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Adding callback pointers for all auto messages

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This commit is contained in:
PaulZC
2022-02-05 14:39:16 +00:00
parent eba8063563
commit 9e137946f1
4 changed files with 897 additions and 139 deletions
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Adding_New_Messages.md
+6 -4
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@@ -129,21 +129,23 @@ See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Libra
See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/commit/b746d8e2742961ede95e2d06d5db3a3a557e571d) for the changes.
#### Step 6.3: Update processUBXpacket()
#### Step 6.3: Update getMaxPayloadSize()
#### Step 6.4: Update processUBXpacket()
Take time to double-check that you have used the correct data width, signed/unsigned and position for each field.
See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/commit/8eecdd5044f810b0e2b567150ff63a17c219fe8e) for the changes.
#### Step 6.4: Update checkCallbacks()
#### Step 6.5: Update checkCallbacks()
See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/commit/b53bffaa3ae12482cfb268f23796963d0b8519c9) for the changes.
#### Step 6.5: Add the "auto" functions
#### Step 6.6: Add the "auto" functions
See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/commit/e394ae003ad38117d150598774d0552059416473) for the changes.
#### Step 6.6: Add the helper functions (if any)
#### Step 6.7: Add the helper functions (if any)
See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/commit/318e76383e96d6676bbb57294c25e665c0d4a31f) for the changes.
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+761 -124
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src/SparkFun_u-blox_GNSS_Arduino_Library.h
+40 -11
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@@ -375,8 +375,8 @@ const uint8_t UBX_NAV_AOPSTATUS = 0x60; //AssistNow Autonomous status
//Class: RXM
//The following are used to configure the RXM UBX messages (receiver manager messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
const uint8_t UBX_RXM_MEASX = 0x14; //Satellite Measurements for RRLP
const uint8_t UBX_RXM_PMP = 0x72; //PMP raw data (NEO-D9S) (two different versions) (packet size for version 0x01 is variable)
const uint8_t UBX_RXM_PMREQ = 0x41; //Requests a Power Management task (two different packet sizes)
const uint8_t UBX_RXM_PMP = 0x72; //PMP raw data (two different versions) (packet size for version 0x01 is variable)
const uint8_t UBX_RXM_RAWX = 0x15; //Multi-GNSS Raw Measurement Data
const uint8_t UBX_RXM_RLM = 0x59; //Galileo SAR Short-RLM report (two different packet sizes)
const uint8_t UBX_RXM_RTCM = 0x32; //RTCM input status
@@ -932,6 +932,7 @@ public:
bool setAutoNAVPOSECEF(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic POSECEF 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 setAutoNAVPOSECEFrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic POSECEF reports
bool setAutoNAVPOSECEFcallback(void (*callbackPointer)(UBX_NAV_POSECEF_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic POSECEF reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVPOSECEFcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_POSECEF_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic POSECEF reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVPOSECEF(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and POSECEF is send cyclically already
void flushNAVPOSECEF(); //Mark all the data as read/stale
void logNAVPOSECEF(bool enabled = true); // Log data to file buffer
@@ -941,6 +942,7 @@ public:
bool setAutoNAVSTATUS(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic STATUS 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 setAutoNAVSTATUSrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic STATUS reports
bool setAutoNAVSTATUScallback(void (*callbackPointer)(UBX_NAV_STATUS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic STATUS reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVSTATUScallbackPtr(void (*callbackPointerPtr)(UBX_NAV_STATUS_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic STATUS reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVSTATUS(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and STATUS is send cyclically already
void flushNAVSTATUS(); //Mark all the data as read/stale
void logNAVSTATUS(bool enabled = true); // Log data to file buffer
@@ -950,6 +952,7 @@ public:
bool setAutoDOP(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic DOP 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 setAutoDOPrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic DOP reports
bool setAutoDOPcallback(void (*callbackPointer)(UBX_NAV_DOP_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic DOP reports at the navigation frequency. Data is accessed from the callback.
bool setAutoDOPcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_DOP_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic DOP reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoDOP(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and DOP is send cyclically already
void flushDOP(); //Mark all the DOP data as read/stale
void logNAVDOP(bool enabled = true); // Log data to file buffer
@@ -960,6 +963,7 @@ public:
bool setAutoNAVATT(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic vehicle attitude 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 setAutoNAVATTrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic ATT reports
bool setAutoNAVATTcallback(void (*callbackPointer)(UBX_NAV_ATT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic ATT reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVATTcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_ATT_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic ATT reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVATT(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and vehicle attitude is send cyclically already
void flushNAVATT(); //Mark all the data as read/stale
void logNAVATT(bool enabled = true); // Log data to file buffer
@@ -969,6 +973,7 @@ public:
bool setAutoPVT(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT 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 setAutoPVTrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic PVT reports
bool setAutoPVTcallback(void (*callbackPointer)(UBX_NAV_PVT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic PVT reports at the navigation frequency. Data is accessed from the callback.
bool setAutoPVTcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_PVT_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic PVT reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoPVT(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and PVT is send cyclically already
void flushPVT(); //Mark all the PVT data as read/stale
void logNAVPVT(bool enabled = true); // Log data to file buffer
@@ -978,6 +983,7 @@ public:
bool setAutoNAVODO(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ODO 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 setAutoNAVODOrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic ODO reports
bool setAutoNAVODOcallback(void (*callbackPointer)(UBX_NAV_ODO_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic ODO reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVODOcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_ODO_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic ODO reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVODO(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and ODO is send cyclically already
void flushNAVODO(); //Mark all the data as read/stale
void logNAVODO(bool enabled = true); // Log data to file buffer
@@ -987,6 +993,7 @@ public:
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
bool setAutoNAVVELECEFrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic VELECEF reports
bool setAutoNAVVELECEFcallback(void (*callbackPointer)(UBX_NAV_VELECEF_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic VELECEF reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVVELECEFcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_VELECEF_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic VELECEF reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVVELECEF(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and VELECEF is send cyclically already
void flushNAVVELECEF(); //Mark all the data as read/stale
void logNAVVELECEF(bool enabled = true); // Log data to file buffer
@@ -996,6 +1003,7 @@ public:
bool setAutoNAVVELNED(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic VELNED 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 setAutoNAVVELNEDrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic VELNED reports
bool setAutoNAVVELNEDcallback(void (*callbackPointer)(UBX_NAV_VELNED_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic VELNED reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVVELNEDcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_VELNED_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic VELNED reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVVELNED(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and VELNED is send cyclically already
void flushNAVVELNED(); //Mark all the data as read/stale
void logNAVVELNED(bool enabled = true); // Log data to file buffer
@@ -1005,6 +1013,7 @@ public:
bool setAutoNAVHPPOSECEF(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSECEF 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 setAutoNAVHPPOSECEFrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic HPPOSECEF reports
bool setAutoNAVHPPOSECEFcallback(void (*callbackPointer)(UBX_NAV_HPPOSECEF_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic HPPOSECEF reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVHPPOSECEFcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_HPPOSECEF_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic HPPOSECEF reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVHPPOSECEF(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and HPPOSECEF is send cyclically already
void flushNAVHPPOSECEF(); //Mark all the data as read/stale
void logNAVHPPOSECEF(bool enabled = true); // Log data to file buffer
@@ -1014,6 +1023,7 @@ public:
bool setAutoHPPOSLLH(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSLLH 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 setAutoHPPOSLLHrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic HPPOSLLH reports
bool setAutoHPPOSLLHcallback(void (*callbackPointer)(UBX_NAV_HPPOSLLH_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic HPPOSLLH reports at the navigation frequency. Data is accessed from the callback.
bool setAutoHPPOSLLHcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_HPPOSLLH_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic HPPOSLLH reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoHPPOSLLH(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and HPPOSLLH is send cyclically already
void flushHPPOSLLH(); //Mark all the HPPPOSLLH data as read/stale. This is handy to get data alignment after CRC failure
void logNAVHPPOSLLH(bool enabled = true); // Log data to file buffer
@@ -1023,6 +1033,7 @@ public:
bool setAutoNAVPVAT(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVAT 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 setAutoNAVPVATrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic PVAT reports
bool setAutoNAVPVATcallback(void (*callbackPointer)(UBX_NAV_PVAT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic PVAT reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVPVATcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_PVAT_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic PVAT reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVPVAT(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and PVAT is send cyclically already
void flushNAVPVAT(); //Mark all the PVAT data as read/stale
void logNAVPVAT(bool enabled = true); // Log data to file buffer
@@ -1032,6 +1043,7 @@ public:
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
bool setAutoNAVCLOCKrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic CLOCK reports
bool setAutoNAVCLOCKcallback(void (*callbackPointer)(UBX_NAV_CLOCK_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic CLOCK reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVCLOCKcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_CLOCK_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic CLOCK reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVCLOCK(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and clock is send cyclically already
void flushNAVCLOCK(); //Mark all the data as read/stale
void logNAVCLOCK(bool enabled = true); // Log data to file buffer
@@ -1047,6 +1059,7 @@ public:
bool setAutoNAVSAT(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic NAVSAT 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 setAutoNAVSATrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic NAVSAT reports
bool setAutoNAVSATcallback(void (*callbackPointer)(UBX_NAV_SAT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic NAVSAT reports at the navigation frequency. Data is accessed from the callback.
bool setAutoNAVSATcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_SAT_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic NAVSAT reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVSAT(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and NAVSAT is send cyclically already
void flushNAVSAT(); //Mark all the NAVSAT data as read/stale
void logNAVSAT(bool enabled = true); // Log data to file buffer
@@ -1056,6 +1069,7 @@ public:
bool setAutoRELPOSNED(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic RELPOSNED, 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 setAutoRELPOSNEDrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic RELPOSNEDreports
bool setAutoRELPOSNEDcallback(void (*callbackPointer)(UBX_NAV_RELPOSNED_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic RELPOSNED reports at the navigation frequency. Data is accessed from the callback.
bool setAutoRELPOSNEDcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_RELPOSNED_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic RELPOSNED reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoRELPOSNED(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and RELPOSNED is send cyclically already
void flushNAVRELPOSNED(); //Mark all the data as read/stale
void logNAVRELPOSNED(bool enabled = true); // Log data to file buffer
@@ -1065,6 +1079,7 @@ public:
bool setAutoAOPSTATUS(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic AOPSTATUS 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 setAutoAOPSTATUSrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic AOPSTATUS reports
bool setAutoAOPSTATUScallback(void (*callbackPointer)(UBX_NAV_AOPSTATUS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic AOPSTATUS reports at the navigation frequency. Data is accessed from the callback.
bool setAutoAOPSTATUScallbackPtr(void (*callbackPointerPtr)(UBX_NAV_AOPSTATUS_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic AOPSTATUS reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoAOPSTATUS(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and AOPSTATUS is send cyclically already
void flushAOPSTATUS(); //Mark all the AOPSTATUS data as read/stale
void logAOPSTATUS(bool enabled = true); // Log data to file buffer
@@ -1075,14 +1090,15 @@ public:
// Note: on the NEO-D9S, the UBX-RXM-PMP messages are enabled by default on all ports.
// You can disable them by calling (e.g.) setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_I2C, 0)
// The NEO-D9S does not support UBX-CFG-MSG
bool setAutoRXMPMPcallback(void (*callbackPointer)(UBX_RXM_PMP_data_t), uint16_t maxWait = defaultMaxWait); // Callback is passed all of the data. Heavy on the stack. May cause problems on some platforms.
bool setAutoRXMPMPcallbackPtr(void (*callbackPointerPtr)(UBX_RXM_PMP_data_t *), uint16_t maxWait = defaultMaxWait); // Callback receives a pointer to the data, instead of _all_ the data. Much kinder on the stack!
bool setAutoRXMPMPcallback(void (*callbackPointer)(UBX_RXM_PMP_data_t)); // Callback is passed all of the data. Heavy on the stack. May cause problems on some platforms.
bool setAutoRXMPMPcallbackPtr(void (*callbackPointerPtr)(UBX_RXM_PMP_data_t *)); // Callback receives a pointer to the data, instead of _all_ the data. Much kinder on the stack!
bool getRXMSFRBX(uint16_t maxWait = defaultMaxWait); // RXM SFRBX
bool setAutoRXMSFRBX(bool enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic RXM SFRBX reports at the navigation frequency
bool setAutoRXMSFRBX(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic RXM SFRBX 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 setAutoRXMSFRBXrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic SFRBX reports
bool setAutoRXMSFRBXcallback(void (*callbackPointer)(UBX_RXM_SFRBX_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic SFRBX reports at the navigation frequency. Data is accessed from the callback.
bool setAutoRXMSFRBXcallbackPtr(void (*callbackPointerPtr)(UBX_RXM_SFRBX_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic SFRBX reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoRXMSFRBX(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and RXM SFRBX is send cyclically already
void flushRXMSFRBX(); //Mark all the data as read/stale
void logRXMSFRBX(bool enabled = true); // Log data to file buffer
@@ -1092,13 +1108,15 @@ public:
bool setAutoRXMRAWX(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic RXM RAWX 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 setAutoRXMRAWXrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic RAWX reports
bool setAutoRXMRAWXcallback(void (*callbackPointer)(UBX_RXM_RAWX_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic RAWX reports at the navigation frequency. Data is accessed from the callback.
bool setAutoRXMRAWXcallbackPtr(void (*callbackPointerPtr)(UBX_RXM_RAWX_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic RAWX reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoRXMRAWX(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and RXM RAWX is send cyclically already
void flushRXMRAWX(); //Mark all the data as read/stale
void logRXMRAWX(bool enabled = true); // Log data to file buffer
// Configuration (CFG)
// Add "auto" support for CFG RATE - because we use it for isConnected (to stop it being mugged by other messages)
// Add "auto" support for CFG PRT - because we use it for isConnected (to stop it being mugged by other messages)
bool getPortSettingsInternal(uint8_t portID, uint16_t maxWait = defaultMaxWait); //Read the port configuration for a given port using UBX-CFG-PRT
bool getNavigationFrequencyInternal(uint16_t maxWait = defaultMaxWait); //Get the number of nav solutions sent per second currently being output by module
// Timing messages (TIM)
@@ -1108,6 +1126,7 @@ public:
bool setAutoTIMTM2(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic TIM TM2 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 setAutoTIMTM2rate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic TIM TM2 reports
bool setAutoTIMTM2callback(void (*callbackPointer)(UBX_TIM_TM2_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic TM2 reports at the navigation frequency. Data is accessed from the callback.
bool setAutoTIMTM2callbackPtr(void (*callbackPointerPtr)(UBX_TIM_TM2_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic TM2 reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoTIMTM2(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and TIM TM2 is send cyclically already
void flushTIMTM2(); //Mark all the data as read/stale
void logTIMTM2(bool enabled = true); // Log data to file buffer
@@ -1120,6 +1139,7 @@ public:
bool setAutoESFALG(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF ALG reports, 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 setAutoESFALGrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic ALG reports
bool setAutoESFALGcallback(void (*callbackPointer)(UBX_ESF_ALG_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic ALG reports at the navigation frequency. Data is accessed from the callback.
bool setAutoESFALGcallbackPtr(void (*callbackPointerPtr)(UBX_ESF_ALG_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic ALG reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoESFALG(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and ESF ALG is send cyclically already
void flushESFALG(); //Mark all the data as read/stale
void logESFALG(bool enabled = true); // Log data to file buffer
@@ -1130,6 +1150,7 @@ public:
bool setAutoESFSTATUS(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF STATUS reports, 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 setAutoESFSTATUSrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic STATUS reports
bool setAutoESFSTATUScallback(void (*callbackPointer)(UBX_ESF_STATUS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic STATUS reports at the navigation frequency. Data is accessed from the callback.
bool setAutoESFSTATUScallbackPtr(void (*callbackPointerPtr)(UBX_ESF_STATUS_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic STATUS reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoESFSTATUS(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and ESF STATUS is send cyclically already
void flushESFSTATUS(); //Mark all the data as read/stale
void logESFSTATUS(bool enabled = true); // Log data to file buffer
@@ -1140,6 +1161,7 @@ public:
bool setAutoESFINS(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF INS reports, 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 setAutoESFINSrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic INS reports
bool setAutoESFINScallback(void (*callbackPointer)(UBX_ESF_INS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic INS reports at the navigation frequency. Data is accessed from the callback.
bool setAutoESFINScallbackPtr(void (*callbackPointerPtr)(UBX_ESF_INS_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic INS reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoESFINS(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and ESF INS is send cyclically already
void flushESFINS(); //Mark all the data as read/stale
void logESFINS(bool enabled = true); // Log data to file buffer
@@ -1150,6 +1172,7 @@ public:
bool setAutoESFMEAS(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF MEAS reports, 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 setAutoESFMEASrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic MEAS reports
bool setAutoESFMEAScallback(void (*callbackPointer)(UBX_ESF_MEAS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic MEAS reports at the navigation frequency. Data is accessed from the callback.
bool setAutoESFMEAScallbackPtr(void (*callbackPointerPtr)(UBX_ESF_MEAS_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic MEAS reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoESFMEAS(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and ESF MEAS is send cyclically already
void flushESFMEAS(); //Mark all the data as read/stale
void logESFMEAS(bool enabled = true); // Log data to file buffer
@@ -1160,6 +1183,7 @@ public:
bool setAutoESFRAW(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF RAW reports, 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 setAutoESFRAWrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic RAW reports
bool setAutoESFRAWcallback(void (*callbackPointer)(UBX_ESF_RAW_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic RAW reports at the navigation frequency. Data is accessed from the callback.
bool setAutoESFRAWcallbackPtr(void (*callbackPointerPtr)(UBX_ESF_RAW_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic RAW reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoESFRAW(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and ESF RAW is send cyclically already
void flushESFRAW(); //Mark all the data as read/stale
void logESFRAW(bool enabled = true); // Log data to file buffer
@@ -1172,6 +1196,7 @@ public:
bool setAutoHNRATT(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR Attitude reports at the HNR rate, 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 setAutoHNRATTrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic ATT reports
bool setAutoHNRATTcallback(void (*callbackPointer)(UBX_HNR_ATT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic ATT reports at the navigation frequency. Data is accessed from the callback.
bool setAutoHNRATTcallbackPtr(void (*callbackPointerPtr)(UBX_HNR_ATT_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic ATT reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoHNRATT(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and HNR Attitude is send cyclically already
void flushHNRATT(); //Mark all the data as read/stale
void logHNRATT(bool enabled = true); // Log data to file buffer
@@ -1182,6 +1207,7 @@ public:
bool setAutoHNRINS(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR dynamics reports at the HNR rate, 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 setAutoHNRINSrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic INS reports
bool setAutoHNRINScallback(void (*callbackPointer)(UBX_HNR_INS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic INS reports at the navigation frequency. Data is accessed from the callback.
bool setAutoHNRINScallbackPtr(void (*callbackPointerPtr)(UBX_HNR_INS_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic INS reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoHNRINS(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and HNR dynamics is send cyclically already
void flushHNRINS(); //Mark all the data as read/stale
void logHNRINS(bool enabled = true); // Log data to file buffer
@@ -1191,6 +1217,7 @@ public:
bool setAutoHNRPVT(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR PVT reports at the HNR rate, 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 setAutoHNRPVTrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic PVT reports
bool setAutoHNRPVTcallback(void (*callbackPointer)(UBX_HNR_PVT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic PVT reports at the navigation frequency. Data is accessed from the callback.
bool setAutoHNRPVTcallbackPtr(void (*callbackPointerPtr)(UBX_HNR_PVT_data_t *), uint16_t maxWait = defaultMaxWait); //Enable automatic PVT reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoHNRPVT(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and HNR PVT is send cyclically already
void flushHNRPVT(); //Mark all the data as read/stale
void logHNRPVT(bool enabled = true); // Log data to file buffer
@@ -1365,12 +1392,12 @@ public:
// Functions to extract signed and unsigned 8/16/32-bit data from a ubxPacket
// From v2.0: These are public. The user can call these to extract data from custom packets
uint32_t extractLong(ubxPacket *msg, uint8_t spotToStart); //Combine four bytes from payload into long
int32_t extractSignedLong(ubxPacket *msg, uint8_t spotToStart); //Combine four bytes from payload into signed long (avoiding any ambiguity caused by casting)
uint16_t extractInt(ubxPacket *msg, uint8_t spotToStart); //Combine two bytes from payload into int
int16_t extractSignedInt(ubxPacket *msg, int8_t spotToStart);
uint8_t extractByte(ubxPacket *msg, uint8_t spotToStart); //Get byte from payload
int8_t extractSignedChar(ubxPacket *msg, uint8_t spotToStart); //Get signed 8-bit value from payload
uint32_t extractLong(ubxPacket *msg, uint16_t spotToStart); //Combine four bytes from payload into long
int32_t extractSignedLong(ubxPacket *msg, uint16_t spotToStart); //Combine four bytes from payload into signed long (avoiding any ambiguity caused by casting)
uint16_t extractInt(ubxPacket *msg, uint16_t spotToStart); //Combine two bytes from payload into int
int16_t extractSignedInt(ubxPacket *msg, uint16_t spotToStart);
uint8_t extractByte(ubxPacket *msg, uint16_t spotToStart); //Get byte from payload
int8_t extractSignedChar(ubxPacket *msg, uint16_t spotToStart); //Get signed 8-bit value from payload
// Pointers to storage for the "automatic" messages
// RAM is allocated for these if/when required.
@@ -1397,6 +1424,7 @@ public:
UBX_RXM_SFRBX_t *packetUBXRXMSFRBX = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_RAWX_t *packetUBXRXMRAWX = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_CFG_PRT_t *packetUBXCFGPRT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_CFG_RATE_t *packetUBXCFGRATE = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_TIM_TM2_t *packetUBXTIMTM2 = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
@@ -1481,9 +1509,10 @@ private:
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 initPacketUBXRXMPMP(bool usePtr = false); // Allocate RAM for packetUBXRXMPMP and initialize it
bool initPacketUBXRXMPMP(); // Allocate RAM for packetUBXRXMPMP and initialize it
bool initPacketUBXRXMSFRBX(); // Allocate RAM for packetUBXRXMSFRBX and initialize it
bool initPacketUBXRXMRAWX(); // Allocate RAM for packetUBXRXMRAWX and initialize it
bool initPacketUBXCFGPRT(); // Allocate RAM for packetUBXCFGPRT and initialize it
bool initPacketUBXCFGRATE(); // Allocate RAM for packetUBXCFGRATE and initialize it
bool initPacketUBXTIMTM2(); // Allocate RAM for packetUBXTIMTM2 and initialize it
bool initPacketUBXESFALG(); // Allocate RAM for packetUBXESFALG and initialize it
src/u-blox_structs.h
+90
View File
@@ -103,6 +103,7 @@ typedef struct
UBX_NAV_POSECEF_data_t data;
UBX_NAV_POSECEF_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_POSECEF_data_t);
void (*callbackPointerPtr)(UBX_NAV_POSECEF_data_t *);
UBX_NAV_POSECEF_data_t *callbackData;
} UBX_NAV_POSECEF_t;
@@ -146,6 +147,7 @@ typedef struct
UBX_NAV_POSLLH_data_t data;
UBX_NAV_POSLLH_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_POSLLH_data_t);
void (*callbackPointerPtr)(UBX_NAV_POSLLH_data_t *);
UBX_NAV_POSLLH_data_t *callbackData;
} UBX_NAV_POSLLH_t;
@@ -246,6 +248,7 @@ typedef struct
UBX_NAV_STATUS_data_t data;
UBX_NAV_STATUS_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_STATUS_data_t);
void (*callbackPointerPtr)(UBX_NAV_STATUS_data_t *);
UBX_NAV_STATUS_data_t *callbackData;
} UBX_NAV_STATUS_t;
@@ -291,6 +294,7 @@ typedef struct
UBX_NAV_DOP_data_t data;
UBX_NAV_DOP_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_DOP_data_t);
void (*callbackPointerPtr)(UBX_NAV_DOP_data_t *);
UBX_NAV_DOP_data_t *callbackData;
} UBX_NAV_DOP_t;
@@ -337,6 +341,7 @@ typedef struct
UBX_NAV_ATT_data_t data;
UBX_NAV_ATT_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_ATT_data_t);
void (*callbackPointerPtr)(UBX_NAV_ATT_data_t *);
UBX_NAV_ATT_data_t *callbackData;
} UBX_NAV_ATT_t;
@@ -500,6 +505,7 @@ typedef struct
UBX_NAV_PVT_data_t data;
UBX_NAV_PVT_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_PVT_data_t);
void (*callbackPointerPtr)(UBX_NAV_PVT_data_t *);
UBX_NAV_PVT_data_t *callbackData;
} UBX_NAV_PVT_t;
@@ -540,6 +546,7 @@ typedef struct
UBX_NAV_ODO_data_t data;
UBX_NAV_ODO_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_ODO_data_t);
void (*callbackPointerPtr)(UBX_NAV_ODO_data_t *);
UBX_NAV_ODO_data_t *callbackData;
} UBX_NAV_ODO_t;
@@ -579,6 +586,7 @@ typedef struct
UBX_NAV_VELECEF_data_t data;
UBX_NAV_VELECEF_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_VELECEF_data_t);
void (*callbackPointerPtr)(UBX_NAV_VELECEF_data_t *);
UBX_NAV_VELECEF_data_t *callbackData;
} UBX_NAV_VELECEF_t;
@@ -626,6 +634,7 @@ typedef struct
UBX_NAV_VELNED_data_t data;
UBX_NAV_VELNED_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_VELNED_data_t);
void (*callbackPointerPtr)(UBX_NAV_VELNED_data_t *);
UBX_NAV_VELNED_data_t *callbackData;
} UBX_NAV_VELNED_t;
@@ -685,6 +694,7 @@ typedef struct
UBX_NAV_HPPOSECEF_data_t data;
UBX_NAV_HPPOSECEF_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_HPPOSECEF_data_t);
void (*callbackPointerPtr)(UBX_NAV_HPPOSECEF_data_t *);
UBX_NAV_HPPOSECEF_data_t *callbackData;
} UBX_NAV_HPPOSECEF_t;
@@ -750,6 +760,7 @@ typedef struct
UBX_NAV_HPPOSLLH_data_t data;
UBX_NAV_HPPOSLLH_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_HPPOSLLH_data_t);
void (*callbackPointerPtr)(UBX_NAV_HPPOSLLH_data_t *);
UBX_NAV_HPPOSLLH_data_t *callbackData;
} UBX_NAV_HPPOSLLH_t;
@@ -924,6 +935,7 @@ typedef struct
UBX_NAV_PVAT_data_t data;
UBX_NAV_PVAT_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_PVAT_data_t);
void (*callbackPointerPtr)(UBX_NAV_PVAT_data_t *);
UBX_NAV_PVAT_data_t *callbackData;
} UBX_NAV_PVAT_t;
@@ -988,6 +1000,7 @@ typedef struct
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;
@@ -1027,6 +1040,7 @@ typedef struct
UBX_NAV_CLOCK_data_t data;
UBX_NAV_CLOCK_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_CLOCK_data_t);
void (*callbackPointerPtr)(UBX_NAV_CLOCK_data_t *);
UBX_NAV_CLOCK_data_t *callbackData;
} UBX_NAV_CLOCK_t;
@@ -1087,6 +1101,7 @@ typedef struct
UBX_NAV_TIMELS_data_t data;
UBX_NAV_TIMELS_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_TIMELS_data_t);
void (*callbackPointerPtr)(UBX_NAV_TIMELS_data_t *);
UBX_NAV_TIMELS_data_t *callbackData;
} UBX_NAV_TIMELS_t;
@@ -1160,6 +1175,7 @@ typedef struct
UBX_NAV_SAT_data_t data;
bool moduleQueried;
void (*callbackPointer)(UBX_NAV_SAT_data_t);
void (*callbackPointerPtr)(UBX_NAV_SAT_data_t *);
UBX_NAV_SAT_data_t *callbackData;
} UBX_NAV_SAT_t;
@@ -1218,6 +1234,7 @@ typedef struct
UBX_NAV_SVIN_data_t data;
UBX_NAV_SVIN_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_SVIN_data_t);
void (*callbackPointerPtr)(UBX_NAV_SVIN_data_t *);
UBX_NAV_SVIN_data_t *callbackData;
} UBX_NAV_SVIN_t;
@@ -1317,6 +1334,7 @@ typedef struct
UBX_NAV_RELPOSNED_data_t data;
UBX_NAV_RELPOSNED_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_RELPOSNED_data_t);
void (*callbackPointerPtr)(UBX_NAV_RELPOSNED_data_t *);
UBX_NAV_RELPOSNED_data_t *callbackData;
} UBX_NAV_RELPOSNED_t;
@@ -1362,6 +1380,7 @@ typedef struct
UBX_NAV_AOPSTATUS_data_t data;
UBX_NAV_AOPSTATUS_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_AOPSTATUS_data_t);
void (*callbackPointerPtr)(UBX_NAV_AOPSTATUS_data_t *);
UBX_NAV_AOPSTATUS_data_t *callbackData;
} UBX_NAV_AOPSTATUS_t;
@@ -1393,6 +1412,7 @@ typedef struct
UBX_RXM_SFRBX_data_t data;
bool moduleQueried;
void (*callbackPointer)(UBX_RXM_SFRBX_data_t);
void (*callbackPointerPtr)(UBX_RXM_SFRBX_data_t *);
UBX_RXM_SFRBX_data_t *callbackData;
} UBX_RXM_SFRBX_t;
@@ -1460,6 +1480,7 @@ typedef struct
UBX_RXM_RAWX_data_t data;
bool moduleQueried;
void (*callbackPointer)(UBX_RXM_RAWX_data_t);
void (*callbackPointerPtr)(UBX_RXM_RAWX_data_t *);
UBX_RXM_RAWX_data_t *callbackData;
} UBX_RXM_RAWX_t;
@@ -1499,6 +1520,63 @@ typedef struct
// CFG-specific structs
// UBX-CFG-PRT (0x06 0x00): Port configuration
// The content changes depending on which port type is being configured
// This struct defines the common structure
const uint16_t UBX_CFG_PRT_LEN = 20;
typedef struct
{
uint8_t portID; // Port identifier number
uint8_t reserved0; // Reserved
union
{
uint16_t all;
struct
{
uint16_t en : 1; // Enable TX ready feature for this port
uint16_t pol : 1; // Polarity: 0 High-active; 1 Low-active
uint16_t pin : 5; // PIO to be used (must not be in use by another function)
uint16_t thres : 9; // Threshold
} bits;
} txReady;
uint32_t mode; // Content changes depending on the port type
uint32_t baudRate ; // Content changes depending on the port type
union
{
uint16_t all;
struct
{
uint16_t inUbx : 1; // UBX protocol
uint16_t inNmea : 1; // NMEA protocol
uint16_t inRtcm : 1; // RTCM2 protocol
uint16_t reserved : 2;
uint16_t inRtcm3 : 1; // RTCM3 protocol (not supported for protocol versions less than 20.00)
uint16_t inSPARTN : 1;
} bits;
} inProtoMask;
union
{
uint16_t all;
struct
{
uint16_t outUbx : 1; // UBX protocol
uint16_t outNmea : 1; // NMEA protocol
uint16_t reserved : 3;
uint16_t outRtcm3 : 1; // RTCM3 protocol (not supported for protocol versions less than 20.00)
uint16_t outSPARTN : 1;
} bits;
} outProtoMask;
uint16_t flags; // Content changes depending on the port type
uint16_t reserved1;
} UBX_CFG_PRT_data_t;
typedef struct
{
UBX_CFG_PRT_data_t data;
bool dataValid;
} UBX_CFG_PRT_t;
// UBX-CFG-RATE (0x06 0x08): Navigation/measurement rate settings
const uint16_t UBX_CFG_RATE_LEN = 6;
@@ -1531,6 +1609,7 @@ typedef struct
UBX_CFG_RATE_data_t data;
UBX_CFG_RATE_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_CFG_RATE_data_t);
void (*callbackPointerPtr)(UBX_CFG_RATE_data_t *);
UBX_CFG_RATE_data_t *callbackData;
} UBX_CFG_RATE_t;
@@ -1637,6 +1716,7 @@ typedef struct
UBX_TIM_TM2_data_t data;
UBX_TIM_TM2_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_TIM_TM2_data_t);
void (*callbackPointerPtr)(UBX_TIM_TM2_data_t *);
UBX_TIM_TM2_data_t *callbackData;
} UBX_TIM_TM2_t;
@@ -1711,6 +1791,7 @@ typedef struct
UBX_ESF_ALG_data_t data;
UBX_ESF_ALG_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_ESF_ALG_data_t);
void (*callbackPointerPtr)(UBX_ESF_ALG_data_t *);
UBX_ESF_ALG_data_t *callbackData;
} UBX_ESF_ALG_t;
@@ -1777,6 +1858,7 @@ typedef struct
UBX_ESF_INS_data_t data;
UBX_ESF_INS_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_ESF_INS_data_t);
void (*callbackPointerPtr)(UBX_ESF_INS_data_t *);
UBX_ESF_INS_data_t *callbackData;
} UBX_ESF_INS_t;
@@ -1847,6 +1929,7 @@ typedef struct
UBX_ESF_MEAS_data_t data;
UBX_ESF_MEAS_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_ESF_MEAS_data_t);
void (*callbackPointerPtr)(UBX_ESF_MEAS_data_t *);
UBX_ESF_MEAS_data_t *callbackData;
} UBX_ESF_MEAS_t;
@@ -1894,6 +1977,7 @@ typedef struct
UBX_ESF_RAW_data_t data;
UBX_ESF_RAW_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_ESF_RAW_data_t);
void (*callbackPointerPtr)(UBX_ESF_RAW_data_t *);
UBX_ESF_RAW_data_t *callbackData;
} UBX_ESF_RAW_t;
@@ -1981,6 +2065,7 @@ typedef struct
UBX_ESF_STATUS_data_t data;
UBX_ESF_STATUS_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_ESF_STATUS_data_t);
void (*callbackPointerPtr)(UBX_ESF_STATUS_data_t *);
UBX_ESF_STATUS_data_t *callbackData;
} UBX_ESF_STATUS_t;
@@ -2151,6 +2236,7 @@ typedef struct
UBX_HNR_PVT_data_t data;
UBX_HNR_PVT_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_HNR_PVT_data_t);
void (*callbackPointerPtr)(UBX_HNR_PVT_data_t *);
UBX_HNR_PVT_data_t *callbackData;
} UBX_HNR_PVT_t;
@@ -2197,6 +2283,7 @@ typedef struct
UBX_HNR_ATT_data_t data;
UBX_HNR_ATT_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_HNR_ATT_data_t);
void (*callbackPointerPtr)(UBX_HNR_ATT_data_t *);
UBX_HNR_ATT_data_t *callbackData;
} UBX_HNR_ATT_t;
@@ -2263,6 +2350,7 @@ typedef struct
UBX_HNR_INS_data_t data;
UBX_HNR_INS_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_HNR_INS_data_t);
void (*callbackPointerPtr)(UBX_HNR_INS_data_t *);
UBX_HNR_INS_data_t *callbackData;
} UBX_HNR_INS_t;
@@ -2302,6 +2390,7 @@ typedef struct
NMEA_GGA_data_t workingCopy; // Incoming data is added to the working copy
NMEA_GGA_data_t completeCopy; // The working copy is copied into the complete copy when all data has been received and the checksum is valid
void (*callbackPointer)(NMEA_GGA_data_t);
void (*callbackPointerPtr)(NMEA_GGA_data_t *);
NMEA_GGA_data_t *callbackCopy; // The callback gets its own preserved copy of the complete copy
} NMEA_GPGGA_t;
@@ -2311,6 +2400,7 @@ typedef struct
NMEA_GGA_data_t workingCopy; // Incoming data is added to the working copy
NMEA_GGA_data_t completeCopy; // The working copy is copied into the complete copy when all data has been received and the checksum is valid
void (*callbackPointer)(NMEA_GGA_data_t);
void (*callbackPointerPtr)(NMEA_GGA_data_t *);
NMEA_GGA_data_t *callbackCopy; // The callback gets its own preserved copy of the complete copy
} NMEA_GNGGA_t;