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
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@@ -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