Merge pull request #8 from sparkfun/release_candidate
Update Release candidate
This commit is contained in:
UT2UH
@@ -144,7 +144,9 @@ void setup()
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myGNSS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C, 1); // Ensure the GxGGA (Global positioning system fix data) message is enabled. Send every measurement.
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myGNSS.enableNMEAMessage(UBX_NMEA_GSA, COM_PORT_I2C, 1); // Ensure the GxGSA (GNSS DOP and Active satellites) message is enabled. Send every measurement.
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myGNSS.enableNMEAMessage(UBX_NMEA_GSV, COM_PORT_I2C, 1); // Ensure the GxGSV (GNSS satellites in view) message is enabled. Send every measurement.
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myGNSS.logNMEA(); // Enable NMEA logging
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myGNSS.setNMEALoggingMask(SFE_UBLOX_FILTER_NMEA_ALL); // Enable logging of all enabled NMEA messages
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//myGNSS.setNMEALoggingMask(SFE_UBLOX_FILTER_NMEA_GGA | SFE_UBLOX_FILTER_NMEA_GSA); // Or we can, for example, log only GxGGA & GxGSA and ignore GxGSV
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Serial.println(F("Press any key to stop logging."));
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@@ -45,6 +45,10 @@ void setup()
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Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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myGNSS.setProcessNMEAMask(SFE_UBLOX_FILTER_NMEA_ALL); // Make sure the library is passing all NMEA messages to processNMEA
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myGNSS.setProcessNMEAMask(SFE_UBLOX_FILTER_NMEA_GGA); // Or, we can be kind to MicroNMEA and _only_ pass the GGA messages to it
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}
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void loop()
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@@ -60,12 +64,12 @@ void loop()
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Serial.println(latitude_mdeg / 1000000., 6);
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Serial.print("Longitude (deg): ");
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Serial.println(longitude_mdeg / 1000000., 6);
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nmea.clear(); // Clear the MicroNMEA storage to make sure we are getting fresh data
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}
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else
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{
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Serial.print("No Fix - ");
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Serial.print("Num. satellites: ");
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Serial.println(nmea.getNumSatellites());
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Serial.println("Waiting for fresh data");
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}
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delay(250); //Don't pound too hard on the I2C bus
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+29
-1
@@ -382,7 +382,10 @@ initPacketUBXHNRPVT KEYWORD2
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flushHNRPVT KEYWORD2
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logHNRPVT KEYWORD2
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logNMEA KEYWORD2
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setNMEALoggingMask KEYWORD2
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getNMEALoggingMask KEYWORD2
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setProcessNMEAMask KEYWORD2
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getProcessNMEAMask KEYWORD2
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setNavigationFrequency KEYWORD2
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getNavigationFrequency KEYWORD2
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@@ -546,16 +549,41 @@ UBX_NMEA_GLQ LITERAL1
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UBX_NMEA_GNQ LITERAL1
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UBX_NMEA_GNS LITERAL1
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UBX_NMEA_GPQ LITERAL1
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UBX_NMEA_GQQ LITERAL1
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UBX_NMEA_GRS LITERAL1
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UBX_NMEA_GSA LITERAL1
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UBX_NMEA_GST LITERAL1
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UBX_NMEA_GSV LITERAL1
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UBX_NMEA_RLM LITERAL1
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UBX_NMEA_RMC LITERAL1
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UBX_NMEA_TXT LITERAL1
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UBX_NMEA_VLW LITERAL1
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UBX_NMEA_VTG LITERAL1
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UBX_NMEA_ZDA LITERAL1
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SFE_UBLOX_FILTER_NMEA_ALL LITERAL1
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SFE_UBLOX_FILTER_NMEA_DTM LITERAL1
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SFE_UBLOX_FILTER_NMEA_GAQ LITERAL1
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SFE_UBLOX_FILTER_NMEA_GBQ LITERAL1
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SFE_UBLOX_FILTER_NMEA_GBS LITERAL1
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SFE_UBLOX_FILTER_NMEA_GGA LITERAL1
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SFE_UBLOX_FILTER_NMEA_GLL LITERAL1
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SFE_UBLOX_FILTER_NMEA_GLQ LITERAL1
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SFE_UBLOX_FILTER_NMEA_GNQ LITERAL1
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SFE_UBLOX_FILTER_NMEA_GNS LITERAL1
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SFE_UBLOX_FILTER_NMEA_GPQ LITERAL1
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SFE_UBLOX_FILTER_NMEA_GQQ LITERAL1
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SFE_UBLOX_FILTER_NMEA_GRS LITERAL1
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SFE_UBLOX_FILTER_NMEA_GSA LITERAL1
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SFE_UBLOX_FILTER_NMEA_GST LITERAL1
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SFE_UBLOX_FILTER_NMEA_GSV LITERAL1
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SFE_UBLOX_FILTER_NMEA_RLM LITERAL1
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SFE_UBLOX_FILTER_NMEA_RMC LITERAL1
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SFE_UBLOX_FILTER_NMEA_TXT LITERAL1
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SFE_UBLOX_FILTER_NMEA_VLW LITERAL1
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SFE_UBLOX_FILTER_NMEA_VTG LITERAL1
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SFE_UBLOX_FILTER_NMEA_ZDA LITERAL1
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UBX_NAV_ATT LITERAL1
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UBX_NAV_CLOCK LITERAL1
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UBX_NAV_DOP LITERAL1
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@@ -50,6 +50,9 @@ SFE_UBLOX_GNSS::SFE_UBLOX_GNSS(void)
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pinMode((uint8_t)debugPin, OUTPUT);
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digitalWrite((uint8_t)debugPin, HIGH);
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}
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_logNMEA.all = 0; // Default to passing no NMEA messages to the file buffer
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_processNMEA.all = SFE_UBLOX_FILTER_NMEA_ALL; // Default to passing all NMEA messages to processNMEA
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}
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//Stop all automatic message processing. Free all used RAM
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@@ -1020,6 +1023,7 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
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}
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else if (incoming == '$')
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{
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nmeaByteCounter = 0; // Reset the NMEA byte counter
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currentSentence = NMEA;
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}
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else if (incoming == 0xD3) //RTCM frames start with 0xD3
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@@ -1241,13 +1245,58 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
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//Finally, increment the frame counter
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ubxFrameCounter++;
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}
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else if (currentSentence == NMEA)
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else if (currentSentence == NMEA) // Process incoming NMEA mesages. Selectively log if desired.
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{
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//If _logNMEA is true, attempt to store incoming in the file buffer
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if (_logNMEA)
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storeFileBytes(&incoming, 1);
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if ((nmeaByteCounter == 0) && (incoming != '$'))
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{
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currentSentence = NONE; //Something went wrong. Reset. (Almost certainly redundant!)
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}
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else if ((nmeaByteCounter == 1) && (incoming != 'G'))
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{
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currentSentence = NONE; //Something went wrong. Reset.
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}
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else if ((nmeaByteCounter >= 0) && (nmeaByteCounter <= 5))
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{
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nmeaAddressField[nmeaByteCounter] = incoming; // Store the start character and NMEA address field
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}
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processNMEA(incoming); //Process each NMEA character
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if (nmeaByteCounter == 5)
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{
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// We've just received the end of the address field. Check if it is selected for logging
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if (logThisNMEA())
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{
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storeFileBytes(&nmeaAddressField[0], 6); // Add start character and address field to the file buffer
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}
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// Check if it should be passed to processNMEA
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if (processThisNMEA())
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{
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processNMEA(nmeaAddressField[0]); //Process the start character and address field
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processNMEA(nmeaAddressField[1]);
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processNMEA(nmeaAddressField[2]);
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processNMEA(nmeaAddressField[3]);
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processNMEA(nmeaAddressField[4]);
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processNMEA(nmeaAddressField[5]);
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}
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}
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if ((nmeaByteCounter > 5) || (nmeaByteCounter < 0)) // Should we add incoming to the file buffer and/or pass it to processNMEA?
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{
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if (logThisNMEA())
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storeFileBytes(&incoming, 1); // Add incoming to the file buffer
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if (processThisNMEA())
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processNMEA(incoming); // Pass incoming to processNMEA
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}
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if (incoming == '*')
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nmeaByteCounter = -5; // We are expecting * plus two checksum bytes plus CR and LF
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nmeaByteCounter++; // Increment the byte counter
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if (nmeaByteCounter == maxNMEAByteCount) // Check if we have processed too many bytes
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currentSentence = NONE; //Something went wrong. Reset.
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if (nmeaByteCounter == 0) // Check if we are done
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currentSentence = NONE; // All done!
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}
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else if (currentSentence == RTCM)
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{
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@@ -1255,6 +1304,68 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
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}
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}
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// PRIVATE: Return true if we should add this NMEA message to the file buffer for logging
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boolean SFE_UBLOX_GNSS::logThisNMEA()
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{
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if (_logNMEA.bits.all == 1) return (true);
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if ((nmeaAddressField[3] == 'D') && (nmeaAddressField[4] == 'T') && (nmeaAddressField[5] == 'M') && (_logNMEA.bits.UBX_NMEA_DTM == 1)) return (true);
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if (nmeaAddressField[3] == 'G')
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{
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if ((nmeaAddressField[4] == 'A') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GAQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'B') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GBQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'B') && (nmeaAddressField[5] == 'S') && (_logNMEA.bits.UBX_NMEA_GBS == 1)) return (true);
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if ((nmeaAddressField[4] == 'G') && (nmeaAddressField[5] == 'A') && (_logNMEA.bits.UBX_NMEA_GGA == 1)) return (true);
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if ((nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'L') && (_logNMEA.bits.UBX_NMEA_GLL == 1)) return (true);
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if ((nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GLQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'N') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GNQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'N') && (nmeaAddressField[5] == 'S') && (_logNMEA.bits.UBX_NMEA_GNS == 1)) return (true);
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if ((nmeaAddressField[4] == 'P') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GPQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'Q') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GQQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'R') && (nmeaAddressField[5] == 'S') && (_logNMEA.bits.UBX_NMEA_GRS == 1)) return (true);
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if ((nmeaAddressField[4] == 'S') && (nmeaAddressField[5] == 'A') && (_logNMEA.bits.UBX_NMEA_GSA == 1)) return (true);
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if ((nmeaAddressField[4] == 'S') && (nmeaAddressField[5] == 'T') && (_logNMEA.bits.UBX_NMEA_GST == 1)) return (true);
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if ((nmeaAddressField[4] == 'S') && (nmeaAddressField[5] == 'V') && (_logNMEA.bits.UBX_NMEA_GSV == 1)) return (true);
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}
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if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'M') && (_logNMEA.bits.UBX_NMEA_RLM == 1)) return (true);
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if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'M') && (nmeaAddressField[5] == 'C') && (_logNMEA.bits.UBX_NMEA_RMC == 1)) return (true);
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if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'X') && (nmeaAddressField[5] == 'T') && (_logNMEA.bits.UBX_NMEA_TXT == 1)) return (true);
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if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'W') && (_logNMEA.bits.UBX_NMEA_VLW == 1)) return (true);
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if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'T') && (nmeaAddressField[5] == 'G') && (_logNMEA.bits.UBX_NMEA_VTG == 1)) return (true);
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if ((nmeaAddressField[3] == 'Z') && (nmeaAddressField[4] == 'D') && (nmeaAddressField[5] == 'A') && (_logNMEA.bits.UBX_NMEA_ZDA == 1)) return (true);
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return (false);
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}
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// PRIVATE: Return true if we should pass this NMEA message to processNMEA
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boolean SFE_UBLOX_GNSS::processThisNMEA()
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{
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if (_processNMEA.bits.all == 1) return (true);
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if ((nmeaAddressField[3] == 'D') && (nmeaAddressField[4] == 'T') && (nmeaAddressField[5] == 'M') && (_processNMEA.bits.UBX_NMEA_DTM == 1)) return (true);
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if (nmeaAddressField[3] == 'G')
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{
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if ((nmeaAddressField[4] == 'A') && (nmeaAddressField[5] == 'Q') && (_processNMEA.bits.UBX_NMEA_GAQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'B') && (nmeaAddressField[5] == 'Q') && (_processNMEA.bits.UBX_NMEA_GBQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'B') && (nmeaAddressField[5] == 'S') && (_processNMEA.bits.UBX_NMEA_GBS == 1)) return (true);
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if ((nmeaAddressField[4] == 'G') && (nmeaAddressField[5] == 'A') && (_processNMEA.bits.UBX_NMEA_GGA == 1)) return (true);
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if ((nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'L') && (_processNMEA.bits.UBX_NMEA_GLL == 1)) return (true);
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if ((nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'Q') && (_processNMEA.bits.UBX_NMEA_GLQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'N') && (nmeaAddressField[5] == 'Q') && (_processNMEA.bits.UBX_NMEA_GNQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'N') && (nmeaAddressField[5] == 'S') && (_processNMEA.bits.UBX_NMEA_GNS == 1)) return (true);
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if ((nmeaAddressField[4] == 'P') && (nmeaAddressField[5] == 'Q') && (_processNMEA.bits.UBX_NMEA_GPQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'Q') && (nmeaAddressField[5] == 'Q') && (_processNMEA.bits.UBX_NMEA_GQQ == 1)) return (true);
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if ((nmeaAddressField[4] == 'R') && (nmeaAddressField[5] == 'S') && (_processNMEA.bits.UBX_NMEA_GRS == 1)) return (true);
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if ((nmeaAddressField[4] == 'S') && (nmeaAddressField[5] == 'A') && (_processNMEA.bits.UBX_NMEA_GSA == 1)) return (true);
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if ((nmeaAddressField[4] == 'S') && (nmeaAddressField[5] == 'T') && (_processNMEA.bits.UBX_NMEA_GST == 1)) return (true);
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if ((nmeaAddressField[4] == 'S') && (nmeaAddressField[5] == 'V') && (_processNMEA.bits.UBX_NMEA_GSV == 1)) return (true);
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}
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if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'M') && (_processNMEA.bits.UBX_NMEA_RLM == 1)) return (true);
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if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'M') && (nmeaAddressField[5] == 'C') && (_processNMEA.bits.UBX_NMEA_RMC == 1)) return (true);
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if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'X') && (nmeaAddressField[5] == 'T') && (_processNMEA.bits.UBX_NMEA_TXT == 1)) return (true);
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if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'W') && (_processNMEA.bits.UBX_NMEA_VLW == 1)) return (true);
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if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'T') && (nmeaAddressField[5] == 'G') && (_processNMEA.bits.UBX_NMEA_VTG == 1)) return (true);
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if ((nmeaAddressField[3] == 'Z') && (nmeaAddressField[4] == 'D') && (nmeaAddressField[5] == 'A') && (_processNMEA.bits.UBX_NMEA_ZDA == 1)) return (true);
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return (false);
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}
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//This is the default or generic NMEA processor. We're only going to pipe the data to serial port so we can see it.
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//User could overwrite this function to pipe characters to nmea.process(c) of tinyGPS or MicroNMEA
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//Or user could pipe each character to a buffer, radio, etc.
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@@ -9077,12 +9188,27 @@ void SFE_UBLOX_GNSS::logHNRPVT(boolean enabled)
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packetUBXHNRPVT->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
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}
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// ***** Helper Functions for NMEA Logging
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// ***** Helper Functions for NMEA Logging / Processing
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//Log NMEA data in file buffer - if it exists! User needs to call setFileBufferSize before .begin
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void SFE_UBLOX_GNSS::logNMEA(boolean enabled)
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// Log selected NMEA messages to file buffer - if the messages are enabled and if the file buffer exists
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// User needs to call setFileBufferSize before .begin
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void SFE_UBLOX_GNSS::setNMEALoggingMask(uint32_t messages)
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{
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_logNMEA = enabled;
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_logNMEA.all = messages;
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}
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uint32_t SFE_UBLOX_GNSS::getNMEALoggingMask()
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{
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return (_logNMEA.all);
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}
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// Pass selected NMEA messages to processNMEA
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void SFE_UBLOX_GNSS::setProcessNMEAMask(uint32_t messages)
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{
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_processNMEA.all = messages;
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}
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uint32_t SFE_UBLOX_GNSS::getProcessNMEAMask()
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{
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return (_processNMEA.all);
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}
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// ***** CFG RATE Helper Functions
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@@ -99,6 +99,69 @@ typedef enum
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SFE_UBLOX_PACKET_PACKETAUTO
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} sfe_ublox_packet_buffer_e;
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// Define a struct to allow selective logging / processing of NMEA messages
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// Set the individual bits to pass the NMEA messages to the file buffer and/or processNMEA
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// Setting bits.all will pass all messages to the file buffer and processNMEA
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typedef struct
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{
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union
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{
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uint32_t all;
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struct
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{
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uint32_t all : 1;
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uint32_t UBX_NMEA_DTM : 1;
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uint32_t UBX_NMEA_GAQ : 1;
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uint32_t UBX_NMEA_GBQ : 1;
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uint32_t UBX_NMEA_GBS : 1;
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uint32_t UBX_NMEA_GGA : 1;
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uint32_t UBX_NMEA_GLL : 1;
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uint32_t UBX_NMEA_GLQ : 1;
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||||
uint32_t UBX_NMEA_GNQ : 1;
|
||||
uint32_t UBX_NMEA_GNS : 1;
|
||||
uint32_t UBX_NMEA_GPQ : 1;
|
||||
uint32_t UBX_NMEA_GQQ : 1;
|
||||
uint32_t UBX_NMEA_GRS : 1;
|
||||
uint32_t UBX_NMEA_GSA : 1;
|
||||
uint32_t UBX_NMEA_GST : 1;
|
||||
uint32_t UBX_NMEA_GSV : 1;
|
||||
uint32_t UBX_NMEA_RLM : 1;
|
||||
uint32_t UBX_NMEA_RMC : 1;
|
||||
uint32_t UBX_NMEA_TXT : 1;
|
||||
uint32_t UBX_NMEA_VLW : 1;
|
||||
uint32_t UBX_NMEA_VTG : 1;
|
||||
uint32_t UBX_NMEA_ZDA : 1;
|
||||
} bits;
|
||||
};
|
||||
} sfe_ublox_nmea_filtering_t;
|
||||
|
||||
// Define an enum to make it easy to enable/disable selected NMEA messages for logging / processing
|
||||
typedef enum
|
||||
{
|
||||
SFE_UBLOX_FILTER_NMEA_ALL = 0x00000001,
|
||||
SFE_UBLOX_FILTER_NMEA_DTM = 0x00000002,
|
||||
SFE_UBLOX_FILTER_NMEA_GAQ = 0x00000004,
|
||||
SFE_UBLOX_FILTER_NMEA_GBQ = 0x00000008,
|
||||
SFE_UBLOX_FILTER_NMEA_GBS = 0x00000010,
|
||||
SFE_UBLOX_FILTER_NMEA_GGA = 0x00000020,
|
||||
SFE_UBLOX_FILTER_NMEA_GLL = 0x00000040,
|
||||
SFE_UBLOX_FILTER_NMEA_GLQ = 0x00000080,
|
||||
SFE_UBLOX_FILTER_NMEA_GNQ = 0x00000100,
|
||||
SFE_UBLOX_FILTER_NMEA_GNS = 0x00000200,
|
||||
SFE_UBLOX_FILTER_NMEA_GPQ = 0x00000400,
|
||||
SFE_UBLOX_FILTER_NMEA_GQQ = 0x00000800,
|
||||
SFE_UBLOX_FILTER_NMEA_GRS = 0x00001000,
|
||||
SFE_UBLOX_FILTER_NMEA_GSA = 0x00002000,
|
||||
SFE_UBLOX_FILTER_NMEA_GST = 0x00004000,
|
||||
SFE_UBLOX_FILTER_NMEA_GSV = 0x00008000,
|
||||
SFE_UBLOX_FILTER_NMEA_RLM = 0x00010000,
|
||||
SFE_UBLOX_FILTER_NMEA_RMC = 0x00020000,
|
||||
SFE_UBLOX_FILTER_NMEA_TXT = 0x00040000,
|
||||
SFE_UBLOX_FILTER_NMEA_VLW = 0x00080000,
|
||||
SFE_UBLOX_FILTER_NMEA_VTG = 0x00100000,
|
||||
SFE_UBLOX_FILTER_NMEA_ZDA = 0x00200000
|
||||
} sfe_ublox_nmea_filtering_e;
|
||||
|
||||
//Registers
|
||||
const uint8_t UBX_SYNCH_1 = 0xB5;
|
||||
const uint8_t UBX_SYNCH_2 = 0x62;
|
||||
@@ -159,7 +222,7 @@ const uint8_t UBX_CFG_VALSET = 0x8A; //Used for config of higher version u-blox
|
||||
|
||||
//Class: NMEA
|
||||
//The following are used to enable NMEA messages. Descriptions come from the NMEA messages overview in the ZED-F9P Interface Description
|
||||
const uint8_t UBX_NMEA_MSB = 0xF0; //All NMEA enable commands have 0xF0 as MSB
|
||||
const uint8_t UBX_NMEA_MSB = 0xF0; //All NMEA enable commands have 0xF0 as MSB. Equal to UBX_CLASS_NMEA
|
||||
const uint8_t UBX_NMEA_DTM = 0x0A; //GxDTM (datum reference)
|
||||
const uint8_t UBX_NMEA_GAQ = 0x45; //GxGAQ (poll a standard message (if the current talker ID is GA))
|
||||
const uint8_t UBX_NMEA_GBQ = 0x44; //GxGBQ (poll a standard message (if the current Talker ID is GB))
|
||||
@@ -169,11 +232,13 @@ const uint8_t UBX_NMEA_GLL = 0x01; //GxGLL (latitude and long, whith time of pos
|
||||
const uint8_t UBX_NMEA_GLQ = 0x43; //GxGLQ (poll a standard message (if the current Talker ID is GL))
|
||||
const uint8_t UBX_NMEA_GNQ = 0x42; //GxGNQ (poll a standard message (if the current Talker ID is GN))
|
||||
const uint8_t UBX_NMEA_GNS = 0x0D; //GxGNS (GNSS fix data)
|
||||
const uint8_t UBX_NMEA_GPQ = 0x040; //GxGPQ (poll a standard message (if the current Talker ID is GP))
|
||||
const uint8_t UBX_NMEA_GPQ = 0x40; //GxGPQ (poll a standard message (if the current Talker ID is GP))
|
||||
const uint8_t UBX_NMEA_GQQ = 0x47; //GxGQQ (poll a standard message (if the current Talker ID is GQ))
|
||||
const uint8_t UBX_NMEA_GRS = 0x06; //GxGRS (GNSS range residuals)
|
||||
const uint8_t UBX_NMEA_GSA = 0x02; //GxGSA (GNSS DOP and Active satellites)
|
||||
const uint8_t UBX_NMEA_GST = 0x07; //GxGST (GNSS Pseudo Range Error Statistics)
|
||||
const uint8_t UBX_NMEA_GSV = 0x03; //GxGSV (GNSS satellites in view)
|
||||
const uint8_t UBX_NMEA_RLM = 0x0B; //GxRMC (Return link message (RLM))
|
||||
const uint8_t UBX_NMEA_RMC = 0x04; //GxRMC (Recommended minimum data)
|
||||
const uint8_t UBX_NMEA_TXT = 0x41; //GxTXT (text transmission)
|
||||
const uint8_t UBX_NMEA_VLW = 0x0F; //GxVLW (dual ground/water distance)
|
||||
@@ -928,8 +993,13 @@ public:
|
||||
void flushHNRPVT(); //Mark all the data as read/stale
|
||||
void logHNRPVT(boolean enabled = true); // Log data to file buffer
|
||||
|
||||
// Helper function for NMEA logging
|
||||
void logNMEA(boolean enabled = true); // Log NMEA data to file buffer
|
||||
// Helper functions for NMEA logging
|
||||
void setNMEALoggingMask(uint32_t messages = SFE_UBLOX_FILTER_NMEA_ALL); // Add selected NMEA messages to file buffer - if enabled. Default to adding ALL messages to the file buffer
|
||||
uint32_t getNMEALoggingMask(); // Return which NMEA messages are selected for logging to the file buffer - if enabled
|
||||
|
||||
// Helper functions to control which NMEA messages are passed to processNMEA
|
||||
void setProcessNMEAMask(uint32_t messages = SFE_UBLOX_FILTER_NMEA_ALL); // Control which NMEA messages are passed to processNMEA. Default to passing ALL messages
|
||||
uint32_t getProcessNMEAMask(); // Return which NMEA messages are passed to processNMEA
|
||||
|
||||
// Helper functions for CFG RATE
|
||||
|
||||
@@ -1186,7 +1256,8 @@ private:
|
||||
|
||||
boolean ubx7FcheckDisabled = false; // Flag to indicate if the "7F" check should be ignored in checkUbloxI2C
|
||||
|
||||
boolean _logNMEA = false; // Flag to indicate if NMEA data should be added to the file buffer
|
||||
sfe_ublox_nmea_filtering_t _logNMEA; // Flags to indicate which NMEA messages should be added to the file buffer for logging
|
||||
sfe_ublox_nmea_filtering_t _processNMEA; // Flags to indicate which NMEA messages should be passed to processNMEA
|
||||
|
||||
//The packet buffers
|
||||
//These are pointed at from within the ubxPacket
|
||||
@@ -1218,11 +1289,16 @@ private:
|
||||
|
||||
unsigned long lastCheck = 0;
|
||||
|
||||
uint16_t ubxFrameCounter; //It counts all UBX frame. [Fixed header(2bytes), CLS(1byte), ID(1byte), length(2bytes), payload(x bytes), checksums(2bytes)]
|
||||
|
||||
uint16_t ubxFrameCounter; //Count all UBX frame bytes. [Fixed header(2bytes), CLS(1byte), ID(1byte), length(2bytes), payload(x bytes), checksums(2bytes)]
|
||||
uint8_t rollingChecksumA; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
|
||||
uint8_t rollingChecksumB; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
|
||||
|
||||
int8_t nmeaByteCounter; //Count all NMEA message bytes.
|
||||
const int8_t maxNMEAByteCount = 82; // Abort NMEA message reception if nmeaByteCounter exceeds this (https://en.wikipedia.org/wiki/NMEA_0183#Message_structure)
|
||||
uint8_t nmeaAddressField[6]; // NMEA Address Field - includes the start character (*)
|
||||
boolean logThisNMEA(); // Return true if we should log this NMEA message
|
||||
boolean processThisNMEA(); // Return true if we should pass this NMEA message to processNMEA
|
||||
|
||||
uint16_t rtcmLen = 0;
|
||||
|
||||
// Flag to prevent reentry into checkCallbacks
|
||||
|
||||
Reference in New Issue
Block a user