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Faster version polling #59

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Dec 23, 2019
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Faster version polling #59

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87 changes: 49 additions & 38 deletions src/SparkFun_Ublox_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ SFE_UBLOX_GPS::SFE_UBLOX_GPS(void)
{
// Constructor
currentGeofenceParams.numFences = 0; // Zero the number of geofences currently in use
moduleQueried.versionNumber = false;
}

//Initialize the Serial port
Expand Down Expand Up @@ -575,8 +576,14 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
if (msg->id == UBX_ACK_ACK && msg->payload[0] == packetCfg.cls && msg->payload[1] == packetCfg.id)
{
//The ack we just received matched the CLS/ID of last packetCfg sent
debugPrintln((char *)"Command sent/ack'd successfully");
commandAck = true;
debugPrintln((char *)"UBX ACK: Command sent/ack'd successfully");
commandAck = UBX_ACK_ACK;
}
else if (msg->id == UBX_ACK_NACK && msg->payload[0] == packetCfg.cls && msg->payload[1] == packetCfg.id)
{
//The ack we just received matched the CLS/ID of last packetCfg sent
debugPrintln((char *)"UBX ACK: Not-Acknowledged");
commandAck = UBX_ACK_NACK;
}
break;

Expand Down Expand Up @@ -685,7 +692,7 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
//Given a packet and payload, send everything including CRC bytes via I2C port
boolean SFE_UBLOX_GPS::sendCommand(ubxPacket outgoingUBX, uint16_t maxWait)
{
commandAck = false; //We're about to send a command. Begin waiting for ack.
commandAck = UBX_ACK_NONE; //We're about to send a command. Begin waiting for ack.
calcChecksum(&outgoingUBX); //Sets checksum A and B bytes of the packet

if (_printDebug == true)
Expand Down Expand Up @@ -878,16 +885,24 @@ void SFE_UBLOX_GPS::printPacket(ubxPacket *packet)
//Poll the module until and ack is received
boolean SFE_UBLOX_GPS::waitForResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime)
{
commandAck = false; //Reset flag
packetCfg.valid = false; //This will go true when we receive a response to the packet we sent
commandAck = UBX_ACK_NONE; //Reset flag
packetCfg.valid = false; //This will go true when we receive a response to the packet we sent
packetAck.valid = false;

unsigned long startTime = millis();
while (millis() - startTime < maxTime)
{
if (checkUblox() == true) //See if new data is available. Process bytes as they come in.
{
if (commandAck == true)
return (true); //If the packet we just sent was a CFG packet then we'll get an ACK
if (packetAck.valid == true)
{
//If the packet we just sent was a CFG packet then we'll get an ACK
if (commandAck == UBX_ACK_ACK)
return (true); // Received an ACK
else if (commandAck == UBX_ACK_NACK)
return (false); // Received a NACK
}

if (packetCfg.valid == true)
{
//Did we receive a config packet that matches the cls/id we requested?
Expand Down Expand Up @@ -2252,7 +2267,6 @@ uint8_t SFE_UBLOX_GPS::getProtocolVersionHigh(uint16_t maxWait)
{
if (moduleQueried.versionNumber == false)
getProtocolVersion(maxWait);
moduleQueried.versionNumber = false;
return (versionHigh);
}

Expand All @@ -2262,7 +2276,6 @@ uint8_t SFE_UBLOX_GPS::getProtocolVersionLow(uint16_t maxWait)
{
if (moduleQueried.versionNumber == false)
getProtocolVersion(maxWait);
moduleQueried.versionNumber = false;
return (versionLow);
}

Expand All @@ -2274,46 +2287,44 @@ boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
packetCfg.cls = UBX_CLASS_MON;
packetCfg.id = UBX_MON_VER;

//We will send the command repeatedly, increasing the startingSpot as we go
//Then we look at each extension field of 30 bytes
for (uint8_t extensionNumber = 0; extensionNumber < 10; extensionNumber++)
{
packetCfg.len = 0;
packetCfg.startingSpot = 40 + (30 * extensionNumber);
packetCfg.len = 0;
packetCfg.startingSpot = 40; //Start at first "extended software information" string

if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail

if (sendCommand(packetCfg, maxWait) == false)
return (false); //If command send fails then bail
// Let's make sure we wait for the ACK too (sendCommand will have returned as soon as the module sent its response)
// This is only required because we are doing multiple sendCommands in quick succession using the same class and ID
waitForResponse(UBX_CLASS_MON, UBX_MON_VER, 100); // But we'll only wait for 100msec max

// Let's make sure we wait for the ACK too (sendCommand will have returned as soon as the module sent its response)
// This is only required because we are doing multiple sendCommands in quick succession using the same class and ID
waitForResponse(UBX_CLASS_MON, UBX_MON_VER, 100); // But we'll only wait for 100msec max
//Payload should now contain ~220 characters (depends on module type)

if (_printDebug == true)
if (_printDebug == true)
{
_debugSerial->print(F("MON VER Payload:"));
for (int location = 0; location < packetCfg.len; location++)
{
_debugSerial->print(F("Extension "));
_debugSerial->print(extensionNumber);
_debugSerial->print(F(": "));
for (int location = 0; location < MAX_PAYLOAD_SIZE; location++)
{
if (payloadCfg[location] == '\0')
break;
_debugSerial->write(payloadCfg[location]);
}
_debugSerial->println();
if (location % 30 == 0)
_debugSerial->println();
_debugSerial->write(payloadCfg[location]);
}
_debugSerial->println();
}

//We will step through the payload looking at each extension field of 30 bytes
for (uint8_t extensionNumber = 0; extensionNumber < 10; extensionNumber++)
{
//Now we need to find "PROTVER=18.00" in the incoming byte stream
if (payloadCfg[0] == 'P' && payloadCfg[6] == 'R')
if (payloadCfg[(30 * extensionNumber) + 0] == 'P' && payloadCfg[(30 * extensionNumber) + 6] == 'R')
{
versionHigh = (payloadCfg[8] - '0') * 10 + (payloadCfg[9] - '0'); //Convert '18' to 18
versionLow = (payloadCfg[11] - '0') * 10 + (payloadCfg[12] - '0'); //Convert '00' to 00
return (true); // This function returns a boolean (so we can't return versionLow)
versionHigh = (payloadCfg[(30 * extensionNumber) + 8] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 9] - '0'); //Convert '18' to 18
versionLow = (payloadCfg[(30 * extensionNumber) + 11] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 12] - '0'); //Convert '00' to 00
moduleQueried.versionNumber = true; //Mark this data as new
return (true); //Success!
}
}

moduleQueried.versionNumber = true; //Mark this data as new

return (true);
return (false); //We failed
}

//Relative Positioning Information in NED frame
Expand Down
11 changes: 6 additions & 5 deletions src/SparkFun_Ublox_Arduino_Library.h
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Original file line number Diff line number Diff line change
Expand Up @@ -149,6 +149,7 @@ const uint8_t UBX_RTCM_1230 = 0xE6; //GLONASS code-phase biases, set to once eve

const uint8_t UBX_ACK_NACK = 0x00;
const uint8_t UBX_ACK_ACK = 0x01;
const uint8_t UBX_ACK_NONE = 0x02; //Not a real value

//The following consts are used to configure the various ports and streams for those ports. See -CFG-PRT.
const uint8_t COM_PORT_I2C = 0;
Expand Down Expand Up @@ -204,7 +205,7 @@ enum dynModel // Possible values for the dynamic platform model

#ifndef MAX_PAYLOAD_SIZE

#define MAX_PAYLOAD_SIZE 128
#define MAX_PAYLOAD_SIZE 256 //We need ~220 bytes for getProtocolVersion on most ublox modules
//#define MAX_PAYLOAD_SIZE 768 //Worst case: UBX_CFG_VALSET packet with 64 keyIDs each with 64 bit values

#endif
Expand Down Expand Up @@ -367,9 +368,9 @@ class SFE_UBLOX_GPS

uint32_t getPositionAccuracy(uint16_t maxWait = 500); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,

uint8_t getProtocolVersionHigh(uint16_t maxWait = 1000); //Returns the PROTVER XX.00 from UBX-MON-VER register
uint8_t getProtocolVersionLow(uint16_t maxWait = 1000); //Returns the PROTVER 00.XX from UBX-MON-VER register
boolean getProtocolVersion(uint16_t maxWait = 1000); //Queries module, loads low/high bytes
uint8_t getProtocolVersionHigh(uint16_t maxWait = 500); //Returns the PROTVER XX.00 from UBX-MON-VER register
uint8_t getProtocolVersionLow(uint16_t maxWait = 500); //Returns the PROTVER 00.XX from UBX-MON-VER register
boolean getProtocolVersion(uint16_t maxWait = 500); //Queries module, loads low/high bytes

boolean getRELPOSNED(uint16_t maxWait = 1000); //Get Relative Positioning Information of the NED frame

Expand Down Expand Up @@ -521,7 +522,7 @@ class SFE_UBLOX_GPS
unsigned long lastCheck = 0;
boolean autoPVT = false; //Whether autoPVT is enabled or not
boolean autoPVTImplicitUpdate = true; // Whether autoPVT is triggered by accessing stale data (=true) or by a call to checkUblox (=false)
boolean commandAck = false; //This goes true after we send a command and it's ack'd
uint8_t commandAck = UBX_ACK_NONE; //This goes to UBX_ACK_ACK after we send a command and it's ack'd
uint16_t ubxFrameCounter; //It counts all UBX frame. [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
Expand Down