PlatformIO-Libs/SparkFunGNSS
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Make processRTCMframe weak

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Allow processRTCMframe to be overridden.  Its replacement would now be
able to place all of the bytes into a buffer for processing at a later
time and eliminate a deep call stack for every byte.
This commit is contained in:
Lee Leahy
2022-07-30 14:09:07 -10:00
parent 99ab25be46
commit a1142c29c7
2 changed files with 26 additions and 29 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+15 -16
View File
@@ -350,7 +350,7 @@ void SFE_UBLOX_GNSS::end(void)
delete packetUBXRXMQZSSL6message;
packetUBXRXMQZSSL6message = NULL; // Redundant?
}
if (packetUBXRXMCOR != NULL)
{
if (packetUBXRXMCOR->callbackData != NULL)
@@ -2114,7 +2114,7 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
}
else if (currentSentence == RTCM)
{
processRTCMframe(incoming); // Deal with RTCM bytes
currentSentence = processRTCMframe(incoming, &rtcmFrameCounter); // Deal with RTCM bytes
}
}
@@ -2876,13 +2876,15 @@ nmeaAutomaticFlags *SFE_UBLOX_GNSS::getNMEAFlagsPtr()
// Byte 2: 10-bits of length of this packet including the first two-ish header bytes, + 6.
// byte 3 + 4 bits: Msg type 12 bits
// Example: D3 00 7C 43 F0 ... / 0x7C = 124+6 = 130 bytes in this packet, 0x43F = Msg type 1087
void SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming)
SFE_UBLOX_GNSS::SentenceTypes SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming, uint16_t * rtcmFrameCounter)
{
if (rtcmFrameCounter == 1)
static uint16_t rtcmLen = 0;
if (*rtcmFrameCounter == 1)
{
rtcmLen = (incoming & 0x03) << 8; // Get the last two bits of this byte. Bits 8&9 of 10-bit length
}
else if (rtcmFrameCounter == 2)
else if (*rtcmFrameCounter == 2)
{
rtcmLen |= incoming; // Bits 0-7 of packet length
rtcmLen += 6; // There are 6 additional bytes of what we presume is header, msgType, CRC, and stuff
@@ -2896,15 +2898,12 @@ void SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming)
rtcmMsgType |= (incoming >> 4); //Message Type, bits 0-7
}*/
rtcmFrameCounter++;
*rtcmFrameCounter++;
processRTCM(incoming); // Here is where we expose this byte to the user
if (rtcmFrameCounter == rtcmLen)
{
// We're done!
currentSentence = NONE; // Reset and start looking for next sentence type
}
// Reset and start looking for next sentence type when done
return (*rtcmFrameCounter == rtcmLen) ? NONE : RTCM;
}
// This function is called for each byte of an RTCM frame
@@ -3944,10 +3943,10 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
// Note: length is variable with version 0x01
// Note: the field positions depend on the version
{
// Full QZSSL6 message, including Class, ID and checksum
// Full QZSSL6 message, including Class, ID and checksum
for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch ++) {
if (0 == (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid & (1 << ch))) {
packetUBXRXMQZSSL6message->callbackData[ch].sync1 = UBX_SYNCH_1;
packetUBXRXMQZSSL6message->callbackData[ch].sync2 = UBX_SYNCH_2;
packetUBXRXMQZSSL6message->callbackData[ch].cls = UBX_CLASS_RXM;
@@ -3958,12 +3957,12 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
memcpy(packetUBXRXMQZSSL6message->callbackData[ch].payload, msg->payload, msg->len);
packetUBXRXMQZSSL6message->callbackData[ch].checksumA = msg->checksumA;
packetUBXRXMQZSSL6message->callbackData[ch].checksumB = msg->checksumB;
packetUBXRXMQZSSL6message->callbackData[ch].checksumB = msg->checksumB;
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid |= (1 << ch);
break; // abort when added
}
}
}
}
else if (msg->id == UBX_RXM_COR)
{
@@ -5605,7 +5604,7 @@ 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 ((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