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Add setUTCTimeAssistance. Change pushAssistNowData to const uint8_t * with String helpers.

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This commit is contained in:
PaulZC
2021-11-26 11:41:33 +00:00
parent 19ff31b8b7
commit 9e8670851f
3 changed files with 203 additions and 84 deletions
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keywords.txt
+1
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@@ -91,6 +91,7 @@ checkCallbacks KEYWORD2
pushRawData KEYWORD2
pushAssistNowData KEYWORD2
setUTCTimeAssistance KEYWORD2
setFileBufferSize KEYWORD2
getFileBufferSize KEYWORD2
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+128 -22
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@@ -3979,14 +3979,43 @@ bool SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes, bool s
}
}
// Push MGA AssistNow data to the module
// Check for UBX-MGA-ACK responses if required (if mgaAck is YES or ENQUIRE)
// Wait for maxWait millis after sending each packet (if mgaAck is NO)
// Return how many MGA packets were pushed successfully
uint16_t SFE_UBLOX_GNSS::pushAssistNowData(String dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
// Push MGA AssistNow data to the module.
// Check for UBX-MGA-ACK responses if required (if mgaAck is YES or ENQUIRE).
// Wait for maxWait millis after sending each packet (if mgaAck is NO).
// Return how many MGA packets were pushed successfully.
// If skipTime is true, any UBX-MGA-INI-TIME_UTC or UBX-MGA-INI-TIME_GNSS packets found in the data will be skipped,
// allowing the user to override with their own time data with setUTCTimeAssistance.
size_t SFE_UBLOX_GNSS::pushAssistNowData(const String &dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("pushAssistNowData: OK so far... (1)"));
_debugSerial->flush();
}
return (pushAssistNowDataInternal(false, (const uint8_t *)dataBytes.c_str(), numDataBytes, mgaAck, maxWait));
}
size_t SFE_UBLOX_GNSS::pushAssistNowData(const uint8_t *dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
{
return (pushAssistNowDataInternal(false, dataBytes, numDataBytes, mgaAck, maxWait));
}
size_t SFE_UBLOX_GNSS::pushAssistNowData(bool skipTime, const String &dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
{
return (pushAssistNowDataInternal(skipTime, (const uint8_t *)dataBytes.c_str(), numDataBytes, mgaAck, maxWait));
}
size_t SFE_UBLOX_GNSS::pushAssistNowData(bool skipTime, const uint8_t *dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
{
return (pushAssistNowDataInternal(skipTime, dataBytes, numDataBytes, mgaAck, maxWait));
}
size_t SFE_UBLOX_GNSS::pushAssistNowDataInternal(bool skipTime, const uint8_t *dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
{
size_t dataPtr = 0; // Pointer into dataBytes
uint16_t packetsProcessed = 0; // Keep count of how many packets have been processed
size_t packetsProcessed = 0; // Keep count of how many packets have been processed
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("pushAssistNowData: OK so far... (2)"));
_debugSerial->flush();
}
bool checkForAcks = (mgaAck == SFE_UBLOX_MGA_ASSIST_ACK_YES); // If mgaAck is YES, always check for Acks
@@ -3997,11 +4026,13 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(String dataBytes, size_t numDataBytes
if (ackAiding == 1)
checkForAcks = true;
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: mgaAck is ENQUIRE. getAckAiding returned "));
_debugSerial->println(ackAiding);
}
#endif
}
// If checkForAcks is true, then we need to set up storage for the UBX-MGA-ACK-DATA0 messages
@@ -4017,11 +4048,17 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(String dataBytes, size_t numDataBytes
// Start by checking the validity of the packet being pointed to
bool dataIsOK = true;
dataIsOK &= (dataBytes[dataPtr + 0] == UBX_SYNCH_1); // Check for 0xB5
dataIsOK &= (dataBytes[dataPtr + 1] == UBX_SYNCH_2); // Check for 0x62
dataIsOK &= (dataBytes[dataPtr + 2] == UBX_CLASS_MGA); // Check for class UBX-MGA
dataIsOK &= (*(dataBytes + dataPtr + 0) == UBX_SYNCH_1); // Check for 0xB5
dataIsOK &= (*(dataBytes + dataPtr + 1) == UBX_SYNCH_2); // Check for 0x62
dataIsOK &= (*(dataBytes + dataPtr + 2) == UBX_CLASS_MGA); // Check for class UBX-MGA
size_t packetLength = ((size_t)dataBytes[dataPtr + 4]) | (((size_t)dataBytes[dataPtr + 5]) << 8); // Extract the length
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("pushAssistNowData: OK so far... (3)"));
_debugSerial->flush();
}
size_t packetLength = ((size_t)*(dataBytes + dataPtr + 4)) | (((size_t)*(dataBytes + dataPtr + 5)) << 8); // Extract the length
uint8_t checksumA = 0;
uint8_t checksumB = 0;
@@ -4030,26 +4067,41 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(String dataBytes, size_t numDataBytes
// or we reach the end of the AssistNow data (payloadPtr == numDataBytes)
for (size_t payloadPtr = dataPtr + ((size_t)2); (payloadPtr < (dataPtr + packetLength + ((size_t)6))) && (payloadPtr < numDataBytes); payloadPtr++)
{
checksumA += dataBytes[payloadPtr];
checksumA += *(dataBytes + payloadPtr);
checksumB += checksumA;
}
// Check the checksum bytes
dataIsOK &= (checksumA == dataBytes[dataPtr + packetLength + ((size_t)6)]);
dataIsOK &= (checksumB == dataBytes[dataPtr + packetLength + ((size_t)7)]);
dataIsOK &= (checksumA == *(dataBytes + dataPtr + packetLength + ((size_t)6)));
dataIsOK &= (checksumB == *(dataBytes + dataPtr + packetLength + ((size_t)7)));
dataIsOK &= ((dataPtr + packetLength + ((size_t)8)) <= numDataBytes); // Check we haven't overrun
// If the data is valid, push it
if (dataIsOK)
{
pushRawData((uint8_t *)&dataBytes[dataPtr], packetLength + ((size_t)8)); // Push the data
// Check if this is time assistance data which should be skipped
if ((skipTime) && ((*(dataBytes + dataPtr + 3) == UBX_MGA_INI_TIME_UTC) || (*(dataBytes + dataPtr + 3) == UBX_MGA_INI_TIME_GNSS)))
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: skipped INI_TIME ID 0x"));
if (*(dataBytes + dataPtr + 3) < 0x10)
_debugSerial->print(F("0"));
_debugSerial->println(*(dataBytes + dataPtr + 3), HEX);
}
#endif
}
else
{
pushRawData((uint8_t *)(dataBytes + dataPtr), packetLength + ((size_t)8)); // Push the data
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: packet ID 0x"));
if (dataBytes[dataPtr + 3] < 0x10)
if (*(dataBytes + dataPtr + 3) < 0x10)
_debugSerial->print(F("0"));
_debugSerial->print(dataBytes[dataPtr + 3], HEX);
_debugSerial->print(*(dataBytes + dataPtr + 3), HEX);
_debugSerial->print(F(" length "));
_debugSerial->println(packetLength);
}
@@ -4064,31 +4116,35 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(String dataBytes, size_t numDataBytes
if (packetUBXMGAACK->head != packetUBXMGAACK->tail) // Does the MGA ACK ringbuffer contain any ACK's?
{
bool dataAckd = true; // Check if we've received the correct ACK
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgId == dataBytes[dataPtr + 3]); // Check if the message ID matches
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[0] == dataBytes[dataPtr + 6]); // Check if the first four data bytes match
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[1] == dataBytes[dataPtr + 7]);
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[2] == dataBytes[dataPtr + 8]);
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[3] == dataBytes[dataPtr + 9]);
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgId == *(dataBytes + dataPtr + 3)); // Check if the message ID matches
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[0] == *(dataBytes + dataPtr + 6)); // Check if the first four data bytes match
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[1] == *(dataBytes + dataPtr + 7));
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[2] == *(dataBytes + dataPtr + 8));
dataAckd &= (packetUBXMGAACK->data[packetUBXMGAACK->tail].msgPayloadStart[3] == *(dataBytes + dataPtr + 9));
if (dataAckd) // Is this the ACK we are looking for?
{
if ((packetUBXMGAACK->data[packetUBXMGAACK->tail].type == (uint8_t)1) && (packetUBXMGAACK->data[packetUBXMGAACK->tail].infoCode == (uint8_t)SFE_UBLOX_MGA_ACK_INFOCODE_ACCEPTED))
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: packet was accepted after "));
_debugSerial->print(millis() - startTime);
_debugSerial->println(F(" ms"));
}
#endif
packetsProcessed++;
}
else
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: packet was _not_ accepted. infoCode is "));
_debugSerial->println(packetUBXMGAACK->data[packetUBXMGAACK->tail].infoCode);
}
#endif
}
keepGoing = false;
}
@@ -4116,30 +4172,36 @@ uint16_t SFE_UBLOX_GNSS::pushAssistNowData(String dataBytes, size_t numDataBytes
delay(maxWait);
}
}
}
dataPtr += packetLength + ((size_t)8); // Point to the next message
}
else
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
// The data was invalid. Send a debug message and then try to find the next 0xB5
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: bad data - ignored! dataPtr is "));
_debugSerial->println(dataPtr);
}
#endif
while ((dataPtr < numDataBytes) && (dataBytes[++dataPtr] != UBX_SYNCH_1))
while ((dataPtr < numDataBytes) && (*(dataBytes + ++dataPtr) != UBX_SYNCH_1))
{
; // Increment dataPtr until we are pointing at the next 0xB5 - or we reach the end of the data
}
}
}
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("pushAssistNowData: packetsProcessed: "));
_debugSerial->println(packetsProcessed);
}
#endif
return (packetsProcessed);
}
@@ -4159,6 +4221,50 @@ bool SFE_UBLOX_GNSS::initPacketUBXMGAACK()
return (true);
}
// Provide initial time assistance
bool SFE_UBLOX_GNSS::setUTCTimeAssistance(uint16_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t minute, uint8_t second, uint32_t nanos, uint16_t tAccS, uint32_t tAccNs, uint8_t source, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
{
uint8_t iniTimeUTC[32]; // Create the UBX-MGA-INI-TIME_UTC message by hand
memset(iniTimeUTC, 0x00, 32); // Set all unused / reserved bytes and the checksum to zero
iniTimeUTC[0] = UBX_SYNCH_1; // Sync char 1
iniTimeUTC[1] = UBX_SYNCH_2; // Sync char 2
iniTimeUTC[2] = UBX_CLASS_MGA; // Class
iniTimeUTC[3] = UBX_MGA_INI_TIME_UTC; // ID
iniTimeUTC[4] = 24; // Length LSB
iniTimeUTC[5] = 0x00; // Length MSB
iniTimeUTC[6] = 0x10; // type
iniTimeUTC[7] = 0x00; // version
iniTimeUTC[8] = source; // ref (source)
iniTimeUTC[9] = 0x80; // leapSecs. Set to 0x80 = unknown
iniTimeUTC[10] = (uint8_t)(year & 0xFF); // year LSB
iniTimeUTC[11] = (uint8_t)(year >> 8); // year MSB
iniTimeUTC[12] = month; // month starting at 1
iniTimeUTC[13] = day; // day starting at 1
iniTimeUTC[14] = hour; // hour 0:23
iniTimeUTC[15] = minute; // minute 0:59
iniTimeUTC[16] = second; // seconds 0:59
iniTimeUTC[18] = (uint8_t)(nanos & 0xFF); // nanoseconds LSB
iniTimeUTC[19] = (uint8_t)((nanos >> 8) & 0xFF);
iniTimeUTC[20] = (uint8_t)((nanos >> 16) & 0xFF);
iniTimeUTC[21] = (uint8_t)(nanos >> 24); // nanoseconds MSB
iniTimeUTC[22] = (uint8_t)(tAccS & 0xFF); // seconds part of the accuracy LSB
iniTimeUTC[23] = (uint8_t)(tAccS >> 8); // seconds part of the accuracy MSB
iniTimeUTC[26] = (uint8_t)(tAccNs & 0xFF); // nanoseconds part of the accuracy LSB
iniTimeUTC[27] = (uint8_t)((tAccNs >> 8) & 0xFF);
iniTimeUTC[28] = (uint8_t)((tAccNs >> 16) & 0xFF);
iniTimeUTC[29] = (uint8_t)(tAccNs >> 24); // nanoseconds part of the accuracy MSB
for (uint8_t i = 2; i < 30; i++) // Calculate the checksum
{
iniTimeUTC[30] += iniTimeUTC[i];
iniTimeUTC[31] += iniTimeUTC[30];
}
// Return true if the one packet was pushed successfully
return (pushAssistNowData(true, iniTimeUTC, 32, mgaAck, maxWait) == 1);
}
// Support for data logging
//Set the file buffer size. This must be called _before_ .begin
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+17 -5
View File
@@ -704,12 +704,23 @@ public:
// Default to using a restart between transmissions. But processors like ESP32 seem to need a stop (#30). Set stop to true to use a stop instead.
bool pushRawData(uint8_t *dataBytes, size_t numDataBytes, bool stop = false);
// Push MGA AssistNow data to the module
// Check for UBX-MGA-ACK responses if required (if mgaAck is YES or ENQUIRE)
// Wait for maxWait millis after sending each packet (if mgaAck is NO)
// Return how many MGA packets were pushed successfully
// Push MGA AssistNow data to the module.
// Check for UBX-MGA-ACK responses if required (if mgaAck is YES or ENQUIRE).
// Wait for maxWait millis after sending each packet (if mgaAck is NO).
// Return how many MGA packets were pushed successfully.
// If skipTime is true, any UBX-MGA-INI-TIME_UTC or UBX-MGA-INI-TIME_GNSS packets found in the data will be skipped,
// allowing the user to override with their own time data with setUTCTimeAssistance.
#define defaultMGAdelay 7 // Default to waiting for 7ms between each MGA message
uint16_t pushAssistNowData(String dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck = SFE_UBLOX_MGA_ASSIST_ACK_NO, uint16_t maxWait = defaultMGAdelay);
size_t pushAssistNowData(const String &dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck = SFE_UBLOX_MGA_ASSIST_ACK_NO, uint16_t maxWait = defaultMGAdelay);
size_t pushAssistNowData(const uint8_t *dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck = SFE_UBLOX_MGA_ASSIST_ACK_NO, uint16_t maxWait = defaultMGAdelay);
size_t pushAssistNowData(bool skipTime, const String &dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck = SFE_UBLOX_MGA_ASSIST_ACK_NO, uint16_t maxWait = defaultMGAdelay);
size_t pushAssistNowData(bool skipTime, const uint8_t *dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck = SFE_UBLOX_MGA_ASSIST_ACK_NO, uint16_t maxWait = defaultMGAdelay);
// Provide initial time assistance
#define defaultMGAINITIMEtAccS 2 // Default to setting the seconds time accuracy to 2 seconds
#define defaultMGAINITIMEtAccNs 0 // Default to setting the nanoseconds time accuracy to zero
#define defaultMGAINITIMEsource 0 // Set default source to none, i.e. on receipt of message (will be inaccurate!)
bool setUTCTimeAssistance(uint16_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t minute, uint8_t second, uint32_t nanos = 0, uint16_t tAccS = defaultMGAINITIMEtAccS, uint32_t tAccNs = defaultMGAINITIMEtAccNs, uint8_t source = defaultMGAINITIMEsource, sfe_ublox_mga_assist_ack_e mgaAck = SFE_UBLOX_MGA_ASSIST_ACK_NO, uint16_t maxWait = defaultMGAdelay);
// Support for data logging
void setFileBufferSize(uint16_t bufferSize); // Set the size of the file buffer. This must be called _before_ .begin.
@@ -1306,6 +1317,7 @@ private:
//Functions
bool checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass = 255, uint8_t requestedID = 255); //Checks module with user selected commType
void addToChecksum(uint8_t incoming); //Given an incoming byte, adjust rollingChecksumA/B
size_t pushAssistNowDataInternal(bool skipTime, const uint8_t *dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck = SFE_UBLOX_MGA_ASSIST_ACK_NO, uint16_t maxWait = defaultMGAdelay);
//Return true if this "automatic" message has storage allocated for it
bool checkAutomatic(uint8_t Class, uint8_t ID);