PlatformIO-Libs/SparkFunGNSS
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Starting to add support for multiple message rates

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This commit is contained in:
PaulZC
2021-04-01 13:52:30 +01:00
parent 47f95a10b8
commit de5e73947b
3 changed files with 112 additions and 6 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+20 -6
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@@ -5755,12 +5755,19 @@ boolean SFE_UBLOX_GNSS::getPVT(uint16_t maxWait)
//works.
boolean SFE_UBLOX_GNSS::setAutoPVT(boolean enable, uint16_t maxWait)
{
return setAutoPVT(enable, true, maxWait);
return setAutoPVTrate(enable ? 1 : 0, true, maxWait);
}
//Enable or disable automatic navigation message generation by the GNSS. This changes the way getPVT
//works.
boolean SFE_UBLOX_GNSS::setAutoPVT(boolean enable, boolean implicitUpdate, uint16_t maxWait)
{
return setAutoPVTrate(enable ? 1 : 0, implicitUpdate, maxWait);
}
//Enable or disable automatic navigation message generation by the GNSS. This changes the way getPVT
//works.
boolean SFE_UBLOX_GNSS::setAutoPVTrate(uint8_t rate, boolean implicitUpdate, uint16_t maxWait)
{
if (packetUBXNAVPVT == NULL) initPacketUBXNAVPVT(); //Check that RAM has been allocated for the PVT data
if (packetUBXNAVPVT == NULL) //Only attempt this if RAM allocation was successful
@@ -5772,12 +5779,12 @@ boolean SFE_UBLOX_GNSS::setAutoPVT(boolean enable, boolean implicitUpdate, uint1
packetCfg.startingSpot = 0;
payloadCfg[0] = UBX_CLASS_NAV;
payloadCfg[1] = UBX_NAV_PVT;
payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq.
payloadCfg[2] = rate; // rate relative to navigation freq.
boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
if (ok)
{
packetUBXNAVPVT->automaticFlags.flags.bits.automatic = enable;
packetUBXNAVPVT->automaticFlags.flags.bits.automatic = (rate > 0);
packetUBXNAVPVT->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.all = false;
@@ -6199,12 +6206,19 @@ boolean SFE_UBLOX_GNSS::getNAVVELNED(uint16_t maxWait)
//works.
boolean SFE_UBLOX_GNSS::setAutoNAVVELNED(boolean enable, uint16_t maxWait)
{
return setAutoNAVVELNED(enable, true, maxWait);
return setAutoNAVVELNEDrate(enable ? 1 : 0, true, maxWait);
}
//Enable or disable automatic navigation message generation by the GNSS. This changes the way getVELNED
//works.
boolean SFE_UBLOX_GNSS::setAutoNAVVELNED(boolean enable, boolean implicitUpdate, uint16_t maxWait)
{
return setAutoNAVVELNEDrate(enable ? 1 : 0, implicitUpdate, maxWait);
}
//Enable or disable automatic navigation message generation by the GNSS. This changes the way getVELNED
//works.
boolean SFE_UBLOX_GNSS::setAutoNAVVELNEDrate(uint8_t rate, boolean implicitUpdate, uint16_t maxWait)
{
if (packetUBXNAVVELNED == NULL) initPacketUBXNAVVELNED(); //Check that RAM has been allocated for the data
if (packetUBXNAVVELNED == NULL) //Only attempt this if RAM allocation was successful
@@ -6216,12 +6230,12 @@ boolean SFE_UBLOX_GNSS::setAutoNAVVELNED(boolean enable, boolean implicitUpdate,
packetCfg.startingSpot = 0;
payloadCfg[0] = UBX_CLASS_NAV;
payloadCfg[1] = UBX_NAV_VELNED;
payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq.
payloadCfg[2] = rate; // rate relative to navigation freq.
boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
if (ok)
{
packetUBXNAVVELNED->automaticFlags.flags.bits.automatic = enable;
packetUBXNAVVELNED->automaticFlags.flags.bits.automatic = (rate > 0);
packetUBXNAVVELNED->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
packetUBXNAVVELNED->moduleQueried.moduleQueried.bits.all = false;