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v2.0.9 - add SFE_UBLOX_REDUCED_PROG_MEM

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This commit is contained in:
PaulZC
2021-07-09 11:20:37 +01:00
parent e3d9bc3c40
commit ec673d4a03
4 changed files with 159 additions and 54 deletions
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README.md
+14
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@@ -53,6 +53,20 @@ Migrating to v2.0 is easy. There are two small changes all users will need to ma
If you are using the Dead Reckoning Sensor Fusion or High Dynamic Rate messages, you will need to make more small changes to your code. Please see the [dead reckoning examples](./examples/Dead_Reckoning) for more details. There is more detail available in [Theory.md](./Theory.md#migrating-your-code-to-v20) if you need it. If you are using the Dead Reckoning Sensor Fusion or High Dynamic Rate messages, you will need to make more small changes to your code. Please see the [dead reckoning examples](./examples/Dead_Reckoning) for more details. There is more detail available in [Theory.md](./Theory.md#migrating-your-code-to-v20) if you need it.
## Memory Usage
The u-blox GNSS library has grown considerably over the years and v2.0.8 came very close to completely filling the program memory on platforms like the ATmega328 (Arduino Uno).
If you want to reduce the amount of memory used by the library, you can edit the header file (_SparkFun_u-blox_GNSS_Arduino_Library.h_) and uncomment line 60:
```
#define SFE_UBLOX_REDUCED_PROG_MEM // Uncommenting this line will delete the minor debug messages to save memory
```
Doing this will save approximately 15% of program memory on the ATmega328.
On Windows platforms, you will normally find _SparkFun_u-blox_GNSS_Arduino_Library.h_ in:
- Documents\Arduino\libraries\SparkFun_u-blox_GNSS_Arduino_Library\src
## SPI Support ## SPI Support
In v2.0.8 we added support for SPI, based on a contribution by @aberridg. Thank you Andrew! In v2.0.8 we added support for SPI, based on a contribution by @aberridg. Thank you Andrew!
library.properties
+1 -1
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@@ -1,5 +1,5 @@
name=SparkFun u-blox GNSS Arduino Library name=SparkFun u-blox GNSS Arduino Library
version=2.0.8 version=2.0.9
author=SparkFun Electronics <techsupport@sparkfun.com> author=SparkFun Electronics <techsupport@sparkfun.com>
maintainer=SparkFun Electronics <sparkfun.com> maintainer=SparkFun Electronics <sparkfun.com>
sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/> sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+141 -53
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@@ -64,10 +64,12 @@ void SFE_UBLOX_GNSS::end(void)
if (ubxFileBuffer != NULL) // Check if RAM has been allocated for the file buffer if (ubxFileBuffer != NULL) // Check if RAM has been allocated for the file buffer
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("end: the file buffer has been deleted. You will need to call setFileBufferSize before .begin to create a new one.")); _debugSerial->println(F("end: the file buffer has been deleted. You will need to call setFileBufferSize before .begin to create a new one."));
} }
#endif
delete[] ubxFileBuffer; delete[] ubxFileBuffer;
ubxFileBuffer = NULL; // Redundant? ubxFileBuffer = NULL; // Redundant?
fileBufferSize = 0; // Reset file buffer size. User will have to call setFileBufferSize again fileBufferSize = 0; // Reset file buffer size. User will have to call setFileBufferSize again
@@ -137,17 +139,21 @@ void SFE_UBLOX_GNSS::end(void)
if (packetUBXNAVPVT->callbackData != NULL) if (packetUBXNAVPVT->callbackData != NULL)
{ {
delete[] packetUBXNAVPVT->callbackData; delete[] packetUBXNAVPVT->callbackData;
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("end: packetUBXNAVPVT->callbackData has been deleted")); _debugSerial->println(F("end: packetUBXNAVPVT->callbackData has been deleted"));
} }
#endif
} }
delete[] packetUBXNAVPVT; delete[] packetUBXNAVPVT;
packetUBXNAVPVT = NULL; // Redundant? packetUBXNAVPVT = NULL; // Redundant?
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("end: packetUBXNAVPVT has been deleted")); _debugSerial->println(F("end: packetUBXNAVPVT has been deleted"));
} }
#endif
} }
if (packetUBXNAVODO != NULL) if (packetUBXNAVODO != NULL)
@@ -372,7 +378,7 @@ void SFE_UBLOX_GNSS::setPacketCfgPayloadSize(size_t payloadSize)
packetCfg.payload = payloadCfg; packetCfg.payload = payloadCfg;
if (payloadCfg == NULL) if (payloadCfg == NULL)
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setPacketCfgPayloadSize: PANIC! RAM allocation failed!")); _debugSerial->println(F("setPacketCfgPayloadSize: RAM alloc failed!"));
} }
else //Memory has already been allocated - so resize else //Memory has already been allocated - so resize
@@ -385,7 +391,7 @@ void SFE_UBLOX_GNSS::setPacketCfgPayloadSize(size_t payloadSize)
packetCfg.payload = payloadCfg; packetCfg.payload = payloadCfg;
if (payloadCfg == NULL) if (payloadCfg == NULL)
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setPacketCfgPayloadSize: PANIC! RAM resize failed!")); _debugSerial->println(F("setPacketCfgPayloadSize: RAM resize failed!"));
} }
packetCfgPayloadSize = payloadSize; packetCfgPayloadSize = payloadSize;
@@ -546,10 +552,12 @@ void SFE_UBLOX_GNSS::setSpiTransactionSize(uint8_t transactionSize)
} }
else else
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("setSpiTransactionSize: you need to call setSpiTransactionSize _before_ begin!")); _debugSerial->println(F("setSpiTransactionSize: you need to call setSpiTransactionSize _before_ begin!"));
} }
#endif
} }
} }
uint8_t SFE_UBLOX_GNSS::getSpiTransactionSize(void) uint8_t SFE_UBLOX_GNSS::getSpiTransactionSize(void)
@@ -736,10 +744,12 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
if (bytesAvailable == 0) if (bytesAvailable == 0)
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("checkUbloxI2C: OK, zero bytes available")); _debugSerial->println(F("checkUbloxI2C: OK, zero bytes available"));
} }
#endif
lastCheck = millis(); //Put off checking to avoid I2C bus traffic lastCheck = millis(); //Put off checking to avoid I2C bus traffic
return (false); return (false);
} }
@@ -765,6 +775,7 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
} }
} }
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (bytesAvailable > 100) if (bytesAvailable > 100)
{ {
if (_printDebug == true) if (_printDebug == true)
@@ -783,6 +794,7 @@ boolean SFE_UBLOX_GNSS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedC
_debugSerial->println(F(" bytes")); _debugSerial->println(F(" bytes"));
} }
} }
#endif
while (bytesAvailable) while (bytesAvailable)
{ {
@@ -1278,6 +1290,7 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
packetAuto.id = packetBuf.id; packetAuto.id = packetBuf.id;
packetAuto.counter = packetBuf.counter; //Copy over the .counter too packetAuto.counter = packetBuf.counter; //Copy over the .counter too
packetAuto.startingSpot = packetBuf.startingSpot; //And the starting spot? (Probably redundant) packetAuto.startingSpot = packetBuf.startingSpot; //And the starting spot? (Probably redundant)
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("process: incoming \"automatic\" message: Class: 0x")); _debugSerial->print(F("process: incoming \"automatic\" message: Class: 0x"));
@@ -1285,6 +1298,7 @@ void SFE_UBLOX_GNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t r
_debugSerial->print(F(" ID: 0x")); _debugSerial->print(F(" ID: 0x"));
_debugSerial->println(packetBuf.id, HEX); _debugSerial->println(packetBuf.id, HEX);
} }
#endif
} }
} }
else else
@@ -1676,6 +1690,7 @@ void SFE_UBLOX_GNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_
else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->id == UBX_ACK_NACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID)) else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->id == UBX_ACK_NACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID))
{ {
incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_NOTACKNOWLEDGED; // If we have a match, set the classAndIDmatch flag to NOTACKNOWLEDGED incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_NOTACKNOWLEDGED; // If we have a match, set the classAndIDmatch flag to NOTACKNOWLEDGED
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("processUBX: NACK received: Requested Class: 0x")); _debugSerial->print(F("processUBX: NACK received: Requested Class: 0x"));
@@ -1683,6 +1698,7 @@ void SFE_UBLOX_GNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_
_debugSerial->print(F(" Requested ID: 0x")); _debugSerial->print(F(" Requested ID: 0x"));
_debugSerial->println(incomingUBX->payload[1], HEX); _debugSerial->println(incomingUBX->payload[1], HEX);
} }
#endif
} }
//This is not an ACK and we do not have a complete class and ID match //This is not an ACK and we do not have a complete class and ID match
@@ -1691,6 +1707,7 @@ void SFE_UBLOX_GNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_
{ {
// This isn't the message we are looking for... // This isn't the message we are looking for...
// Let's say so and leave incomingUBX->classAndIDmatch _unchanged_ // Let's say so and leave incomingUBX->classAndIDmatch _unchanged_
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("processUBX: incoming \"automatic\" message: Class: 0x")); _debugSerial->print(F("processUBX: incoming \"automatic\" message: Class: 0x"));
@@ -1698,8 +1715,10 @@ void SFE_UBLOX_GNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_
_debugSerial->print(F(" ID: 0x")); _debugSerial->print(F(" ID: 0x"));
_debugSerial->println(incomingUBX->id, HEX); _debugSerial->println(incomingUBX->id, HEX);
} }
#endif
} }
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("Incoming: Size: ")); _debugSerial->print(F("Incoming: Size: "));
@@ -1724,6 +1743,7 @@ void SFE_UBLOX_GNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_
_debugSerial->println(F("packetAck classAndIDmatch")); _debugSerial->println(F("packetAck classAndIDmatch"));
} }
} }
#endif
//We've got a valid packet, now do something with it but only if ignoreThisPayload is false //We've got a valid packet, now do something with it but only if ignoreThisPayload is false
if (ignoreThisPayload == false) if (ignoreThisPayload == false)
@@ -2799,10 +2819,12 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::sendCommand(ubxPacket *outgoingUBX, uint16_t
retVal = sendI2cCommand(outgoingUBX, maxWait); retVal = sendI2cCommand(outgoingUBX, maxWait);
if (retVal != SFE_UBLOX_STATUS_SUCCESS) if (retVal != SFE_UBLOX_STATUS_SUCCESS)
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("Send I2C Command failed")); _debugSerial->println(F("Send I2C Command failed"));
} }
#endif
return retVal; return retVal;
} }
} }
@@ -2820,18 +2842,22 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::sendCommand(ubxPacket *outgoingUBX, uint16_t
//Depending on what we just sent, either we need to look for an ACK or not //Depending on what we just sent, either we need to look for an ACK or not
if ((outgoingUBX->cls == UBX_CLASS_CFG) || (expectACKonly == true)) if ((outgoingUBX->cls == UBX_CLASS_CFG) || (expectACKonly == true))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("sendCommand: Waiting for ACK response")); _debugSerial->println(F("sendCommand: Waiting for ACK response"));
} }
#endif
retVal = waitForACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait); //Wait for Ack response retVal = waitForACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait); //Wait for Ack response
} }
else else
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("sendCommand: Waiting for No ACK response")); _debugSerial->println(F("sendCommand: Waiting for No ACK response"));
} }
#endif
retVal = waitForNoACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait); //Wait for Ack response retVal = waitForNoACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait); //Wait for Ack response
} }
} }
@@ -2959,6 +2985,7 @@ void SFE_UBLOX_GNSS::sendSpiCommand(ubxPacket *outgoingUBX)
spiTransfer(outgoingUBX->len & 0xFF); //LSB spiTransfer(outgoingUBX->len & 0xFF); //LSB
spiTransfer(outgoingUBX->len >> 8); spiTransfer(outgoingUBX->len >> 8);
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug) if (_printDebug)
{ {
_debugSerial->print(F("sendSpiCommand: ")); _debugSerial->print(F("sendSpiCommand: "));
@@ -2974,16 +3001,19 @@ void SFE_UBLOX_GNSS::sendSpiCommand(ubxPacket *outgoingUBX)
_debugSerial->print(F(" ")); _debugSerial->print(F(" "));
_debugSerial->print(outgoingUBX->len >> 8, HEX); _debugSerial->print(outgoingUBX->len >> 8, HEX);
} }
#endif
//Write payload. //Write payload.
for (uint16_t i = 0; i < outgoingUBX->len; i++) for (uint16_t i = 0; i < outgoingUBX->len; i++)
{ {
spiTransfer(outgoingUBX->payload[i]); spiTransfer(outgoingUBX->payload[i]);
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug) if (_printDebug)
{ {
_debugSerial->print(F(" ")); _debugSerial->print(F(" "));
_debugSerial->print(outgoingUBX->payload[i], HEX); _debugSerial->print(outgoingUBX->payload[i], HEX);
} }
#endif
} }
//Write checksum //Write checksum
@@ -2992,6 +3022,7 @@ void SFE_UBLOX_GNSS::sendSpiCommand(ubxPacket *outgoingUBX)
digitalWrite(_csPin, HIGH); digitalWrite(_csPin, HIGH);
_spiPort->endTransaction(); _spiPort->endTransaction();
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug) if (_printDebug)
{ {
_debugSerial->print(F(" ")); _debugSerial->print(F(" "));
@@ -2999,11 +3030,13 @@ void SFE_UBLOX_GNSS::sendSpiCommand(ubxPacket *outgoingUBX)
_debugSerial->print(F(" ")); _debugSerial->print(F(" "));
_debugSerial->println(outgoingUBX->checksumB, HEX); _debugSerial->println(outgoingUBX->checksumB, HEX);
} }
#endif
} }
//Pretty prints the current ubxPacket //Pretty prints the current ubxPacket
void SFE_UBLOX_GNSS::printPacket(ubxPacket *packet, boolean alwaysPrintPayload) void SFE_UBLOX_GNSS::printPacket(ubxPacket *packet, boolean alwaysPrintPayload)
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("CLS:")); _debugSerial->print(F("CLS:"));
@@ -3055,6 +3088,7 @@ void SFE_UBLOX_GNSS::printPacket(ubxPacket *packet, boolean alwaysPrintPayload)
} }
_debugSerial->println(); _debugSerial->println();
} }
#endif
} }
//When messages from the class CFG are sent to the receiver, the receiver will send an "acknowledge"(UBX - ACK - ACK) or a //When messages from the class CFG are sent to the receiver, the receiver will send an "acknowledge"(UBX - ACK - ACK) or a
@@ -3109,12 +3143,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForACKResponse(ubxPacket *outgoingUBX, ui
// then we can be confident that the data in outgoingUBX is valid // then we can be confident that the data in outgoingUBX is valid
if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID)) if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForACKResponse: valid data and valid ACK received after ")); _debugSerial->print(F("waitForACKResponse: valid data and valid ACK received after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec")); _debugSerial->println(F(" msec"));
} }
#endif
return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data and a correct ACK! return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data and a correct ACK!
} }
@@ -3125,12 +3161,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForACKResponse(ubxPacket *outgoingUBX, ui
// as these may have been changed by an automatic packet. // as these may have been changed by an automatic packet.
else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID)) else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForACKResponse: no data and valid ACK after ")); _debugSerial->print(F("waitForACKResponse: no data and valid ACK after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec")); _debugSerial->println(F(" msec"));
} }
#endif
return (SFE_UBLOX_STATUS_DATA_SENT); //We got an ACK but no data... return (SFE_UBLOX_STATUS_DATA_SENT); //We got an ACK but no data...
} }
@@ -3143,12 +3181,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForACKResponse(ubxPacket *outgoingUBX, ui
// Note: the addition of packetBuf should make this check redundant! // Note: the addition of packetBuf should make this check redundant!
else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && ((outgoingUBX->cls != requestedClass) || (outgoingUBX->id != requestedID))) else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && ((outgoingUBX->cls != requestedClass) || (outgoingUBX->id != requestedID)))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForACKResponse: data being OVERWRITTEN after ")); _debugSerial->print(F("waitForACKResponse: data being OVERWRITTEN after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec")); _debugSerial->println(F(" msec"));
} }
#endif
return (SFE_UBLOX_STATUS_DATA_OVERWRITTEN); // Data was valid but has been or is being overwritten return (SFE_UBLOX_STATUS_DATA_OVERWRITTEN); // Data was valid but has been or is being overwritten
} }
@@ -3156,12 +3196,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForACKResponse(ubxPacket *outgoingUBX, ui
// are NOT_VALID then we can be confident we have had a checksum failure on the data packet // are NOT_VALID then we can be confident we have had a checksum failure on the data packet
else if ((packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID)) else if ((packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForACKResponse: CRC failed after ")); _debugSerial->print(F("waitForACKResponse: CRC failed after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec")); _debugSerial->println(F(" msec"));
} }
#endif
return (SFE_UBLOX_STATUS_CRC_FAIL); //Checksum fail return (SFE_UBLOX_STATUS_CRC_FAIL); //Checksum fail
} }
@@ -3174,12 +3216,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForACKResponse(ubxPacket *outgoingUBX, ui
// Note: the addition of packetBuf changes the logic of this, but we'll leave the code as is for now. // Note: the addition of packetBuf changes the logic of this, but we'll leave the code as is for now.
else if (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_NOTACKNOWLEDGED) else if (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_NOTACKNOWLEDGED)
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForACKResponse: data was NOTACKNOWLEDGED (NACK) after ")); _debugSerial->print(F("waitForACKResponse: data was NOTACKNOWLEDGED (NACK) after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec")); _debugSerial->println(F(" msec"));
} }
#endif
return (SFE_UBLOX_STATUS_COMMAND_NACK); //We received a NACK! return (SFE_UBLOX_STATUS_COMMAND_NACK); //We received a NACK!
} }
@@ -3188,12 +3232,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForACKResponse(ubxPacket *outgoingUBX, ui
// If we were playing safe, we should return FAIL instead // If we were playing safe, we should return FAIL instead
else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID)) else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForACKResponse: VALID data and INVALID ACK received after ")); _debugSerial->print(F("waitForACKResponse: VALID data and INVALID ACK received after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec")); _debugSerial->println(F(" msec"));
} }
#endif
return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data and an invalid ACK! return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data and an invalid ACK!
} }
@@ -3201,12 +3247,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForACKResponse(ubxPacket *outgoingUBX, ui
// then we return a FAIL. This must be a double checksum failure? // then we return a FAIL. This must be a double checksum failure?
else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID)) else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForACKResponse: INVALID data and INVALID ACK received after ")); _debugSerial->print(F("waitForACKResponse: INVALID data and INVALID ACK received after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec")); _debugSerial->println(F(" msec"));
} }
#endif
return (SFE_UBLOX_STATUS_FAIL); //We received invalid data and an invalid ACK! return (SFE_UBLOX_STATUS_FAIL); //We received invalid data and an invalid ACK!
} }
@@ -3232,21 +3280,25 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForACKResponse(ubxPacket *outgoingUBX, ui
// even though we did not get an ACK // even though we did not get an ACK
if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID)) if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForACKResponse: TIMEOUT with valid data after ")); _debugSerial->print(F("waitForACKResponse: TIMEOUT with valid data after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec. ")); _debugSerial->println(F(" msec. "));
} }
#endif
return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data... But no ACK! return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data... But no ACK!
} }
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForACKResponse: TIMEOUT after ")); _debugSerial->print(F("waitForACKResponse: TIMEOUT after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec.")); _debugSerial->println(F(" msec."));
} }
#endif
return (SFE_UBLOX_STATUS_TIMEOUT); return (SFE_UBLOX_STATUS_TIMEOUT);
} }
@@ -3279,12 +3331,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForNoACKResponse(ubxPacket *outgoingUBX,
// then we can be confident that the data in outgoingUBX is valid // then we can be confident that the data in outgoingUBX is valid
if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID)) if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForNoACKResponse: valid data with CLS/ID match after ")); _debugSerial->print(F("waitForNoACKResponse: valid data with CLS/ID match after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec")); _debugSerial->println(F(" msec"));
} }
#endif
return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data! return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data!
} }
@@ -3297,12 +3351,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForNoACKResponse(ubxPacket *outgoingUBX,
// Note: the addition of packetBuf should make this check redundant! // Note: the addition of packetBuf should make this check redundant!
else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && ((outgoingUBX->cls != requestedClass) || (outgoingUBX->id != requestedID))) else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && ((outgoingUBX->cls != requestedClass) || (outgoingUBX->id != requestedID)))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForNoACKResponse: data being OVERWRITTEN after ")); _debugSerial->print(F("waitForNoACKResponse: data being OVERWRITTEN after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec")); _debugSerial->println(F(" msec"));
} }
#endif
return (SFE_UBLOX_STATUS_DATA_OVERWRITTEN); // Data was valid but has been or is being overwritten return (SFE_UBLOX_STATUS_DATA_OVERWRITTEN); // Data was valid but has been or is being overwritten
} }
@@ -3324,12 +3380,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForNoACKResponse(ubxPacket *outgoingUBX,
// If the outgoingUBX->classAndIDmatch is NOT_VALID then we return CRC failure // If the outgoingUBX->classAndIDmatch is NOT_VALID then we return CRC failure
else if (outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) else if (outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID)
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForNoACKResponse: CLS/ID match but failed CRC after ")); _debugSerial->print(F("waitForNoACKResponse: CLS/ID match but failed CRC after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec")); _debugSerial->println(F(" msec"));
} }
#endif
return (SFE_UBLOX_STATUS_CRC_FAIL); //We received invalid data return (SFE_UBLOX_STATUS_CRC_FAIL); //We received invalid data
} }
} }
@@ -3337,12 +3395,14 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForNoACKResponse(ubxPacket *outgoingUBX,
delay(1); // Allow an RTOS to get an elbow in (#11) delay(1); // Allow an RTOS to get an elbow in (#11)
} }
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("waitForNoACKResponse: TIMEOUT after ")); _debugSerial->print(F("waitForNoACKResponse: TIMEOUT after "));
_debugSerial->print(millis() - startTime); _debugSerial->print(millis() - startTime);
_debugSerial->println(F(" msec. No packet received.")); _debugSerial->println(F(" msec. No packet received."));
} }
#endif
return (SFE_UBLOX_STATUS_TIMEOUT); return (SFE_UBLOX_STATUS_TIMEOUT);
} }
@@ -3661,10 +3721,12 @@ boolean SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes, boo
} }
else // SPI else // SPI
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("pushRawData: SPI not currently supported")); _debugSerial->println(F("pushRawData: SPI not currently supported"));
} }
#endif
return (false); return (false);
} }
} }
@@ -3748,19 +3810,23 @@ boolean SFE_UBLOX_GNSS::createFileBuffer(void)
{ {
if (fileBufferSize == 0) // Bail if the user has not called setFileBufferSize if (fileBufferSize == 0) // Bail if the user has not called setFileBufferSize
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("createFileBuffer: Warning. fileBufferSize is zero. Data logging is not possible.")); _debugSerial->println(F("createFileBuffer: Warning. fileBufferSize is zero. Data logging is not possible."));
} }
#endif
return(false); return(false);
} }
if (ubxFileBuffer != NULL) // Bail if RAM has already been allocated for the file buffer if (ubxFileBuffer != NULL) // Bail if RAM has already been allocated for the file buffer
{ // This will happen if you call .begin more than once - without calling .end first { // This will happen if you call .begin more than once - without calling .end first
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("createFileBuffer: Warning. File buffer already exists. Skipping...")); _debugSerial->println(F("createFileBuffer: Warning. File buffer already exists. Skipping..."));
} }
#endif
return(false); return(false);
} }
@@ -3775,11 +3841,13 @@ boolean SFE_UBLOX_GNSS::createFileBuffer(void)
return(false); return(false);
} }
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("createFileBuffer: fileBufferSize is: ")); _debugSerial->print(F("createFileBuffer: fileBufferSize is: "));
_debugSerial->println(fileBufferSize); _debugSerial->println(fileBufferSize);
} }
#endif
fileBufferHead = 0; // Initialize head and tail fileBufferHead = 0; // Initialize head and tail
fileBufferTail = 0; fileBufferTail = 0;
@@ -3814,10 +3882,12 @@ boolean SFE_UBLOX_GNSS::storePacket(ubxPacket *msg)
// First, check that the file buffer has been created // First, check that the file buffer has been created
if ((ubxFileBuffer == NULL) || (fileBufferSize == 0)) if ((ubxFileBuffer == NULL) || (fileBufferSize == 0))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("storePacket: file buffer not available!")); _debugSerial->println(F("storePacket: file buffer not available!"));
} }
#endif
return(false); return(false);
} }
@@ -3862,10 +3932,12 @@ boolean SFE_UBLOX_GNSS::storeFileBytes(uint8_t *theBytes, uint16_t numBytes)
// First, check that the file buffer has been created // First, check that the file buffer has been created
if ((ubxFileBuffer == NULL) || (fileBufferSize == 0)) if ((ubxFileBuffer == NULL) || (fileBufferSize == 0))
{ {
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->println(F("storeFileBytes: file buffer not available!")); _debugSerial->println(F("storeFileBytes: file buffer not available!"));
} }
#endif
return(false); return(false);
} }
@@ -4006,11 +4078,13 @@ void SFE_UBLOX_GNSS::setSerialRate(uint32_t baudrate, uint8_t uartPort, uint16_t
if (getPortSettings(uartPort, maxWait) == false) if (getPortSettings(uartPort, maxWait) == false)
return; //Something went wrong. Bail. return; //Something went wrong. Bail.
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("Current baud rate: ")); _debugSerial->print(F("Current baud rate: "));
_debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]); _debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
} }
#endif
packetCfg.cls = UBX_CLASS_CFG; packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_PRT; packetCfg.id = UBX_CFG_PRT;
@@ -4023,18 +4097,22 @@ void SFE_UBLOX_GNSS::setSerialRate(uint32_t baudrate, uint8_t uartPort, uint16_t
payloadCfg[10] = baudrate >> 16; payloadCfg[10] = baudrate >> 16;
payloadCfg[11] = baudrate >> 24; payloadCfg[11] = baudrate >> 24;
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("New baud rate:")); _debugSerial->print(F("New baud rate:"));
_debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]); _debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
} }
#endif
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("setSerialRate: sendCommand returned: ")); _debugSerial->print(F("setSerialRate: sendCommand returned: "));
_debugSerial->println(statusString(retVal)); _debugSerial->println(statusString(retVal));
} }
#endif
} }
//Configure a port to output UBX, NMEA, RTCM3 or a combination thereof //Configure a port to output UBX, NMEA, RTCM3 or a combination thereof
@@ -4411,6 +4489,7 @@ boolean SFE_UBLOX_GNSS::getProtocolVersion(uint16_t maxWait)
moduleSWVersion->versionLow = (payloadCfg[(30 * extensionNumber) + 11] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 12] - '0'); //Convert '00' to 00 moduleSWVersion->versionLow = (payloadCfg[(30 * extensionNumber) + 11] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 12] - '0'); //Convert '00' to 00
moduleSWVersion->moduleQueried = true; // Mark this data as new moduleSWVersion->moduleQueried = true; // Mark this data as new
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("Protocol version: ")); _debugSerial->print(F("Protocol version: "));
@@ -4418,6 +4497,7 @@ boolean SFE_UBLOX_GNSS::getProtocolVersion(uint16_t maxWait)
_debugSerial->print(F(".")); _debugSerial->print(F("."));
_debugSerial->println(moduleSWVersion->versionLow); _debugSerial->println(moduleSWVersion->versionLow);
} }
#endif
return (true); //Success! return (true); //Success!
} }
} }
@@ -4432,7 +4512,7 @@ boolean SFE_UBLOX_GNSS::initModuleSWVersion()
if (moduleSWVersion == NULL) if (moduleSWVersion == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initModuleSWVersion: PANIC! RAM allocation failed!")); _debugSerial->println(F("initModuleSWVersion: RAM alloc failed!"));
return (false); return (false);
} }
moduleSWVersion->versionHigh = 0; moduleSWVersion->versionHigh = 0;
@@ -4617,7 +4697,7 @@ boolean SFE_UBLOX_GNSS::initGeofenceParams()
if (currentGeofenceParams == NULL) if (currentGeofenceParams == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initGeofenceParams: PANIC! RAM allocation failed!")); _debugSerial->println(F("initGeofenceParams: RAM alloc failed!"));
return (false); return (false);
} }
currentGeofenceParams->numFences = 0; currentGeofenceParams->numFences = 0;
@@ -4714,12 +4794,14 @@ uint8_t SFE_UBLOX_GNSS::getPowerSaveMode(uint16_t maxWait)
boolean SFE_UBLOX_GNSS::powerOff(uint32_t durationInMs, uint16_t maxWait) boolean SFE_UBLOX_GNSS::powerOff(uint32_t durationInMs, uint16_t maxWait)
{ {
// use durationInMs = 0 for infinite duration // use durationInMs = 0 for infinite duration
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("Powering off for ")); _debugSerial->print(F("Powering off for "));
_debugSerial->print(durationInMs); _debugSerial->print(durationInMs);
_debugSerial->println(" ms"); _debugSerial->println(" ms");
} }
#endif
// Power off device using UBX-RXM-PMREQ // Power off device using UBX-RXM-PMREQ
packetCfg.cls = UBX_CLASS_RXM; // 0x02 packetCfg.cls = UBX_CLASS_RXM; // 0x02
@@ -4760,12 +4842,14 @@ boolean SFE_UBLOX_GNSS::powerOff(uint32_t durationInMs, uint16_t maxWait)
boolean SFE_UBLOX_GNSS::powerOffWithInterrupt(uint32_t durationInMs, uint32_t wakeupSources, boolean forceWhileUsb, uint16_t maxWait) boolean SFE_UBLOX_GNSS::powerOffWithInterrupt(uint32_t durationInMs, uint32_t wakeupSources, boolean forceWhileUsb, uint16_t maxWait)
{ {
// use durationInMs = 0 for infinite duration // use durationInMs = 0 for infinite duration
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("Powering off for ")); _debugSerial->print(F("Powering off for "));
_debugSerial->print(durationInMs); _debugSerial->print(durationInMs);
_debugSerial->println(" ms"); _debugSerial->println(" ms");
} }
#endif
// Power off device using UBX-RXM-PMREQ // Power off device using UBX-RXM-PMREQ
packetCfg.cls = UBX_CLASS_RXM; // 0x02 packetCfg.cls = UBX_CLASS_RXM; // 0x02
@@ -5076,21 +5160,25 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::getVal(uint32_t key, uint8_t layer, uint16_t
payloadCfg[6] = key >> 8 * 2; payloadCfg[6] = key >> 8 * 2;
payloadCfg[7] = key >> 8 * 3; payloadCfg[7] = key >> 8 * 3;
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("key: 0x")); _debugSerial->print(F("key: 0x"));
_debugSerial->print(key, HEX); _debugSerial->print(key, HEX);
_debugSerial->println(); _debugSerial->println();
} }
#endif
//Send VALGET command with this key //Send VALGET command with this key
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true) if (_printDebug == true)
{ {
_debugSerial->print(F("getVal: sendCommand returned: ")); _debugSerial->print(F("getVal: sendCommand returned: "));
_debugSerial->println(statusString(retVal)); _debugSerial->println(statusString(retVal));
} }
#endif
//Verify the response is the correct length as compared to what the user called (did the module respond with 8-bits but the user called getVal32?) //Verify the response is the correct length as compared to what the user called (did the module respond with 8-bits but the user called getVal32?)
//Response is 8 bytes plus cfg data //Response is 8 bytes plus cfg data
@@ -5543,7 +5631,7 @@ boolean SFE_UBLOX_GNSS::setAutoNAVPOSECEFcallback(void (*callbackPointer)(UBX_NA
if (packetUBXNAVPOSECEF->callbackData == NULL) if (packetUBXNAVPOSECEF->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVPOSECEFcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoNAVPOSECEFcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -5575,7 +5663,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVPOSECEF()
if (packetUBXNAVPOSECEF == NULL) if (packetUBXNAVPOSECEF == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVPOSECEF: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVPOSECEF: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVPOSECEF->automaticFlags.flags.all = 0; packetUBXNAVPOSECEF->automaticFlags.flags.all = 0;
@@ -5700,7 +5788,7 @@ boolean SFE_UBLOX_GNSS::setAutoNAVSTATUScallback(void (*callbackPointer)(UBX_NAV
if (packetUBXNAVSTATUS->callbackData == NULL) if (packetUBXNAVSTATUS->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVSTATUScallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoNAVSTATUScallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -5732,7 +5820,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVSTATUS()
if (packetUBXNAVSTATUS == NULL) if (packetUBXNAVSTATUS == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVSTATUS: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVSTATUS: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVSTATUS->automaticFlags.flags.all = 0; packetUBXNAVSTATUS->automaticFlags.flags.all = 0;
@@ -5877,7 +5965,7 @@ boolean SFE_UBLOX_GNSS::setAutoDOPcallback(void (*callbackPointer)(UBX_NAV_DOP_d
if (packetUBXNAVDOP->callbackData == NULL) if (packetUBXNAVDOP->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoDOPcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoDOPcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -5909,7 +5997,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVDOP()
if (packetUBXNAVDOP == NULL) if (packetUBXNAVDOP == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVDOP: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVDOP: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVDOP->automaticFlags.flags.all = 0; packetUBXNAVDOP->automaticFlags.flags.all = 0;
@@ -6040,7 +6128,7 @@ boolean SFE_UBLOX_GNSS::setAutoNAVATTcallback(void (*callbackPointer)(UBX_NAV_AT
if (packetUBXNAVATT->callbackData == NULL) if (packetUBXNAVATT->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVATTcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoNAVATTcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -6072,7 +6160,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVATT()
if (packetUBXNAVATT == NULL) if (packetUBXNAVATT == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVATT: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVATT: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVATT->automaticFlags.flags.all = 0; packetUBXNAVATT->automaticFlags.flags.all = 0;
@@ -6220,7 +6308,7 @@ boolean SFE_UBLOX_GNSS::setAutoPVTcallback(void (*callbackPointer)(UBX_NAV_PVT_d
if (packetUBXNAVPVT->callbackData == NULL) if (packetUBXNAVPVT->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoPVTcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoPVTcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -6253,7 +6341,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVPVT()
if (packetUBXNAVPVT == NULL) if (packetUBXNAVPVT == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVPVT: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVPVT: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVPVT->automaticFlags.flags.all = 0; packetUBXNAVPVT->automaticFlags.flags.all = 0;
@@ -6379,7 +6467,7 @@ boolean SFE_UBLOX_GNSS::setAutoNAVODOcallback(void (*callbackPointer)(UBX_NAV_OD
if (packetUBXNAVODO->callbackData == NULL) if (packetUBXNAVODO->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVODOcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoNAVODOcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -6411,7 +6499,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVODO()
if (packetUBXNAVODO == NULL) if (packetUBXNAVODO == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVODO: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVODO: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVODO->automaticFlags.flags.all = 0; packetUBXNAVODO->automaticFlags.flags.all = 0;
@@ -6535,7 +6623,7 @@ boolean SFE_UBLOX_GNSS::setAutoNAVVELECEFcallback(void (*callbackPointer)(UBX_NA
if (packetUBXNAVVELECEF->callbackData == NULL) if (packetUBXNAVVELECEF->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVVELECEFcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoNAVVELECEFcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -6567,7 +6655,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVVELECEF()
if (packetUBXNAVVELECEF == NULL) if (packetUBXNAVVELECEF == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVVELECEF: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVVELECEF: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVVELECEF->automaticFlags.flags.all = 0; packetUBXNAVVELECEF->automaticFlags.flags.all = 0;
@@ -6689,7 +6777,7 @@ boolean SFE_UBLOX_GNSS::setAutoNAVVELNEDcallback(void (*callbackPointer)(UBX_NAV
if (packetUBXNAVVELNED->callbackData == NULL) if (packetUBXNAVVELNED->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVVELNEDcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoNAVVELNEDcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -6721,7 +6809,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVVELNED()
if (packetUBXNAVVELNED == NULL) if (packetUBXNAVVELNED == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVVELNED: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVVELNED: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVVELNED->automaticFlags.flags.all = 0; packetUBXNAVVELNED->automaticFlags.flags.all = 0;
@@ -6845,7 +6933,7 @@ boolean SFE_UBLOX_GNSS::setAutoNAVHPPOSECEFcallback(void (*callbackPointer)(UBX_
if (packetUBXNAVHPPOSECEF->callbackData == NULL) if (packetUBXNAVHPPOSECEF->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVHPPOSECEFcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoNAVHPPOSECEFcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -6877,7 +6965,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVHPPOSECEF()
if (packetUBXNAVHPPOSECEF == NULL) if (packetUBXNAVHPPOSECEF == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVHPPOSECEF: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVHPPOSECEF: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVHPPOSECEF->automaticFlags.flags.all = 0; packetUBXNAVHPPOSECEF->automaticFlags.flags.all = 0;
@@ -7023,7 +7111,7 @@ boolean SFE_UBLOX_GNSS::setAutoHPPOSLLHcallback(void (*callbackPointer)(UBX_NAV_
if (packetUBXNAVHPPOSLLH->callbackData == NULL) if (packetUBXNAVHPPOSLLH->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoHPPOSLLHcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoHPPOSLLHcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -7055,7 +7143,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVHPPOSLLH()
if (packetUBXNAVHPPOSLLH == NULL) if (packetUBXNAVHPPOSLLH == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVHPPOSLLH: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVHPPOSLLH: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVHPPOSLLH->automaticFlags.flags.all = 0; packetUBXNAVHPPOSLLH->automaticFlags.flags.all = 0;
@@ -7179,7 +7267,7 @@ boolean SFE_UBLOX_GNSS::setAutoNAVCLOCKcallback(void (*callbackPointer)(UBX_NAV_
if (packetUBXNAVCLOCK->callbackData == NULL) if (packetUBXNAVCLOCK->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVCLOCKcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoNAVCLOCKcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -7211,7 +7299,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVCLOCK()
if (packetUBXNAVCLOCK == NULL) if (packetUBXNAVCLOCK == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVCLOCK: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVCLOCK: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVCLOCK->automaticFlags.flags.all = 0; packetUBXNAVCLOCK->automaticFlags.flags.all = 0;
@@ -7272,7 +7360,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVTIMELS()
if (packetUBXNAVTIMELS == NULL) if (packetUBXNAVTIMELS == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVTIMELS: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVTIMELS: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVTIMELS->automaticFlags.flags.all = 0; packetUBXNAVTIMELS->automaticFlags.flags.all = 0;
@@ -7319,7 +7407,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVSVIN()
if (packetUBXNAVSVIN == NULL) if (packetUBXNAVSVIN == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVSVIN: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVSVIN: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVSVIN->automaticFlags.flags.all = 0; packetUBXNAVSVIN->automaticFlags.flags.all = 0;
@@ -7434,7 +7522,7 @@ boolean SFE_UBLOX_GNSS::setAutoRELPOSNEDcallback(void (*callbackPointer)(UBX_NAV
if (packetUBXNAVRELPOSNED->callbackData == NULL) if (packetUBXNAVRELPOSNED->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoRELPOSNEDcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoRELPOSNEDcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -7466,7 +7554,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXNAVRELPOSNED()
if (packetUBXNAVRELPOSNED == NULL) if (packetUBXNAVRELPOSNED == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVRELPOSNED: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXNAVRELPOSNED: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXNAVRELPOSNED->automaticFlags.flags.all = 0; packetUBXNAVRELPOSNED->automaticFlags.flags.all = 0;
@@ -7590,7 +7678,7 @@ boolean SFE_UBLOX_GNSS::setAutoRXMSFRBXcallback(void (*callbackPointer)(UBX_RXM_
if (packetUBXRXMSFRBX->callbackData == NULL) if (packetUBXRXMSFRBX->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoRXMSFRBXcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoRXMSFRBXcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -7622,7 +7710,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXRXMSFRBX()
if (packetUBXRXMSFRBX == NULL) if (packetUBXRXMSFRBX == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXRXMSFRBX: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXRXMSFRBX: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXRXMSFRBX->automaticFlags.flags.all = 0; packetUBXRXMSFRBX->automaticFlags.flags.all = 0;
@@ -7746,7 +7834,7 @@ boolean SFE_UBLOX_GNSS::setAutoRXMRAWXcallback(void (*callbackPointer)(UBX_RXM_R
if (packetUBXRXMRAWX->callbackData == NULL) if (packetUBXRXMRAWX->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoRXMRAWXcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoRXMRAWXcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -7778,7 +7866,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXRXMRAWX()
if (packetUBXRXMRAWX == NULL) if (packetUBXRXMRAWX == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXRXMRAWX: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXRXMRAWX: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXRXMRAWX->automaticFlags.flags.all = 0; packetUBXRXMRAWX->automaticFlags.flags.all = 0;
@@ -7839,7 +7927,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXCFGRATE()
if (packetUBXCFGRATE == NULL) if (packetUBXCFGRATE == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXCFGRATE: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXCFGRATE: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXCFGRATE->automaticFlags.flags.all = 0; // Redundant packetUBXCFGRATE->automaticFlags.flags.all = 0; // Redundant
@@ -7949,7 +8037,7 @@ boolean SFE_UBLOX_GNSS::setAutoTIMTM2callback(void (*callbackPointer)(UBX_TIM_TM
if (packetUBXTIMTM2->callbackData == NULL) if (packetUBXTIMTM2->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoTIMTM2callback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoTIMTM2callback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -7981,7 +8069,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXTIMTM2()
if (packetUBXTIMTM2 == NULL) if (packetUBXTIMTM2 == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXTIMTM2: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXTIMTM2: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXTIMTM2->automaticFlags.flags.all = 0; packetUBXTIMTM2->automaticFlags.flags.all = 0;
@@ -8134,7 +8222,7 @@ boolean SFE_UBLOX_GNSS::setAutoESFALGcallback(void (*callbackPointer)(UBX_ESF_AL
if (packetUBXESFALG->callbackData == NULL) if (packetUBXESFALG->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoESFALGcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoESFALGcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -8166,7 +8254,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXESFALG()
if (packetUBXESFALG == NULL) if (packetUBXESFALG == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXESFALG: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXESFALG: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXESFALG->automaticFlags.flags.all = 0; packetUBXESFALG->automaticFlags.flags.all = 0;
@@ -8319,7 +8407,7 @@ boolean SFE_UBLOX_GNSS::setAutoESFSTATUScallback(void (*callbackPointer)(UBX_ESF
if (packetUBXESFSTATUS->callbackData == NULL) if (packetUBXESFSTATUS->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoESFSTATUScallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoESFSTATUScallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -8352,7 +8440,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXESFSTATUS()
if (packetUBXESFSTATUS == NULL) if (packetUBXESFSTATUS == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXESFSTATUS: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXESFSTATUS: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXESFSTATUS->automaticFlags.flags.all = 0; packetUBXESFSTATUS->automaticFlags.flags.all = 0;
@@ -8505,7 +8593,7 @@ boolean SFE_UBLOX_GNSS::setAutoESFINScallback(void (*callbackPointer)(UBX_ESF_IN
if (packetUBXESFINS->callbackData == NULL) if (packetUBXESFINS->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoESFINScallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoESFINScallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -8537,7 +8625,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXESFINS()
if (packetUBXESFINS == NULL) if (packetUBXESFINS == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXESFINS: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXESFINS: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXESFINS->automaticFlags.flags.all = 0; packetUBXESFINS->automaticFlags.flags.all = 0;
@@ -8690,7 +8778,7 @@ boolean SFE_UBLOX_GNSS::setAutoESFMEAScallback(void (*callbackPointer)(UBX_ESF_M
if (packetUBXESFMEAS->callbackData == NULL) if (packetUBXESFMEAS->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoESFMEAScallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoESFMEAScallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -8722,7 +8810,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXESFMEAS()
if (packetUBXESFMEAS == NULL) if (packetUBXESFMEAS == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXESFMEAS: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXESFMEAS: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXESFMEAS->automaticFlags.flags.all = 0; packetUBXESFMEAS->automaticFlags.flags.all = 0;
@@ -8875,7 +8963,7 @@ boolean SFE_UBLOX_GNSS::setAutoESFRAWcallback(void (*callbackPointer)(UBX_ESF_RA
if (packetUBXESFRAW->callbackData == NULL) if (packetUBXESFRAW->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoESFRAWcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoESFRAWcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -8907,7 +8995,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXESFRAW()
if (packetUBXESFRAW == NULL) if (packetUBXESFRAW == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXESFRAW: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXESFRAW: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXESFRAW->automaticFlags.flags.all = 0; packetUBXESFRAW->automaticFlags.flags.all = 0;
@@ -9065,7 +9153,7 @@ boolean SFE_UBLOX_GNSS::setAutoHNRATTcallback(void (*callbackPointer)(UBX_HNR_AT
if (packetUBXHNRATT->callbackData == NULL) if (packetUBXHNRATT->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoHNRAttcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoHNRAttcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -9097,7 +9185,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXHNRATT()
if (packetUBXHNRATT == NULL) if (packetUBXHNRATT == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXHNRATT: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXHNRATT: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXHNRATT->automaticFlags.flags.all = 0; packetUBXHNRATT->automaticFlags.flags.all = 0;
@@ -9256,7 +9344,7 @@ boolean SFE_UBLOX_GNSS::setAutoHNRINScallback(void (*callbackPointer)(UBX_HNR_IN
if (packetUBXHNRINS->callbackData == NULL) if (packetUBXHNRINS->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoHNRDyncallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoHNRDyncallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -9288,7 +9376,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXHNRINS()
if (packetUBXHNRINS == NULL) if (packetUBXHNRINS == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXHNRINS: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXHNRINS: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXHNRINS->automaticFlags.flags.all = 0; packetUBXHNRINS->automaticFlags.flags.all = 0;
@@ -9441,7 +9529,7 @@ boolean SFE_UBLOX_GNSS::setAutoHNRPVTcallback(void (*callbackPointer)(UBX_HNR_PV
if (packetUBXHNRPVT->callbackData == NULL) if (packetUBXHNRPVT->callbackData == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoHNRPVTcallback: PANIC! RAM allocation failed!")); _debugSerial->println(F("setAutoHNRPVTcallback: RAM alloc failed!"));
return (false); return (false);
} }
@@ -9473,7 +9561,7 @@ boolean SFE_UBLOX_GNSS::initPacketUBXHNRPVT()
if (packetUBXHNRPVT == NULL) if (packetUBXHNRPVT == NULL)
{ {
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXHNRPVT: PANIC! RAM allocation failed!")); _debugSerial->println(F("initPacketUBXHNRPVT: RAM alloc failed!"));
return (false); return (false);
} }
packetUBXHNRPVT->automaticFlags.flags.all = 0; packetUBXHNRPVT->automaticFlags.flags.all = 0;
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+3
View File
@@ -56,6 +56,9 @@
#include "u-blox_config_keys.h" #include "u-blox_config_keys.h"
#include "u-blox_structs.h" #include "u-blox_structs.h"
//Unomment the next line (or add SFE_UBLOX_REDUCED_PROG_MEM as a compiler directive) to reduce the amount of program memory used by the library
//#define SFE_UBLOX_REDUCED_PROG_MEM // Uncommenting this line will delete the minor debug messages to save memory
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
//Define a digital pin to aid debugging //Define a digital pin to aid debugging