PlatformIO-Libs/SparkFunGNSS
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i2cPollingWait improvements

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This commit is contained in:
PaulZC
2021-08-10 12:21:13 +01:00
parent 5039e51315
commit cad5529aa5
2 changed files with 70 additions and 22 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+68 -22
View File
@@ -715,11 +715,28 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
uint16_t bytesAvailable = 0;
_i2cPort->beginTransmission(_gpsI2Caddress);
_i2cPort->write(0xFD); //0xFD (MSB) and 0xFE (LSB) are the registers that contain number of bytes available
if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
uint8_t i2cError = _i2cPort->endTransmission(false); //Send a restart command. Do not release bus.
if (i2cError != 0)
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("checkUbloxI2C: I2C error: endTransmission returned "));
_debugSerial->println(i2cError);
}
return (false); //Sensor did not ACK
}
_i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)2);
if (_i2cPort->available())
uint8_t bytesReturned = _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)2);
if (bytesReturned != 2)
{
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("checkUbloxI2C: I2C error: requestFrom 0xFD returned "));
_debugSerial->println(bytesReturned);
}
return (false); //Sensor did not return 2 bytes
}
//if (_i2cPort->available())
{
uint8_t msb = _i2cPort->read();
uint8_t lsb = _i2cPort->read();
@@ -728,7 +745,8 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
//I believe this is a u-blox bug. Device should never present an 0xFF.
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->println(F("checkUbloxI2C: u-blox bug, length lsb is 0xFF"));
_debugSerial->print(F("checkUbloxI2C: u-blox bug? Length lsb is 0xFF. i2cPollingWait is "));
_debugSerial->println(i2cPollingWait);
}
if (debugPin >= 0)
{
@@ -739,6 +757,23 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
lastCheck = millis(); //Put off checking to avoid I2C bus traffic
return (false);
}
// if (msb == 0xFF)
// {
// //I believe this is a u-blox bug. Device should never present an 0xFF.
// if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
// {
// _debugSerial->print(F("checkUbloxI2C: u-blox bug? Length msb is 0xFF. i2cPollingWait is "));
// _debugSerial->println(i2cPollingWait);
// }
// if (debugPin >= 0)
// {
// digitalWrite((uint8_t)debugPin, LOW);
// delay(10);
// digitalWrite((uint8_t)debugPin, HIGH);
// }
// lastCheck = millis(); //Put off checking to avoid I2C bus traffic
// return (false);
// }
bytesAvailable = (uint16_t)msb << 8 | lsb;
}
@@ -762,17 +797,17 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
//Clear the MSbit
bytesAvailable &= ~((uint16_t)1 << 15);
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
{
_debugSerial->print(F("checkUbloxI2C: Bytes available error: "));
_debugSerial->println(bytesAvailable);
if (debugPin >= 0)
{
digitalWrite((uint8_t)debugPin, LOW);
delay(10);
digitalWrite((uint8_t)debugPin, HIGH);
}
}
// if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
// {
// _debugSerial->print(F("checkUbloxI2C: Bytes available error: "));
// _debugSerial->println(bytesAvailable);
// if (debugPin >= 0)
// {
// digitalWrite((uint8_t)debugPin, LOW);
// delay(10);
// digitalWrite((uint8_t)debugPin, HIGH);
// }
// }
}
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
@@ -9615,10 +9650,13 @@ uint32_t SFE_UBLOX_GNSS::getProcessNMEAMask()
//Max is 40Hz(?!)
boolean SFE_UBLOX_GNSS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
{
//if(updateRate > 40) updateRate = 40; //Not needed: module will correct out of bounds values
if (navFreq > 40)
navFreq = 40; // Limit navFreq to 40Hz so i2cPollingWait is set correctly
//Adjust the I2C polling timeout based on update rate
i2cPollingWait = 1000 / (((int)navFreq) * 4); //This is the number of ms to wait between checks for new I2C data
//Do this even if the sendCommand fails
i2cPollingWaitNAV = 1000 / (((int)navFreq) * 4); //This is the number of ms to wait between checks for new I2C data
i2cPollingWait = i2cPollingWaitNAV < i2cPollingWaitHNR ? i2cPollingWaitNAV : i2cPollingWaitHNR; // Set i2cPollingWait to the lower of NAV and HNR
//Query the module
packetCfg.cls = UBX_CLASS_CFG;
@@ -9664,8 +9702,12 @@ uint8_t SFE_UBLOX_GNSS::getNavigationFrequency(uint16_t maxWait)
//Set the elapsed time between GNSS measurements in milliseconds, which defines the rate
boolean SFE_UBLOX_GNSS::setMeasurementRate(uint16_t rate, uint16_t maxWait)
{
if (rate < 25) // "Measurement rate should be greater than or equal to 25 ms."
rate = 25;
//Adjust the I2C polling timeout based on update rate
i2cPollingWait = rate / 4; //This is the number of ms to wait between checks for new I2C data
i2cPollingWaitNAV = rate / 4; //This is the number of ms to wait between checks for new I2C data
i2cPollingWait = i2cPollingWaitNAV < i2cPollingWaitHNR ? i2cPollingWaitNAV : i2cPollingWaitHNR; // Set i2cPollingWait to the lower of NAV and HNR
//Query the module
packetCfg.cls = UBX_CLASS_CFG;
@@ -10950,6 +10992,14 @@ boolean SFE_UBLOX_GNSS::getSensorFusionStatus(UBX_ESF_STATUS_sensorStatus_t *sen
// Returns true if the setHNRNavigationRate is successful
boolean SFE_UBLOX_GNSS::setHNRNavigationRate(uint8_t rate, uint16_t maxWait)
{
if (rate > 40)
rate = 40; // Limit rate to 40Hz so i2cPollingWait is set correctly
//Adjust the I2C polling timeout based on update rate
//Do this even if the sendCommand is not ACK'd
i2cPollingWaitHNR = 1000 / (((int)rate) * 4); //This is the number of ms to wait between checks for new I2C data
i2cPollingWait = i2cPollingWaitNAV < i2cPollingWaitHNR ? i2cPollingWaitNAV : i2cPollingWaitHNR; // Set i2cPollingWait to the lower of NAV and HNR
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_HNR;
packetCfg.len = 0;
@@ -10965,10 +11015,6 @@ boolean SFE_UBLOX_GNSS::setHNRNavigationRate(uint8_t rate, uint16_t maxWait)
//Update the navigation rate
sfe_ublox_status_e result = sendCommand(&packetCfg, maxWait); // We are only expecting an ACK
//Adjust the I2C polling timeout based on update rate
if (result == SFE_UBLOX_STATUS_DATA_SENT)
i2cPollingWait = 1000 / (((int)rate) * 4); //This is the number of ms to wait between checks for new I2C data
return (result == SFE_UBLOX_STATUS_DATA_SENT);
}
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+2
View File
@@ -1351,6 +1351,8 @@ private:
//If we are expecting an update every X Hz then we should check every quarter that amount of time
//Otherwise we may block ourselves from seeing new data
uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency() or setHNRNavigationRate() or setMeasurementRate()
uint8_t i2cPollingWaitNAV = 100; //We need to record the desired polling rate for standard nav messages
uint8_t i2cPollingWaitHNR = 100; //and for HNR too so we can set i2cPollingWait to the lower of the two
//The SPI polling wait is a little different. checkUbloxSpi will delay for this amount before returning if
//there is no data waiting to be read. This prevents waitForACKResponse from pounding the SPI bus too hard.