Add set/getNMEALoggingMask. Allows selective logging of enabled NMEA messages

examples/Data_Logging/DataLoggingExample6_NMEA/DataLoggingExample6_NMEA.ino

@@ -144,7 +144,9 @@ void setup()
   myGNSS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C, 1); // Ensure the GxGGA (Global positioning system fix data) message is enabled. Send every measurement.
   myGNSS.enableNMEAMessage(UBX_NMEA_GSA, COM_PORT_I2C, 1); // Ensure the GxGSA (GNSS DOP and Active satellites) message is enabled. Send every measurement.
   myGNSS.enableNMEAMessage(UBX_NMEA_GSV, COM_PORT_I2C, 1); // Ensure the GxGSV (GNSS satellites in view) message is enabled. Send every measurement.
-  myGNSS.logNMEA(); // Enable NMEA logging
+
+  myGNSS.setNMEALoggingMask(SFE_UBLOX_LOG_NMEA_ALL); // Enable logging of all enabled NMEA messages
+  //myGNSS.setNMEALoggingMask(SFE_UBLOX_LOG_NMEA_GGA | SFE_UBLOX_LOG_NMEA_GSA); // Or we can, for example, log only GxGGA and GxGSA. Ignore GxGSV
 
   Serial.println(F("Press any key to stop logging."));
 

keywords.txt

@@ -382,7 +382,8 @@ initPacketUBXHNRPVT	KEYWORD2
 flushHNRPVT	KEYWORD2
 logHNRPVT	KEYWORD2
 
-logNMEA	KEYWORD2
+setNMEALoggingMask	KEYWORD2
+getNMEALoggingMask	KEYWORD2
 
 setNavigationFrequency	KEYWORD2
 getNavigationFrequency	KEYWORD2
@@ -546,16 +547,41 @@ UBX_NMEA_GLQ	LITERAL1
 UBX_NMEA_GNQ	LITERAL1
 UBX_NMEA_GNS	LITERAL1
 UBX_NMEA_GPQ	LITERAL1
+UBX_NMEA_GQQ	LITERAL1
 UBX_NMEA_GRS	LITERAL1
 UBX_NMEA_GSA	LITERAL1
 UBX_NMEA_GST	LITERAL1
 UBX_NMEA_GSV	LITERAL1
+UBX_NMEA_RLM	LITERAL1
 UBX_NMEA_RMC	LITERAL1
 UBX_NMEA_TXT	LITERAL1
 UBX_NMEA_VLW	LITERAL1
 UBX_NMEA_VTG	LITERAL1
 UBX_NMEA_ZDA	LITERAL1
 
+SFE_UBLOX_LOG_NMEA_ALL	LITERAL1
+SFE_UBLOX_LOG_NMEA_DTM	LITERAL1
+SFE_UBLOX_LOG_NMEA_GAQ	LITERAL1
+SFE_UBLOX_LOG_NMEA_GBQ	LITERAL1
+SFE_UBLOX_LOG_NMEA_GBS	LITERAL1
+SFE_UBLOX_LOG_NMEA_GGA	LITERAL1
+SFE_UBLOX_LOG_NMEA_GLL	LITERAL1
+SFE_UBLOX_LOG_NMEA_GLQ	LITERAL1
+SFE_UBLOX_LOG_NMEA_GNQ	LITERAL1
+SFE_UBLOX_LOG_NMEA_GNS	LITERAL1
+SFE_UBLOX_LOG_NMEA_GPQ	LITERAL1
+SFE_UBLOX_LOG_NMEA_GQQ	LITERAL1
+SFE_UBLOX_LOG_NMEA_GRS	LITERAL1
+SFE_UBLOX_LOG_NMEA_GSA	LITERAL1
+SFE_UBLOX_LOG_NMEA_GST	LITERAL1
+SFE_UBLOX_LOG_NMEA_GSV	LITERAL1
+SFE_UBLOX_LOG_NMEA_RLM	LITERAL1
+SFE_UBLOX_LOG_NMEA_RMC	LITERAL1
+SFE_UBLOX_LOG_NMEA_TXT	LITERAL1
+SFE_UBLOX_LOG_NMEA_VLW	LITERAL1
+SFE_UBLOX_LOG_NMEA_VTG	LITERAL1
+SFE_UBLOX_LOG_NMEA_ZDA	LITERAL1
+
 UBX_NAV_ATT	LITERAL1
 UBX_NAV_CLOCK	LITERAL1
 UBX_NAV_DOP	LITERAL1

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -50,6 +50,8 @@ SFE_UBLOX_GNSS::SFE_UBLOX_GNSS(void)
     pinMode((uint8_t)debugPin, OUTPUT);
     digitalWrite((uint8_t)debugPin, HIGH);
   }
+
+  _logNMEA.all = 0; // Default to logging no NMEA messages
 }
 
 //Stop all automatic message processing. Free all used RAM
@@ -1020,6 +1022,7 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
     }
     else if (incoming == '$')
     {
+      nmeaByteCounter = 0; // Reset the NMEA byte counter
       currentSentence = NMEA;
     }
     else if (incoming == 0xD3) //RTCM frames start with 0xD3
@@ -1241,13 +1244,48 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
     //Finally, increment the frame counter
     ubxFrameCounter++;
   }
-  else if (currentSentence == NMEA)
+  else if (currentSentence == NMEA) // Process incoming NMEA mesages. Selectively log if desired.
   {
-    //If _logNMEA is true, attempt to store incoming in the file buffer
+    if ((nmeaByteCounter == 0) && (incoming != '$'))
-    if (_logNMEA)
+    {
-      storeFileBytes(&incoming, 1);
+      currentSentence = NONE; //Something went wrong. Reset. (Almost certainly redundant!)
+    }
+    else if ((nmeaByteCounter == 1) && (incoming != 'G'))
+    {
+      currentSentence = NONE; //Something went wrong. Reset.
+    }
+    else if ((nmeaByteCounter >= 0) && (nmeaByteCounter <= 5))
+    {
+      nmeaAddressField[nmeaByteCounter] = incoming; // Store the start character and NMEA address field
+    }
 
-    processNMEA(incoming); //Process each NMEA character
+    if (nmeaByteCounter == 5)
+    {
+      // We've just received the end of the address field. Check if it is selected for logging
+      if (logThisNMEA())
+      {
+        storeFileBytes(&nmeaAddressField[0], 6); // Add start character and address field to the file buffer
+      }
+    }
+
+    if ((nmeaByteCounter > 5) || (nmeaByteCounter < 0)) // Should we add incoming to the file buffer?
+    {
+      if (logThisNMEA())
+        storeFileBytes(&incoming, 1); // Add incoming to the file buffer
+    }
+
+    if (incoming == '*')
+      nmeaByteCounter = -5; // We are expecting * plus two checksum bytes plus CR and LF
+
+    nmeaByteCounter++; // Increment the byte counter
+
+    if (nmeaByteCounter == maxNMEAByteCount) // Check if we have processed too many bytes
+      currentSentence = NONE; //Something went wrong. Reset.
+
+    if (nmeaByteCounter == 0) // Check if we are done
+      currentSentence = NONE; // All done!
+
+    processNMEA(incoming); //Process each and every NMEA character
   }
   else if (currentSentence == RTCM)
   {
@@ -1255,6 +1293,34 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
   }
 }
 
+// PRIVATE: Return true if we should log this NMEA message
+boolean SFE_UBLOX_GNSS::logThisNMEA()
+{
+  if (_logNMEA.bits.all == 1) return (true);
+  if ((nmeaAddressField[3] == 'D') && (nmeaAddressField[4] == 'T') && (nmeaAddressField[5] == 'M') && (_logNMEA.bits.UBX_NMEA_DTM == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'A') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GAQ == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'B') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GBQ == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'B') && (nmeaAddressField[5] == 'S') && (_logNMEA.bits.UBX_NMEA_GBS == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'G') && (nmeaAddressField[5] == 'A') && (_logNMEA.bits.UBX_NMEA_GGA == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'L') && (_logNMEA.bits.UBX_NMEA_GLL == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GLQ == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'N') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GNQ == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'N') && (nmeaAddressField[5] == 'S') && (_logNMEA.bits.UBX_NMEA_GNS == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'P') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GPQ == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'Q') && (nmeaAddressField[5] == 'Q') && (_logNMEA.bits.UBX_NMEA_GQQ == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'R') && (nmeaAddressField[5] == 'S') && (_logNMEA.bits.UBX_NMEA_GRS == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'S') && (nmeaAddressField[5] == 'A') && (_logNMEA.bits.UBX_NMEA_GSA == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'S') && (nmeaAddressField[5] == 'T') && (_logNMEA.bits.UBX_NMEA_GST == 1)) return (true);
+  if ((nmeaAddressField[3] == 'G') && (nmeaAddressField[4] == 'S') && (nmeaAddressField[5] == 'V') && (_logNMEA.bits.UBX_NMEA_GSV == 1)) return (true);
+  if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'M') && (_logNMEA.bits.UBX_NMEA_RLM == 1)) return (true);
+  if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'M') && (nmeaAddressField[5] == 'C') && (_logNMEA.bits.UBX_NMEA_RMC == 1)) return (true);
+  if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'X') && (nmeaAddressField[5] == 'T') && (_logNMEA.bits.UBX_NMEA_TXT == 1)) return (true);
+  if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'W') && (_logNMEA.bits.UBX_NMEA_VLW == 1)) return (true);
+  if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'T') && (nmeaAddressField[5] == 'G') && (_logNMEA.bits.UBX_NMEA_VTG == 1)) return (true);
+  if ((nmeaAddressField[3] == 'Z') && (nmeaAddressField[4] == 'D') && (nmeaAddressField[5] == 'A') && (_logNMEA.bits.UBX_NMEA_ZDA == 1)) return (true);
+  return (false);
+}
+
 //This is the default or generic NMEA processor. We're only going to pipe the data to serial port so we can see it.
 //User could overwrite this function to pipe characters to nmea.process(c) of tinyGPS or MicroNMEA
 //Or user could pipe each character to a buffer, radio, etc.
@@ -9079,10 +9145,15 @@ void SFE_UBLOX_GNSS::logHNRPVT(boolean enabled)
 
 // ***** Helper Functions for NMEA Logging
 
-//Log NMEA data in file buffer - if it exists! User needs to call setFileBufferSize before .begin
+// Log selected NMEA messages to file buffer - if the messages are enabled and if the file buffer exists
-void SFE_UBLOX_GNSS::logNMEA(boolean enabled)
+// User needs to call setFileBufferSize before .begin
+void SFE_UBLOX_GNSS::setNMEALoggingMask(uint32_t messages)
 {
-  _logNMEA = enabled;
+  _logNMEA.all = messages;
+}
+uint32_t SFE_UBLOX_GNSS::getNMEALoggingMask()
+{
+  return (_logNMEA.all);
 }
 
 // ***** CFG RATE Helper Functions

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -99,6 +99,66 @@ typedef enum
 	SFE_UBLOX_PACKET_PACKETAUTO
 } sfe_ublox_packet_buffer_e;
 
+// Define a struct to allow selective logging of NMEA messages
+typedef struct
+{
+	union
+	{
+		uint32_t all;
+		struct
+		{
+			uint32_t all : 1;
+			uint32_t UBX_NMEA_DTM : 1;
+			uint32_t UBX_NMEA_GAQ : 1;
+			uint32_t UBX_NMEA_GBQ : 1;
+			uint32_t UBX_NMEA_GBS : 1;
+			uint32_t UBX_NMEA_GGA : 1;
+			uint32_t UBX_NMEA_GLL : 1;
+			uint32_t UBX_NMEA_GLQ : 1;
+			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_logging_t;
+// Define an enum to make it easy to enable/disable selected NMEA messages for logging
+typedef enum
+{
+	SFE_UBLOX_LOG_NMEA_ALL = 0x00000001,
+	SFE_UBLOX_LOG_NMEA_DTM = 0x00000002,
+	SFE_UBLOX_LOG_NMEA_GAQ = 0x00000004,
+	SFE_UBLOX_LOG_NMEA_GBQ = 0x00000008,
+	SFE_UBLOX_LOG_NMEA_GBS = 0x00000010,
+	SFE_UBLOX_LOG_NMEA_GGA = 0x00000020,
+	SFE_UBLOX_LOG_NMEA_GLL = 0x00000040,
+	SFE_UBLOX_LOG_NMEA_GLQ = 0x00000080,
+	SFE_UBLOX_LOG_NMEA_GNQ = 0x00000100,
+	SFE_UBLOX_LOG_NMEA_GNS = 0x00000200,
+	SFE_UBLOX_LOG_NMEA_GPQ = 0x00000400,
+	SFE_UBLOX_LOG_NMEA_GQQ = 0x00000800,
+	SFE_UBLOX_LOG_NMEA_GRS = 0x00001000,
+	SFE_UBLOX_LOG_NMEA_GSA = 0x00002000,
+	SFE_UBLOX_LOG_NMEA_GST = 0x00004000,
+	SFE_UBLOX_LOG_NMEA_GSV = 0x00008000,
+	SFE_UBLOX_LOG_NMEA_RLM = 0x00010000,
+	SFE_UBLOX_LOG_NMEA_RMC = 0x00020000,
+	SFE_UBLOX_LOG_NMEA_TXT = 0x00040000,
+	SFE_UBLOX_LOG_NMEA_VLW = 0x00080000,
+	SFE_UBLOX_LOG_NMEA_VTG = 0x00100000,
+	SFE_UBLOX_LOG_NMEA_ZDA = 0x00200000
+} sfe_ublox_nmea_logging_selective_e;
+
 //Registers
 const uint8_t UBX_SYNCH_1 = 0xB5;
 const uint8_t UBX_SYNCH_2 = 0x62;
@@ -159,7 +219,7 @@ 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 +229,13 @@ 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 +990,9 @@ 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
+	// Helper functions for NMEA logging
-	void logNMEA(boolean enabled = true); // Log NMEA data to file buffer
+	void setNMEALoggingMask(uint32_t messages = SFE_UBLOX_LOG_NMEA_ALL); // Log selected NMEA messages to file buffer - if enabled
+	uint32_t getNMEALoggingMask(); // Return which NMEA messages are selected for logging to the file buffer - if enabled
 
 	// Helper functions for CFG RATE
 
@@ -1186,7 +1249,7 @@ 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_logging_t _logNMEA; // Flags to indicate which NMEA messages should be added to the file buffer for logging
 
 	//The packet buffers
 	//These are pointed at from within the ubxPacket
@@ -1218,11 +1281,15 @@ 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
 
+	int16_t nmeaByteCounter;			//Count all NMEA message bytes.
+	const int16_t maxNMEAByteCount = 1024;	// Abort NMEA message reception if nmeaByteCounter exceeds this
+	uint8_t nmeaAddressField[6];		// NMEA Address Field - includes the start character (*)
+	boolean logThisNMEA();				// Return true if we should log this NMEA message
+
 	uint16_t rtcmLen = 0;
 
 	// Flag to prevent reentry into checkCallbacks