PlatformIO-Libs/SparkFunGNSS
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This commit is contained in:
Andrew Berridge
2021-06-27 12:52:36 +01:00
parent bcc68dab67
commit b7e90c6925
3 changed files with 39 additions and 27 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+30 -22
View File
@@ -452,12 +452,15 @@ boolean SFE_UBLOX_GNSS::begin(Stream &serialPort)
}
// Initialize for SPI
boolean SFE_UBLOX_GNSS::begin(SPIClass &spiPort, uint8_t ssPin, int spiSpeed)
boolean SFE_UBLOX_GNSS::begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed)
{
commType = COMM_TYPE_SPI;
_spiPort = &spiPort;
_ssPin = ssPin;
_csPin = csPin;
_spiSpeed = spiSpeed;
// Initialize the chip select pin
pinMode(_csPin, OUTPUT);
digitalWrite(_csPin, HIGH);
//New in v2.0: allocate memory for the packetCfg payload here - if required. (The user may have called setPacketCfgPayloadSize already)
if (packetCfgPayloadSize == 0)
setPacketCfgPayloadSize(MAX_PAYLOAD_SIZE);
@@ -790,32 +793,22 @@ boolean SFE_UBLOX_GNSS::checkUbloxSerial(ubxPacket *incomingUBX, uint8_t request
//Checks SPI for data, passing any new bytes to process()
boolean SFE_UBLOX_GNSS::checkUbloxSpi(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
{
// process the contents of the SPI buffer if not empty!
uint8_t bufferByte = spiBuffer[0];
uint8_t bufferIndex = 0;
while (bufferByte != 0xFF) {
process(bufferByte, incomingUBX, requestedClass, requestedID);
bufferIndex++;
bufferByte = spiBuffer[bufferIndex];
// Process the contents of the SPI buffer if not empty!
for (uint8_t i = 0; i < spiBufferIndex; i++) {
process(spiBuffer[i], incomingUBX, requestedClass, requestedID);
}
// reset the contents of the SPI buffer
for(uint8_t i = 0; i < bufferIndex; i++)
{
spiBuffer[i] = 0xFF;
}
spiBufferIndex = 0;
SPISettings settingsA(_spiSpeed, MSBFIRST, SPI_MODE0);
_spiPort->beginTransaction(settingsA);
digitalWrite(_ssPin, LOW);
digitalWrite(_csPin, LOW);
uint8_t byteReturned = _spiPort->transfer(0x0A);
while (byteReturned != 0xFF || currentSentence != NONE)
{
process(byteReturned, incomingUBX, requestedClass, requestedID);
byteReturned = _spiPort->transfer(0x0A);
}
digitalWrite(_ssPin, HIGH);
digitalWrite(_csPin, HIGH);
_spiPort->endTransaction();
return (true);
@@ -2858,7 +2851,7 @@ void SFE_UBLOX_GNSS::sendSerialCommand(ubxPacket *outgoingUBX)
void SFE_UBLOX_GNSS::spiTransfer(uint8_t byteToTransfer)
{
uint8_t returnedByte = _spiPort->transfer(byteToTransfer);
if (returnedByte != 0xFF)
if (returnedByte != 0xFF || currentSentence != NONE)
{
spiBuffer[spiBufferIndex] = returnedByte;
spiBufferIndex++;
@@ -2868,9 +2861,24 @@ void SFE_UBLOX_GNSS::spiTransfer(uint8_t byteToTransfer)
// Send a command via SPI
void SFE_UBLOX_GNSS::sendSpiCommand(ubxPacket *outgoingUBX)
{
if (spiBuffer == NULL) //Memory has not yet been allocated - so use new
{
spiBuffer = new uint8_t[SPI_BUFFER_SIZE];
}
if (spiBuffer == NULL) {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("process: memory allocation failed for SPI Buffer!"));
}
}
// Start at the beginning of the SPI buffer
spiBufferIndex = 0;
SPISettings settingsA(_spiSpeed, MSBFIRST, SPI_MODE0);
_spiPort->beginTransaction(settingsA);
digitalWrite(_ssPin, LOW);
digitalWrite(_csPin, LOW);
//Write header bytes
spiTransfer(UBX_SYNCH_1); //μ - oh ublox, you're funny. I will call you micro-blox from now on.
if (_printDebug) _debugSerial->printf("%x ", UBX_SYNCH_1);
@@ -2898,7 +2906,7 @@ void SFE_UBLOX_GNSS::sendSpiCommand(ubxPacket *outgoingUBX)
if (_printDebug) _debugSerial->printf("%x ", outgoingUBX->checksumA);
spiTransfer(outgoingUBX->checksumB);
if (_printDebug) _debugSerial->printf("%x \n", outgoingUBX->checksumB);
digitalWrite(_ssPin, HIGH);
digitalWrite(_csPin, HIGH);
_spiPort->endTransaction();
}