PlatformIO-Libs/SparkFunGNSS
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Merge pull request #147 from LeeLeahy2/process-rtcm

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Make processRTCMframe weak
This commit is contained in:
Paul
2022-08-01 11:24:28 +01:00
committed by GitHub
parent e8b03e770f a1142c29c7
commit cc6fe3127b
2 changed files with 26 additions and 29 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+15 -16
View File
@@ -350,7 +350,7 @@ void SFE_UBLOX_GNSS::end(void)
delete packetUBXRXMQZSSL6message;
packetUBXRXMQZSSL6message = NULL; // Redundant?
}
if (packetUBXRXMCOR != NULL)
{
if (packetUBXRXMCOR->callbackData != NULL)
@@ -2114,7 +2114,7 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
}
else if (currentSentence == RTCM)
{
processRTCMframe(incoming); // Deal with RTCM bytes
currentSentence = processRTCMframe(incoming, &rtcmFrameCounter); // Deal with RTCM bytes
}
}
@@ -2876,13 +2876,15 @@ nmeaAutomaticFlags *SFE_UBLOX_GNSS::getNMEAFlagsPtr()
// Byte 2: 10-bits of length of this packet including the first two-ish header bytes, + 6.
// byte 3 + 4 bits: Msg type 12 bits
// Example: D3 00 7C 43 F0 ... / 0x7C = 124+6 = 130 bytes in this packet, 0x43F = Msg type 1087
void SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming)
SFE_UBLOX_GNSS::SentenceTypes SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming, uint16_t * rtcmFrameCounter)
{
if (rtcmFrameCounter == 1)
static uint16_t rtcmLen = 0;
if (*rtcmFrameCounter == 1)
{
rtcmLen = (incoming & 0x03) << 8; // Get the last two bits of this byte. Bits 8&9 of 10-bit length
}
else if (rtcmFrameCounter == 2)
else if (*rtcmFrameCounter == 2)
{
rtcmLen |= incoming; // Bits 0-7 of packet length
rtcmLen += 6; // There are 6 additional bytes of what we presume is header, msgType, CRC, and stuff
@@ -2896,15 +2898,12 @@ void SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming)
rtcmMsgType |= (incoming >> 4); //Message Type, bits 0-7
}*/
rtcmFrameCounter++;
*rtcmFrameCounter++;
processRTCM(incoming); // Here is where we expose this byte to the user
if (rtcmFrameCounter == rtcmLen)
{
// We're done!
currentSentence = NONE; // Reset and start looking for next sentence type
}
// Reset and start looking for next sentence type when done
return (*rtcmFrameCounter == rtcmLen) ? NONE : RTCM;
}
// This function is called for each byte of an RTCM frame
@@ -3944,10 +3943,10 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
// Note: length is variable with version 0x01
// Note: the field positions depend on the version
{
// Full QZSSL6 message, including Class, ID and checksum
// Full QZSSL6 message, including Class, ID and checksum
for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch ++) {
if (0 == (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid & (1 << ch))) {
packetUBXRXMQZSSL6message->callbackData[ch].sync1 = UBX_SYNCH_1;
packetUBXRXMQZSSL6message->callbackData[ch].sync2 = UBX_SYNCH_2;
packetUBXRXMQZSSL6message->callbackData[ch].cls = UBX_CLASS_RXM;
@@ -3958,12 +3957,12 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
memcpy(packetUBXRXMQZSSL6message->callbackData[ch].payload, msg->payload, msg->len);
packetUBXRXMQZSSL6message->callbackData[ch].checksumA = msg->checksumA;
packetUBXRXMQZSSL6message->callbackData[ch].checksumB = msg->checksumB;
packetUBXRXMQZSSL6message->callbackData[ch].checksumB = msg->checksumB;
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid |= (1 << ch);
break; // abort when added
}
}
}
}
else if (msg->id == UBX_RXM_COR)
{
@@ -5605,7 +5604,7 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXRXMPMPmessage->callbackPointerPtr(packetUBXRXMPMPmessage->callbackData); // Call the callback
packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXRXMQZSSL6message != NULL) && // If RAM has been allocated for message storage
(packetUBXRXMQZSSL6message->callbackData != NULL) && // If RAM has been allocated for the copy of the data
(packetUBXRXMQZSSL6message->callbackPointerPtr != NULL)) // If the pointer to the callback has been defined
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+11 -13
View File
@@ -646,6 +646,15 @@ public:
SFE_UBLOX_GNSS(void);
~SFE_UBLOX_GNSS(void);
// Depending on the sentence type the processor will load characters into different arrays
enum SentenceTypes
{
NONE = 0,
NMEA,
UBX,
RTCM
} currentSentence = NONE;
// A default of 250ms for maxWait seems fine for I2C but is not enough for SerialUSB.
// If you know you are only going to be using I2C / Qwiic communication, you can
// safely reduce defaultMaxWait to 250.
@@ -738,7 +747,7 @@ public:
void process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); // Processes NMEA and UBX binary sentences one byte at a time
void processNMEA(char incoming) __attribute__((weak)); // Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries
void processRTCMframe(uint8_t incoming); // Monitor the incoming bytes for start and length bytes
SentenceTypes processRTCMframe(uint8_t incoming, uint16_t * rtcmFrameCounter) __attribute__((weak)); // Monitor the incoming bytes for start and length bytes
void processRTCM(uint8_t incoming) __attribute__((weak)); // Given rtcm byte, do something with it. User can overwrite if desired to pipe bytes to radio, internet, etc.
void processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); // Given a character, file it away into the uxb packet structure
void processUBXpacket(ubxPacket *msg); // Once a packet has been received and validated, identify this packet's class/id and update internal flags
@@ -1187,7 +1196,7 @@ public:
// You can disable them by calling (e.g.) setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C, 0)
// The NEO-D9C does not support UBX-CFG-MSG
bool setRXMQZSSL6messageCallbackPtr(void (*callbackPointerPtr)(UBX_RXM_QZSSL6_message_data_t *)); // Use this if you want all of the QZSSL6 message (including sync chars, checksum, etc.) to push to a GNSS
bool setRXMCORcallbackPtr(void (*callbackPointerPtr)(UBX_RXM_COR_data_t *)); // RXM COR
bool getRXMSFRBX(uint16_t maxWait = defaultMaxWait); // RXM SFRBX
@@ -1582,15 +1591,6 @@ public:
uint16_t rtcmFrameCounter = 0; // Tracks the type of incoming byte inside RTCM frame
private:
// Depending on the sentence type the processor will load characters into different arrays
enum SentenceTypes
{
NONE = 0,
NMEA,
UBX,
RTCM
} currentSentence = NONE;
// Depending on the ubx binary response class, store binary responses into different places
enum classTypes
{
@@ -1761,8 +1761,6 @@ private:
uint8_t getNMEAMaxLength(); // Get the maximum length of this NMEA message
nmeaAutomaticFlags *getNMEAFlagsPtr(); // Get a pointer to the flags
uint16_t rtcmLen = 0;
// Flag to prevent reentry into checkCallbacks
// Prevent badness if the user accidentally calls checkCallbacks from inside a callback
volatile bool checkCallbacksReentrant = false;