 255; // numSvs is 8-bit
const uint16_t UBX_NAV_SAT_MAX_LEN = 8 + (12 * UBX_NAV_SAT_MAX_BLOCKS);
typedef struct
@@ -1817,7 +1817,12 @@ typedef struct
uint8_t dbdEntryChecksumB;
} UBX_MGA_DBD_data_t;
#define UBX_MGA_DBD_RINGBUFFER_LEN 256 // Provide storage for MGA DBD packets. TO DO: confirm if 256 is large enough!
#if defined(ARDUINO_AVR_UNO)
#define UBX_MGA_DBD_RINGBUFFER_LEN 3 // Fix to let the code compile on the UNO. (The UNO does not have enough RAM to store the database.)
#else
#define UBX_MGA_DBD_RINGBUFFER_LEN 250 // Provide storage for MGA DBD packets. TO DO: confirm if 250 is large enough for all modules!
#endif
typedef struct
{
uint8_t head;