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Merge pull request #36 from sparkfun/release_candidate
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v2.0.7
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@PaulZC
PaulZC authored May 8, 2021
2 parents 2c71ab7 + 060db6e commit 929a9ee
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12 changes: 11 additions & 1 deletion ...D-F9P/Example5_RelativePositioningInformation/Example5_RelativePositioningInformation.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,17 @@ void loop()
//Serial.print("Pushing ");
//Serial.print(numBytes);
//Serial.println(" bytes via I2C");
myGNSS.pushRawData(((uint8_t *)&store), numBytes); // Push the RTCM data via I2C

//On processors which have large I2C buffers, like the ESP32, we can make the push more efficient by
//calling setI2CTransactionSize first to increase the maximum I2C transmission size
//(setI2CTransactionSize only needs to be called once, so it should be in setup, not loop)
//myGNSS.setI2CTransactionSize(128); // Send up to 128 bytes in one I2C transmission

//The ESP32 seems to have an issue when using a restarts to break up long RTCM pushes
//You may need to call pushRawData and set the optional 'stop' argument to true:
//myGNSS.pushRawData(((uint8_t *)&store), numBytes, true); // Push the RTCM data via I2C - always use stops on long RTCM pushes

myGNSS.pushRawData(((uint8_t *)&store), numBytes); // Push the RTCM data via I2C - using restarts to break up long I2C pushes
numBytes = 0; // Reset numBytes
}
#endif
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2 changes: 1 addition & 1 deletion library.properties
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=SparkFun u-blox GNSS Arduino Library
version=2.0.6
version=2.0.7
author=SparkFun Electronics <[email protected]>
maintainer=SparkFun Electronics <sparkfun.com>
sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>
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88 changes: 45 additions & 43 deletions src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,15 +91,15 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVTIMELS;
packetUBXNAVTIMELS = NULL; // Redundant?
}

if (packetUBXNAVPOSECEF != NULL)
{
if (packetUBXNAVPOSECEF->callbackData != NULL)
{
delete[] packetUBXNAVPOSECEF->callbackData;
}
delete[] packetUBXNAVPOSECEF;
packetUBXNAVPOSECEF = NULL; // Redundant?
packetUBXNAVPOSECEF = NULL; // Redundant?
}

if (packetUBXNAVSTATUS != NULL)
Expand All @@ -109,7 +109,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVSTATUS->callbackData;
}
delete[] packetUBXNAVSTATUS;
packetUBXNAVSTATUS = NULL; // Redundant?
packetUBXNAVSTATUS = NULL; // Redundant?
}

if (packetUBXNAVDOP != NULL)
Expand All @@ -119,7 +119,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVDOP->callbackData;
}
delete[] packetUBXNAVDOP;
packetUBXNAVDOP = NULL; // Redundant?
packetUBXNAVDOP = NULL; // Redundant?
}

if (packetUBXNAVATT != NULL)
Expand All @@ -129,7 +129,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVATT->callbackData;
}
delete[] packetUBXNAVATT;
packetUBXNAVATT = NULL; // Redundant?
packetUBXNAVATT = NULL; // Redundant?
}

if (packetUBXNAVPVT != NULL)
Expand All @@ -143,7 +143,7 @@ void SFE_UBLOX_GNSS::end(void)
}
}
delete[] packetUBXNAVPVT;
packetUBXNAVPVT = NULL; // Redundant?
packetUBXNAVPVT = NULL; // Redundant?
if (_printDebug == true)
{
_debugSerial->println(F("end: packetUBXNAVPVT has been deleted"));
Expand All @@ -157,7 +157,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVODO->callbackData;
}
delete[] packetUBXNAVODO;
packetUBXNAVODO = NULL; // Redundant?
packetUBXNAVODO = NULL; // Redundant?
}

if (packetUBXNAVVELECEF != NULL)
Expand All @@ -167,7 +167,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVVELECEF->callbackData;
}
delete[] packetUBXNAVVELECEF;
packetUBXNAVVELECEF = NULL; // Redundant?
packetUBXNAVVELECEF = NULL; // Redundant?
}

if (packetUBXNAVVELNED != NULL)
Expand All @@ -177,7 +177,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVVELNED->callbackData;
}
delete[] packetUBXNAVVELNED;
packetUBXNAVVELNED = NULL; // Redundant?
packetUBXNAVVELNED = NULL; // Redundant?
}

if (packetUBXNAVHPPOSECEF != NULL)
Expand All @@ -187,7 +187,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVHPPOSECEF->callbackData;
}
delete[] packetUBXNAVHPPOSECEF;
packetUBXNAVHPPOSECEF = NULL; // Redundant?
packetUBXNAVHPPOSECEF = NULL; // Redundant?
}

if (packetUBXNAVHPPOSLLH != NULL)
Expand All @@ -197,7 +197,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVHPPOSLLH->callbackData;
}
delete[] packetUBXNAVHPPOSLLH;
packetUBXNAVHPPOSLLH = NULL; // Redundant?
packetUBXNAVHPPOSLLH = NULL; // Redundant?
}

if (packetUBXNAVCLOCK != NULL)
Expand All @@ -207,7 +207,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVCLOCK->callbackData;
}
delete[] packetUBXNAVCLOCK;
packetUBXNAVCLOCK = NULL; // Redundant?
packetUBXNAVCLOCK = NULL; // Redundant?
}

if (packetUBXNAVSVIN != NULL)
Expand All @@ -217,7 +217,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVSVIN->callbackData;
}
delete[] packetUBXNAVSVIN;
packetUBXNAVSVIN = NULL; // Redundant?
packetUBXNAVSVIN = NULL; // Redundant?
}

if (packetUBXNAVRELPOSNED != NULL)
Expand All @@ -227,7 +227,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXNAVRELPOSNED->callbackData;
}
delete[] packetUBXNAVRELPOSNED;
packetUBXNAVRELPOSNED = NULL; // Redundant?
packetUBXNAVRELPOSNED = NULL; // Redundant?
}

if (packetUBXRXMSFRBX != NULL)
Expand All @@ -237,7 +237,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXRXMSFRBX->callbackData;
}
delete[] packetUBXRXMSFRBX;
packetUBXRXMSFRBX = NULL; // Redundant?
packetUBXRXMSFRBX = NULL; // Redundant?
}

if (packetUBXRXMRAWX != NULL)
Expand All @@ -247,7 +247,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXRXMRAWX->callbackData;
}
delete[] packetUBXRXMRAWX;
packetUBXRXMRAWX = NULL; // Redundant?
packetUBXRXMRAWX = NULL; // Redundant?
}

if (packetUBXCFGRATE != NULL)
Expand All @@ -257,7 +257,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXCFGRATE->callbackData;
}
delete[] packetUBXCFGRATE;
packetUBXCFGRATE = NULL; // Redundant?
packetUBXCFGRATE = NULL; // Redundant?
}

if (packetUBXTIMTM2 != NULL)
Expand All @@ -267,7 +267,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXTIMTM2->callbackData;
}
delete[] packetUBXTIMTM2;
packetUBXTIMTM2 = NULL; // Redundant?
packetUBXTIMTM2 = NULL; // Redundant?
}

if (packetUBXESFALG != NULL)
Expand All @@ -277,7 +277,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXESFALG->callbackData;
}
delete[] packetUBXESFALG;
packetUBXESFALG = NULL; // Redundant?
packetUBXESFALG = NULL; // Redundant?
}

if (packetUBXESFSTATUS != NULL)
Expand All @@ -287,7 +287,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXESFSTATUS->callbackData;
}
delete[] packetUBXESFSTATUS;
packetUBXESFSTATUS = NULL; // Redundant?
packetUBXESFSTATUS = NULL; // Redundant?
}

if (packetUBXESFINS != NULL)
Expand All @@ -297,7 +297,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXESFINS->callbackData;
}
delete[] packetUBXESFINS;
packetUBXESFINS = NULL; // Redundant?
packetUBXESFINS = NULL; // Redundant?
}

if (packetUBXESFMEAS != NULL)
Expand All @@ -307,7 +307,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXESFMEAS->callbackData;
}
delete[] packetUBXESFMEAS;
packetUBXESFMEAS = NULL; // Redundant?
packetUBXESFMEAS = NULL; // Redundant?
}

if (packetUBXESFRAW != NULL)
Expand All @@ -317,7 +317,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXESFRAW->callbackData;
}
delete[] packetUBXESFRAW;
packetUBXESFRAW = NULL; // Redundant?
packetUBXESFRAW = NULL; // Redundant?
}

if (packetUBXHNRATT != NULL)
Expand All @@ -327,7 +327,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXHNRATT->callbackData;
}
delete[] packetUBXHNRATT;
packetUBXHNRATT = NULL; // Redundant?
packetUBXHNRATT = NULL; // Redundant?
}

if (packetUBXHNRINS != NULL)
Expand All @@ -337,7 +337,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXHNRINS->callbackData;
}
delete[] packetUBXHNRINS;
packetUBXHNRINS = NULL; // Redundant?
packetUBXHNRINS = NULL; // Redundant?
}

if (packetUBXHNRPVT != NULL)
Expand All @@ -347,7 +347,7 @@ void SFE_UBLOX_GNSS::end(void)
delete[] packetUBXHNRPVT->callbackData;
}
delete[] packetUBXHNRPVT;
packetUBXHNRPVT = NULL; // Redundant?
packetUBXHNRPVT = NULL; // Redundant?
}

}
Expand Down Expand Up @@ -1435,7 +1435,7 @@ void SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming)
//This function is called for each byte of an RTCM frame
//Ths user can overwrite this function and process the RTCM frame as they please
//Bytes can be piped to Serial or other interface. The consumer could be a radio or the internet (Ntrip broadcaster)
void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming) // IGNORE COMPILER WARNING unused parameter 'incoming'
{
//Radio.sendReliable((String)incoming); //An example of passing this byte to a radio

Expand All @@ -1458,7 +1458,7 @@ void SFE_UBLOX_GNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_
//If incomingUBX is a user-defined custom packet, then the payload size could be different to packetCfgPayloadSize.
//TO DO: update this to prevent an overrun when receiving an automatic message
// and the incomingUBX payload size is smaller than packetCfgPayloadSize.
size_t maximum_payload_size;
uint16_t maximum_payload_size;
if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG)
maximum_payload_size = packetCfgPayloadSize;
else if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETAUTO)
Expand Down Expand Up @@ -2404,7 +2404,7 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
packetUBXESFMEAS->data.timeTag = extractLong(msg, 0);
packetUBXESFMEAS->data.flags.all = extractInt(msg, 4);
packetUBXESFMEAS->data.id = extractInt(msg, 6);
for (int i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFMEAS->data.flags.bits.numMeas)
for (uint16_t i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFMEAS->data.flags.bits.numMeas)
&& ((i * 4) < (msg->len - 8)); i++)
{
packetUBXESFMEAS->data.data[i].data.all = extractLong(msg, 8 + (i * 4));
Expand Down Expand Up @@ -2435,10 +2435,10 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
//Parse various byte fields into storage - but only if we have memory allocated for it
if (packetUBXESFRAW != NULL)
{
for (int i = 0; (i < DEF_NUM_SENS) && ((i * 8) < (msg->len - 4)); i++)
for (uint16_t i = 0; (i < DEF_NUM_SENS) && ((i * 8) < (msg->len - 4)); i++)
{
packetUBXESFRAW->data.data[i].data.all = extractLong(msg, 8 + (i * 8));
packetUBXESFRAW->data.data[i].sTag = extractLong(msg, 8 + (i * 8) + 4);
packetUBXESFRAW->data.data[i].data.all = extractLong(msg, 4 + (i * 8));
packetUBXESFRAW->data.data[i].sTag = extractLong(msg, 8 + (i * 8));
}

//Mark all datums as fresh (not read before)
Expand Down Expand Up @@ -2468,7 +2468,7 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
packetUBXESFSTATUS->data.version = extractByte(msg, 4);
packetUBXESFSTATUS->data.fusionMode = extractByte(msg, 12);
packetUBXESFSTATUS->data.numSens = extractByte(msg, 15);
for (int i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFSTATUS->data.numSens)
for (uint16_t i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFSTATUS->data.numSens)
&& ((i * 4) < (msg->len - 16)); i++)
{
packetUBXESFSTATUS->data.status[i].sensStatus1.all = extractByte(msg, 16 + (i * 4) + 0);
Expand Down Expand Up @@ -2771,7 +2771,7 @@ void SFE_UBLOX_GNSS::sendSerialCommand(ubxPacket *outgoingUBX)
_serialPort->write(outgoingUBX->len >> 8); //MSB

//Write payload.
for (int i = 0; i < outgoingUBX->len; i++)
for (uint16_t i = 0; i < outgoingUBX->len; i++)
{
_serialPort->write(outgoingUBX->payload[i]);
}
Expand Down Expand Up @@ -2823,7 +2823,7 @@ void SFE_UBLOX_GNSS::printPacket(ubxPacket *packet, boolean alwaysPrintPayload)
{
_debugSerial->print(F(" Payload:"));

for (int x = 0; x < packet->len; x++)
for (uint16_t x = 0; x < packet->len; x++)
{
_debugSerial->print(F(" "));
_debugSerial->print(packet->payload[x], HEX);
Expand Down Expand Up @@ -3394,7 +3394,9 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
// Push (e.g.) RTCM data directly to the module
// Returns true if all numDataBytes were pushed successfully
// Warning: this function does not check that the data is valid. It is the user's responsibility to ensure the data is valid before pushing.
boolean SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes)
// Default to using a restart between transmissions. But processors like ESP32 seem to need a stop (#30). Set stop to true to use a stop instead.
// On processors like the ESP32, you can use setI2CTransactionSize to increase the size of each transmission - to e.g. 128 bytes
boolean SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes, boolean stop)
{
if (commType == COMM_TYPE_SERIAL)
{
Expand Down Expand Up @@ -3425,12 +3427,12 @@ boolean SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes)

if (bytesLeftToWrite > 0)
{
if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
return (false); //Sensor did not ACK
if (_i2cPort->endTransmission(stop) != 0) //Send a restart or stop command
return (false); //Sensor did not ACK
}
else
{
if (_i2cPort->endTransmission() != 0) //We're done. Release bus.
if (_i2cPort->endTransmission() != 0) //We're done. Release bus. Always use a stop here
return (false); //Sensor did not ACK
}
}
Expand Down Expand Up @@ -9709,7 +9711,7 @@ uint32_t SFE_UBLOX_GNSS::getUnixEpoch(uint16_t maxWait)
packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.sec = false;
packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.all = false;
// assemble time elements into time_t - credits to Thomas Roell @ https://github.com/GrumpyOldPizza
uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) +
uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) +
DAYS_SINCE_MONTH[((uint32_t)packetUBXNAVPVT->data.year - 1970) & 3][(uint32_t)packetUBXNAVPVT->data.month] +
((uint32_t)packetUBXNAVPVT->data.day - 1)) * 24 +
(uint32_t)packetUBXNAVPVT->data.hour) * 60 +
Expand All @@ -9736,7 +9738,7 @@ uint32_t SFE_UBLOX_GNSS::getUnixEpoch(uint32_t& microsecond, uint16_t maxWait)
packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.nano = false;
packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.all = false;
// assemble time elements into time_t - credits to Thomas Roell @ https://github.com/GrumpyOldPizza
uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) +
uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) +
DAYS_SINCE_MONTH[((uint32_t)packetUBXNAVPVT->data.year - 1970) & 3][(uint32_t)packetUBXNAVPVT->data.month] +
((uint32_t)packetUBXNAVPVT->data.day - 1)) * 24 +
(uint32_t)packetUBXNAVPVT->data.hour) * 60 +
Expand Down Expand Up @@ -10141,7 +10143,7 @@ uint16_t SFE_UBLOX_GNSS::getMagAcc(uint16_t maxWait)
}

// getGeoidSeparation is currently redundant. The geoid separation seems to only be provided in NMEA GGA and GNS messages.
int32_t SFE_UBLOX_GNSS::getGeoidSeparation(uint16_t maxWait)
int32_t SFE_UBLOX_GNSS::getGeoidSeparation(uint16_t maxWait) // IGNORE COMPILER WARNING unused parameter 'maxWait'
{
return (0);
}
Expand Down Expand Up @@ -10395,7 +10397,7 @@ uint8_t SFE_UBLOX_GNSS::getLeapIndicator(int32_t& timeToLsEvent, uint16_t maxWai
getLeapSecondEvent(maxWait);
packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.validTimeToLsEvent = false; //Since we are about to give this to user, mark this data as stale
packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.lsChange = false;
packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.timeToLsEvent = false;
packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.timeToLsEvent = false;
packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.all = false;
timeToLsEvent = packetUBXNAVTIMELS->data.timeToLsEvent;
// returns NTP Leap Indicator
Expand Down
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