Merge branch 'add-spi-aberridg' into modify-state-management-aberridg

Author: aberridg

keywords.txt

@@ -66,6 +66,7 @@ disableUBX7Fcheck	KEYWORD2
 checkUblox	KEYWORD2
 checkUbloxI2C	KEYWORD2
 checkUbloxSerial	KEYWORD2
+checkUbloxSPI	KEYWORD2
 
 process	KEYWORD2
 processNMEA	KEYWORD2

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -452,12 +452,15 @@ boolean SFE_UBLOX_GNSS::begin(Stream &serialPort)
 }
 
 // Initialize for SPI
-boolean SFE_UBLOX_GNSS::begin(SPIClass &spiPort, uint8_t ssPin, int spiSpeed)
+boolean SFE_UBLOX_GNSS::begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed)
 {
   commType = COMM_TYPE_SPI;
   _spiPort = &spiPort;
-  _ssPin = ssPin;
+  _csPin = csPin;
   _spiSpeed = spiSpeed;
+  // Initialize the chip select pin
+  pinMode(_csPin, OUTPUT);
+  digitalWrite(_csPin, HIGH);
   //New in v2.0: allocate memory for the packetCfg payload here - if required. (The user may have called setPacketCfgPayloadSize already)
   if (packetCfgPayloadSize == 0)
     setPacketCfgPayloadSize(MAX_PAYLOAD_SIZE);
@@ -790,32 +793,22 @@ boolean SFE_UBLOX_GNSS::checkUbloxSerial(ubxPacket *incomingUBX, uint8_t request
 //Checks SPI for data, passing any new bytes to process()
 boolean SFE_UBLOX_GNSS::checkUbloxSpi(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
 {
-  // process the contents of the SPI buffer if not empty!
-  uint8_t bufferByte = spiBuffer[0];
-  uint8_t bufferIndex = 0;
-  
-  while (bufferByte != 0xFF) {
-    process(bufferByte, incomingUBX, requestedClass, requestedID);
-    bufferIndex++;
-    bufferByte = spiBuffer[bufferIndex];
-  }
-
-  // reset the contents of the SPI buffer
-  for(uint8_t i = 0; i < bufferIndex; i++) 
-  {
-    spiBuffer[i] = 0xFF;
+  // Process the contents of the SPI buffer if not empty!  
+  for (uint8_t i = 0; i < spiBufferIndex; i++) {
+    process(spiBuffer[i], incomingUBX, requestedClass, requestedID);        
   }
- 
+  spiBufferIndex = 0;
+   
   SPISettings settingsA(_spiSpeed, MSBFIRST, SPI_MODE0);  
   _spiPort->beginTransaction(settingsA);
-  digitalWrite(_ssPin, LOW);
+  digitalWrite(_csPin, LOW);
   uint8_t byteReturned = _spiPort->transfer(0x0A);
   while (byteReturned != 0xFF || currentSentence != NONE)
   {       
     process(byteReturned, incomingUBX, requestedClass, requestedID);
     byteReturned = _spiPort->transfer(0x0A);
   }
-  digitalWrite(_ssPin, HIGH);
+  digitalWrite(_csPin, HIGH);
   _spiPort->endTransaction();
   return (true);
 
@@ -2791,7 +2784,7 @@ void SFE_UBLOX_GNSS::sendSerialCommand(ubxPacket *outgoingUBX)
 void SFE_UBLOX_GNSS::spiTransfer(uint8_t byteToTransfer) 
 {
   uint8_t returnedByte = _spiPort->transfer(byteToTransfer);
-  if (returnedByte != 0xFF)
+  if (returnedByte != 0xFF || currentSentence != NONE)
   {
     spiBuffer[spiBufferIndex] = returnedByte;
     spiBufferIndex++;
@@ -2801,9 +2794,24 @@ void SFE_UBLOX_GNSS::spiTransfer(uint8_t byteToTransfer)
 // Send a command via SPI
 void SFE_UBLOX_GNSS::sendSpiCommand(ubxPacket *outgoingUBX)
 {
+  if (spiBuffer == NULL) //Memory has not yet been allocated - so use new
+  {
+    spiBuffer = new uint8_t[SPI_BUFFER_SIZE];
+  }
+  
+  if (spiBuffer == NULL) { 
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+    {
+      _debugSerial->print(F("process: memory allocation failed for SPI Buffer!"));      
+    }
+  }
+  
+  // Start at the beginning of the SPI buffer
+  spiBufferIndex = 0;
+
   SPISettings settingsA(_spiSpeed, MSBFIRST, SPI_MODE0);
   _spiPort->beginTransaction(settingsA);
-  digitalWrite(_ssPin, LOW);
+  digitalWrite(_csPin, LOW);
   //Write header bytes
   spiTransfer(UBX_SYNCH_1); //μ - oh ublox, you're funny. I will call you micro-blox from now on.
   if (_printDebug) _debugSerial->printf("%x ", UBX_SYNCH_1);
@@ -2831,7 +2839,7 @@ void SFE_UBLOX_GNSS::sendSpiCommand(ubxPacket *outgoingUBX)
   if (_printDebug) _debugSerial->printf("%x ", outgoingUBX->checksumA);
   spiTransfer(outgoingUBX->checksumB);
   if (_printDebug) _debugSerial->printf("%x \n", outgoingUBX->checksumB);
-  digitalWrite(_ssPin, HIGH);
+  digitalWrite(_csPin, HIGH);
   _spiPort->endTransaction();
 }
 

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -494,6 +494,9 @@ enum sfe_ublox_ls_src_e
 //#define MAX_PAYLOAD_SIZE 768 //Worst case: UBX_CFG_VALSET packet with 64 keyIDs each with 64 bit values
 #endif
 
+// For storing SPI bytes received during sendSpiCommand
+#define SPI_BUFFER_SIZE 128
+
 //-=-=-=-=- UBX binary specific variables
 struct ubxPacket
 {
@@ -570,8 +573,8 @@ class SFE_UBLOX_GNSS
 	boolean begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected
 	//serialPort needs to be perviously initialized to correct baud rate
 	boolean begin(Stream &serialPort); //Returns true if module is detected
-	//SPI - supply instance of SPIClass, slave select pin and SPI speed (in Hz)
-	boolean begin(SPIClass &spiPort, uint8_t ssPin, int spiSpeed);
+	//SPI - supply instance of SPIClass, chip select pin and SPI speed (in Hz)
+	boolean begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed);
 
 	void end(void); //Stop all automatic message processing. Free all used RAM
 
@@ -1291,7 +1294,7 @@ class SFE_UBLOX_GNSS
 	Stream *_debugSerial;			//The stream to send debug messages to if enabled
 
 	SPIClass *_spiPort;				//The instance of SPIClass
-	uint8_t _ssPin;					//The slave select pin
+	uint8_t _csPin;					//The chip select pin
 	int _spiSpeed;					//The speed to use for SPI (Hz)
 
 	uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8/F9 series
@@ -1313,8 +1316,8 @@ class SFE_UBLOX_GNSS
 	uint8_t *payloadCfg = NULL;
 	uint8_t *payloadAuto = NULL;
 
-	uint8_t spiBuffer[20]; 				// A small buffer to store any bytes being recieved back from the device while we are sending via SPI
-	uint8_t spiBufferIndex = 0;			// The index into the SPI buffer
+	uint8_t *spiBuffer = NULL; 				// A buffer to store any bytes being recieved back from the device while we are sending via SPI
+	uint8_t spiBufferIndex = 0;				// Index into the SPI buffer
 
 	//Init the packet structures and init them with pointers to the payloadAck, payloadCfg, payloadBuf and payloadAuto arrays
 	ubxPacket packetAck = {0, 0, 0, 0, 0, payloadAck, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};