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This commit is contained in:
Michael Ammann
2022-07-19 19:02:49 +02:00
committed by GitHub
parent 380e3e66b6
commit 9d007c6417
4 changed files with 250 additions and 5 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+174 -5
View File
@@ -311,14 +311,14 @@ void SFE_UBLOX_GNSS::end(void)
packetUBXRXMPMP = NULL; // Redundant?
}
if (packetUBXRXMPMPmessage != NULL)
if (packetUBXRXMQZSSL6message != NULL)
{
if (packetUBXRXMPMPmessage->callbackData != NULL)
if (packetUBXRXMQZSSL6message->callbackData != NULL)
{
delete packetUBXRXMPMPmessage->callbackData;
delete packetUBXRXMQZSSL6message->callbackData;
}
delete packetUBXRXMPMPmessage;
packetUBXRXMPMPmessage = NULL; // Redundant?
delete packetUBXRXMQZSSL6message;
packetUBXRXMQZSSL6message = NULL; // Redundant?
}
if (packetUBXRXMCOR != NULL)
@@ -1370,6 +1370,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
if ((packetUBXRXMPMP != NULL) || (packetUBXRXMPMPmessage != NULL))
result = true;
break;
case UBX_RXM_QZSSL6:
if ((packetUBXRXMQZSSL6 != NULL) || (packetUBXRXMQZSSL6message != NULL))
result = true;
break;
case UBX_RXM_COR:
if (packetUBXRXMCOR != NULL)
result = true;
@@ -1545,6 +1549,9 @@ uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
case UBX_RXM_PMP:
maxSize = UBX_RXM_PMP_MAX_LEN;
break;
case UBX_RXM_QZSSL6:
maxSize = UBX_RXM_QZSSL6_MAX_LEN;
break;
case UBX_RXM_COR:
maxSize = UBX_RXM_COR_LEN;
break;
@@ -3830,6 +3837,55 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
}
}
if (msg->id == UBX_RXM_QZSSL6)
// 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 < 250); 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;
memcpy(packetUBXRXMQZSSL6message->callbackData->payload, msg->payload, msg->len);
packetUBXRXMQZSSL6message->callbackData->checksumA = msg->checksumA;
packetUBXRXMQZSSL6message->callbackData->checksumB = msg->checksumB;
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
}
}
else if (msg->id == UBX_RXM_COR)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
@@ -5444,6 +5500,28 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXRXMPMPmessage->callbackPointerPtr(packetUBXRXMPMPmessage->callbackData); // Call the callback
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 (_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
}
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
}
if ((packetUBXRXMCOR != NULL) // If RAM has been allocated for message storage
&& (packetUBXRXMCOR->callbackData != NULL) // If RAM has been allocated for the copy of the data
@@ -12561,6 +12639,97 @@ bool SFE_UBLOX_GNSS::initPacketUBXRXMPMPmessage()
return (true);
}
// ***** 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 *))
{
if (packetUBXRXMQZSSL6message == NULL)
initPacketUBXRXMQZSSL6message(); // Check that RAM has been allocated for the data
if (packetUBXRXMQZSSL6message == NULL) // Only attempt this if RAM allocation was successful
return false;
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
}
if (packetUBXRXMQZSSL6message->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("setAutoRXMQZSSL6messagecallbackPtr: RAM alloc failed!"));
#endif
return (false);
}
packetUBXRXMQZSSL6message->callbackPointerPtr = callbackPointer;
return (true);
}
// PRIVATE: Allocate RAM for packetUBXRXMQZSSL6message and initialize it
bool SFE_UBLOX_GNSS::initPacketUBXRXMQZSSL6message()
{
packetUBXRXMQZSSL6message = new UBX_RXM_QZSSL6_message_t; // Allocate RAM for the main struct
if (packetUBXRXMQZSSL6message == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXRXMQZSSL6message: RAM alloc failed!"));
#endif
return (false);
}
packetUBXRXMQZSSL6message->automaticFlags.flags.all = 0;
packetUBXRXMQZSSL6message->callbackPointerPtr = NULL;
packetUBXRXMQZSSL6message->callbackData = NULL;
return (true);
}
bool SFE_UBLOX_GNSS::setRXMCORcallbackPtr(void (*callbackPointer)(UBX_RXM_COR_data_t *))
{
if (packetUBXRXMCOR == NULL)