PlatformIO-Libs/SparkFunGNSS
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Add full auto support for NAV SVIN

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This commit is contained in:
PaulZC
2022-04-04 11:34:56 +01:00
parent 57f4189399
commit bedd4cc779
5 changed files with 176 additions and 20 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+160 -15
View File
@@ -3588,6 +3588,20 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
// Mark all datums as fresh (not read before)
packetUBXNAVSVIN->moduleQueried.moduleQueried.all = 0xFFFFFFFF;
// Check if we need to copy the data for the callback
if ((packetUBXNAVSVIN->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVSVIN->automaticFlags.flags.bits.callbackCopyValid == false)) // AND the data is stale
{
memcpy(&packetUBXNAVSVIN->callbackData->version, &packetUBXNAVSVIN->data.version, sizeof(UBX_NAV_SVIN_data_t));
packetUBXNAVSVIN->automaticFlags.flags.bits.callbackCopyValid = true;
}
// Check if we need to copy the data into the file buffer
if (packetUBXNAVSVIN->automaticFlags.flags.bits.addToFileBuffer)
{
storePacket(msg);
}
}
}
else if (msg->id == UBX_NAV_SAT) // Note: length is variable
@@ -5313,6 +5327,19 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXNAVCLOCK->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXNAVSVIN != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVSVIN->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVSVIN->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
{
if (packetUBXNAVSVIN->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callbackPtr for NAV SVIN"));
packetUBXNAVSVIN->callbackPointerPtr(packetUBXNAVSVIN->callbackData); // Call the callback
}
packetUBXNAVSVIN->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXNAVSAT != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVSAT->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVSAT->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
@@ -11629,23 +11656,126 @@ bool SFE_UBLOX_GNSS::getSurveyStatus(uint16_t maxWait)
if (packetUBXNAVSVIN == NULL) // Abort if the RAM allocation failed
return (false);
packetCfg.cls = UBX_CLASS_NAV;
packetCfg.id = UBX_NAV_SVIN;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// The data is parsed as part of processing the response
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
return (true);
if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
if (packetUBXNAVSVIN->automaticFlags.flags.bits.automatic && packetUBXNAVSVIN->automaticFlags.flags.bits.implicitUpdate)
{
return (true);
// The GPS is automatically reporting, we just check whether we got unread data
checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_SVIN);
return packetUBXNAVSVIN->moduleQueried.moduleQueried.bits.all;
}
else if (packetUBXNAVSVIN->automaticFlags.flags.bits.automatic && !packetUBXNAVSVIN->automaticFlags.flags.bits.implicitUpdate)
{
// Someone else has to call checkUblox for us...
return (false);
}
else
{
// The GPS is not automatically reporting SVIN so we have to poll explicitly
packetCfg.cls = UBX_CLASS_NAV;
packetCfg.id = UBX_NAV_SVIN;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// The data is parsed as part of processing the response
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
return (true);
if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
{
return (true);
}
return (false);
}
}
// Enable or disable automatic SVIN message generation by the GNSS. This changes the way getSurveyStatus
// works.
bool SFE_UBLOX_GNSS::setAutoNAVSVIN(bool enable, uint16_t maxWait)
{
return setAutoNAVSVINrate(enable ? 1 : 0, true, maxWait);
}
// Enable or disable automatic SVIN message generation by the GNSS. This changes the way getSurveyStatus
// works.
bool SFE_UBLOX_GNSS::setAutoNAVSVIN(bool enable, bool implicitUpdate, uint16_t maxWait)
{
return setAutoNAVSVINrate(enable ? 1 : 0, implicitUpdate, maxWait);
}
// Enable or disable automatic SVIN message generation by the GNSS. This changes the way getSurveyStatus
// works.
bool SFE_UBLOX_GNSS::setAutoNAVSVINrate(uint8_t rate, bool implicitUpdate, uint16_t maxWait)
{
if (packetUBXNAVSVIN == NULL)
initPacketUBXNAVSVIN(); // Check that RAM has been allocated for the data
if (packetUBXNAVSVIN == NULL) // Only attempt this if RAM allocation was successful
return false;
if (rate > 127)
rate = 127;
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_MSG;
packetCfg.len = 3;
packetCfg.startingSpot = 0;
payloadCfg[0] = UBX_CLASS_NAV;
payloadCfg[1] = UBX_NAV_SVIN;
payloadCfg[2] = rate; // rate relative to navigation freq.
bool ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
if (ok)
{
packetUBXNAVSVIN->automaticFlags.flags.bits.automatic = (rate > 0);
packetUBXNAVSVIN->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
packetUBXNAVSVIN->moduleQueried.moduleQueried.bits.all = false; // Mark data as stale
return ok;
}
// Enable automatic navigation message generation by the GNSS.
bool SFE_UBLOX_GNSS::setAutoNAVSVINcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_SVIN_data_t *), uint16_t maxWait)
{
// Enable auto messages. Set implicitUpdate to false as we expect the user to call checkUblox manually.
bool result = setAutoNAVSVIN(true, false, maxWait);
if (!result)
return (result); // Bail if setAuto failed
if (packetUBXNAVSVIN->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXNAVSVIN->callbackData = new UBX_NAV_SVIN_data_t; // Allocate RAM for the main struct
}
return (false);
if (packetUBXNAVSVIN->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("setAutoNAVSVINcallbackPtr: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVSVIN->callbackPointerPtr = callbackPointerPtr;
return (true);
}
// In case no config access to the GNSS is possible and SVIN is send cyclically already
// set config to suitable parameters
bool SFE_UBLOX_GNSS::assumeAutoNAVSVIN(bool enabled, bool implicitUpdate)
{
if (packetUBXNAVSVIN == NULL)
initPacketUBXNAVSVIN(); // Check that RAM has been allocated for the SVIN data
if (packetUBXNAVSVIN == NULL) // Bail if the RAM allocation failed
return (false);
bool changes = packetUBXNAVSVIN->automaticFlags.flags.bits.automatic != enabled || packetUBXNAVSVIN->automaticFlags.flags.bits.implicitUpdate != implicitUpdate;
if (changes)
{
packetUBXNAVSVIN->automaticFlags.flags.bits.automatic = enabled;
packetUBXNAVSVIN->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
return changes;
}
// PRIVATE: Allocate RAM for packetUBXNAVSVIN and initialize it
@@ -11661,13 +11791,28 @@ bool SFE_UBLOX_GNSS::initPacketUBXNAVSVIN()
return (false);
}
packetUBXNAVSVIN->automaticFlags.flags.all = 0;
packetUBXNAVSVIN->callbackPointer = NULL;
packetUBXNAVSVIN->callbackPointerPtr = NULL;
packetUBXNAVSVIN->callbackData = NULL;
packetUBXNAVSVIN->moduleQueried.moduleQueried.all = 0;
return (true);
}
// Mark all the data as read/stale
void SFE_UBLOX_GNSS::flushNAVSVIN()
{
if (packetUBXNAVSVIN == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXNAVSVIN->moduleQueried.moduleQueried.all = 0; // Mark all datums as stale (read before)
}
// Log this data in file buffer
void SFE_UBLOX_GNSS::logNAVSVIN(bool enabled)
{
if (packetUBXNAVSVIN == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXNAVSVIN->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
}
// ***** NAV SAT automatic support
// Signal information
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+9 -3
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@@ -1110,11 +1110,17 @@ public:
void flushNAVCLOCK(); // Mark all the data as read/stale
void logNAVCLOCK(bool enabled = true); // Log data to file buffer
// Add "auto" support for NAV SVIN - to avoid needing 'global' storage
bool getSurveyStatus(uint16_t maxWait); // Reads survey in status
bool getSurveyStatus(uint16_t maxWait = 2100); // NAV SVIN - Reads survey in status
bool setAutoNAVSVIN(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic survey in reports at the navigation frequency
bool setAutoNAVSVIN(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic survey in 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 setAutoNAVSVINrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); // Set the rate for automatic SVIN reports
bool setAutoNAVSVINcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_SVIN_data_t *), uint16_t maxWait = defaultMaxWait); // Enable automatic SVIN reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVSVIN(bool enabled, bool implicitUpdate = true); // In case no config access to the GPS is possible and survey in is send cyclically already
void flushNAVSVIN(); // Mark all the data as read/stale
void logNAVSVIN(bool enabled = true); // Log data to file buffer
// Add "auto" support for NAV TIMELS - to avoid needing 'global' storage
bool getLeapSecondEvent(uint16_t maxWait); // Reads leap second event info
bool getLeapSecondEvent(uint16_t maxWait = defaultMaxWait); // Reads leap second event info
bool getNAVSAT(uint16_t maxWait = defaultMaxWait); // Query module for latest AssistNow Autonomous status and load global vars:. If autoNAVSAT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new NAVSAT is available.
bool setAutoNAVSAT(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic NAVSAT reports at the navigation frequency
src/u-blox_structs.h
-1
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@@ -1233,7 +1233,6 @@ typedef struct
ubxAutomaticFlags automaticFlags;
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;