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Merged
merged 2 commits into from
Jul 3, 2021
Merged

Fixes for checking for ack packet only #50

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4f962e1
Fixes for checking for ack packet only
aberridg Jul 1, 2021
d46bd50
Fixing to support new state management paradigm
aberridg Jul 2, 2021
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4 changes: 2 additions & 2 deletions examples/Example20_SendCustomCommand/Example20_SendCustomCommand.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ void setup()
// Let's create our custom packet
uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes
// The next line creates and initialises the packet information which wraps around the payload
ubxPacket customCfg = {0, 0, 0, 0, 0, customPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
ubxPacket customCfg = {0, 0, 0, 0, 0, customPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};

// The structure of ubxPacket is:
// uint8_t cls : The message Class
Expand Down Expand Up @@ -126,7 +126,7 @@ void setup()
// when sendCommand read the data

// Now we write the custom packet back again to change the setting
if (myGNSS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT) // This time we are only expecting an ACK
if (myGNSS.sendCommand(&customCfg, maxWait, true) != SFE_UBLOX_STATUS_DATA_SENT) // This time we are only expecting an ACK
{
Serial.println(F("sendCommand (set) failed! Freezing."));
while (1)
Expand Down
30 changes: 21 additions & 9 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 @@ -2756,6 +2756,11 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::sendCommand(ubxPacket *outgoingUBX, uint16_t
if (_printDebug == true)
{
_debugSerial->println(F("sendCommand: Waiting for ACK response"));
_debugSerial->print(F("expecting cls and id: 0x"));
_debugSerial->print(outgoingUBX->cls, HEX);
_debugSerial->print(F(" 0x"));
_debugSerial->println(outgoingUBX->id, HEX);

}
retVal = waitForACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait, expectACKonly); //Wait for Ack response
}
Expand Down Expand Up @@ -3029,6 +3034,13 @@ sfe_ublox_status_e SFE_UBLOX_GNSS::waitForACKResponse(ubxPacket *outgoingUBX, ui
packetAuto.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;

unsigned long startTime = millis();
if (_printDebug == true)
{
_debugSerial->print(F("waitForACKResponse: requested class and id: "));
_debugSerial->print(requestedClass, HEX);
_debugSerial->print(F(" "));
_debugSerial->println(requestedID, HEX);
}
while (millis() - startTime < maxTime)
{
if (checkUbloxInternal(outgoingUBX, requestedClass, requestedID) == true) //See if new data is available. Process bytes as they come in.
Expand Down Expand Up @@ -3793,7 +3805,7 @@ boolean SFE_UBLOX_GNSS::setPortOutput(uint8_t portID, uint8_t outStreamSettings,
//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[14] = outStreamSettings; //OutProtocolMask LSB - Set outStream bits

return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
return ((sendCommand(&packetCfg, maxWait, true)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
Expand All @@ -3814,7 +3826,7 @@ boolean SFE_UBLOX_GNSS::setPortInput(uint8_t portID, uint8_t inStreamSettings, u
//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[12] = inStreamSettings; //InProtocolMask LSB - Set inStream bits

return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
return ((sendCommand(&packetCfg, maxWait, true)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Changes the I2C address that the u-blox module responds to
Expand Down Expand Up @@ -4028,7 +4040,7 @@ boolean SFE_UBLOX_GNSS::configureMessage(uint8_t msgClass, uint8_t msgID, uint8_
//payloadCfg is now loaded with current bytes. Change only the ones we need to
payloadCfg[2 + portID] = sendRate; //Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every 2nd navigation solution.

return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
return ((sendCommand(&packetCfg, maxWait, true)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Enable a given message type, default of 1 per update rate (usually 1 per second)
Expand Down Expand Up @@ -4117,7 +4129,7 @@ boolean SFE_UBLOX_GNSS::setSurveyMode(uint8_t mode, uint16_t observationTime, fl
payloadCfg[30] = svinAccLimit >> 16;
payloadCfg[31] = svinAccLimit >> 24;

return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
return ((sendCommand(&packetCfg, maxWait, true)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Begin Survey-In for NEO-M8P
Expand Down Expand Up @@ -4179,7 +4191,7 @@ bool SFE_UBLOX_GNSS::setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP,
payloadCfg[17] = ecefYOrLonHP;
payloadCfg[18] = ecefZOrAltHP;

return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
return ((sendCommand(&packetCfg, maxWait, true)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

bool SFE_UBLOX_GNSS::setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latlong, uint16_t maxWait)
Expand Down Expand Up @@ -4382,7 +4394,7 @@ boolean SFE_UBLOX_GNSS::addGeofence(int32_t latitude, int32_t longitude, uint32_
payloadCfg[54] = currentGeofenceParams->rads[3] >> 16;
payloadCfg[55] = currentGeofenceParams->rads[3] >> 24;
}
return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
return ((sendCommand(&packetCfg, maxWait, true)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Clear all geofences using UBX-CFG-GEOFENCE
Expand All @@ -4408,7 +4420,7 @@ boolean SFE_UBLOX_GNSS::clearGeofences(uint16_t maxWait)

currentGeofenceParams->numFences = 0; // Zero the number of geofences currently in use

return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
return ((sendCommand(&packetCfg, maxWait, true)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Clear the antenna control settings using UBX-CFG-ANT
Expand All @@ -4426,7 +4438,7 @@ boolean SFE_UBLOX_GNSS::clearAntPIO(uint16_t maxWait)
payloadCfg[2] = 0xFF; // Antenna pin configuration: set pinSwitch and pinSCD to 31
payloadCfg[3] = 0xFF; // Antenna pin configuration: set pinOCD to 31, set reconfig bit

return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
return ((sendCommand(&packetCfg, maxWait, true)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Returns the combined geofence state using UBX-NAV-GEOFENCE
Expand Down Expand Up @@ -4702,7 +4714,7 @@ boolean SFE_UBLOX_GNSS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWa
packetCfg.len = 36;
packetCfg.startingSpot = 0;

return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
return (sendCommand(&packetCfg, maxWait, true) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}

//Get the dynamic platform model using UBX-CFG-NAV5
Expand Down