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Replaced all of the debugPrintln((char *) #83

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Apr 15, 2020
Merged

Replaced all of the debugPrintln((char *) #83

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108 changes: 86 additions & 22 deletions src/SparkFun_Ublox_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -288,7 +288,10 @@ boolean SFE_UBLOX_GPS::checkUbloxI2C()
if (lsb == 0xFF)
{
//I believe this is a Ublox bug. Device should never present an 0xFF.
debugPrintln((char *)F("checkUbloxI2C: Ublox bug, no bytes available"));
if (_printDebug == true)
{
_debugSerial->println(F("checkUbloxI2C: Ublox bug, no bytes available"));
}
if (checksumFailurePin >= 0)
{
digitalWrite((uint8_t)checksumFailurePin, LOW);
Expand All @@ -303,7 +306,10 @@ boolean SFE_UBLOX_GPS::checkUbloxI2C()

if (bytesAvailable == 0)
{
debugPrintln((char *)F("checkUbloxI2C: OK, zero bytes available"));
if (_printDebug == true)
{
_debugSerial->println(F("checkUbloxI2C: OK, zero bytes available"));
}
lastCheck = millis(); //Put off checking to avoid I2C bus traffic
return (false);
}
Expand Down Expand Up @@ -375,7 +381,10 @@ boolean SFE_UBLOX_GPS::checkUbloxI2C()
{
if (incoming == 0x7F)
{
debugPrintln((char *)F("checkUbloxU2C: Ublox error, module not ready with data"));
if (_printDebug == true)
{
_debugSerial->println(F("checkUbloxU2C: Ublox error, module not ready with data"));
}
delay(5); //In logic analyzation, the module starting responding after 1.48ms
if (checksumFailurePin >= 0)
{
Expand Down Expand Up @@ -609,9 +618,19 @@ void SFE_UBLOX_GPS::processUBX(uint8_t incoming, ubxPacket *incomingUBX)
printPacket(incomingUBX);

if (packetCfg.valid == true)
debugPrintln((char *)F("packetCfg now valid"));
{
if (_printDebug == true)
{
_debugSerial->println(F("packetCfg now valid"));
}
}
if (packetAck.valid == true)
debugPrintln((char *)F("packetAck now valid"));
{
if (_printDebug == true)
{
_debugSerial->println(F("packetAck now valid"));
}
}
}

processUBXpacket(incomingUBX); //We've got a valid packet, now do something with it
Expand All @@ -628,7 +647,7 @@ void SFE_UBLOX_GPS::processUBX(uint8_t incoming, ubxPacket *incomingUBX)
digitalWrite((uint8_t)checksumFailurePin, HIGH);
}

debugPrint((char *)F("Checksum failed:"));
_debugSerial->print(F("Checksum failed:"));
_debugSerial->print(F(" checksumA: "));
_debugSerial->print(incomingUBX->checksumA);
_debugSerial->print(F(" checksumB: "));
Expand Down Expand Up @@ -686,13 +705,19 @@ 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 (or received)
debugPrintln((char *)F("UBX ACK: Command sent/ack'd successfully"));
if (_printDebug == true)
{
_debugSerial->println(F("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 *)F("UBX ACK: Not-Acknowledged"));
if (_printDebug == true)
{
_debugSerial->println(F("UBX ACK: Not-Acknowledged"));
}
commandAck = UBX_ACK_NACK;
}
break;
Expand Down Expand Up @@ -817,7 +842,10 @@ sfe_ublox_status_e SFE_UBLOX_GPS::sendCommand(ubxPacket outgoingUBX, uint16_t ma
retVal = sendI2cCommand(outgoingUBX, maxWait);
if (retVal != SFE_UBLOX_STATUS_SUCCESS)
{
debugPrintln((char *)F("Send I2C Command failed"));
if (_printDebug == true)
{
_debugSerial->println(F("Send I2C Command failed"));
}
return retVal;
}
}
Expand All @@ -831,12 +859,18 @@ sfe_ublox_status_e SFE_UBLOX_GPS::sendCommand(ubxPacket outgoingUBX, uint16_t ma
//Depending on what we just sent, either we need to look for an ACK or not
if (outgoingUBX.cls == UBX_CLASS_CFG)
{
debugPrintln((char *)F("sendCommand: Waiting for ACK response"));
if (_printDebug == true)
{
_debugSerial->println(F("sendCommand: Waiting for ACK response"));
}
retVal = waitForACKResponse(outgoingUBX.cls, outgoingUBX.id, maxWait); //Wait for Ack response
}
else
{
debugPrintln((char *)F("sendCommand: Waiting for No ACK response"));
if (_printDebug == true)
{
_debugSerial->println(F("sendCommand: Waiting for No ACK response"));
}
retVal = waitForNoACKResponse(outgoingUBX.cls, outgoingUBX.id, maxWait); //Wait for Ack response
}
}
Expand Down Expand Up @@ -1075,21 +1109,30 @@ sfe_ublox_status_e SFE_UBLOX_GPS::waitForACKResponse(uint8_t requestedClass, uin
else
{
//Reset packet and continue checking incoming data for matching cls/id
debugPrintln((char *)F("waitForACKResponse: CLS/ID mismatch, continue to wait..."));
if (_printDebug == true)
{
_debugSerial->println(F("waitForACKResponse: CLS/ID mismatch, continue to wait..."));
}
packetCfg.valid = false; //This will go true when we receive a response to the packet we sent
}
}
else
{
//We were expecting data but didn't get a valid config packet
debugPrintln((char *)F("waitForACKResponse: Invalid config packet"));
if (_printDebug == true)
{
_debugSerial->println(F("waitForACKResponse: Invalid config packet"));
}
return (SFE_UBLOX_STATUS_FAIL); //We got an ACK, we're never going to get valid config data
}
}
else
{
//We have sent new data. We expect an ACK but no return config packet.
debugPrintln((char *)F("waitForACKResponse: New data successfully sent"));
if (_printDebug == true)
{
_debugSerial->println(F("waitForACKResponse: New data successfully sent"));
}
return (SFE_UBLOX_STATUS_DATA_SENT); //New data successfully sent
}
}
Expand All @@ -1112,7 +1155,10 @@ sfe_ublox_status_e SFE_UBLOX_GPS::waitForACKResponse(uint8_t requestedClass, uin
//Through debug warning, This command might not get an ACK
if (packetCfg.valid == true)
{
debugPrintln((char *)F("waitForACKResponse: Config was valid but ACK not received"));
if (_printDebug == true)
{
_debugSerial->println(F("waitForACKResponse: Config was valid but ACK not received"));
}
}

if (_printDebug == true)
Expand Down Expand Up @@ -1156,7 +1202,10 @@ sfe_ublox_status_e SFE_UBLOX_GPS::waitForNoACKResponse(uint8_t requestedClass, u
}
else
{
debugPrintln((char *)F("waitForNoACKResponse: CLS/ID match but failed CRC"));
if (_printDebug == true)
{
_debugSerial->println(F("waitForNoACKResponse: CLS/ID match but failed CRC"));
}
return (SFE_UBLOX_STATUS_CRC_FAIL); //We got the right packet but it was corrupt
}
}
Expand All @@ -1165,7 +1214,7 @@ sfe_ublox_status_e SFE_UBLOX_GPS::waitForNoACKResponse(uint8_t requestedClass, u
//Reset packet and continue checking incoming data for matching cls/id
if (_printDebug == true)
{
debugPrint((char *)F("waitForNoACKResponse: CLS/ID mismatch: "));
_debugSerial->print(F("waitForNoACKResponse: CLS/ID mismatch: "));
_debugSerial->print(F("CLS: "));
_debugSerial->print(packetCfg.cls, HEX);
_debugSerial->print(F(" ID: "));
Expand Down Expand Up @@ -1758,7 +1807,10 @@ boolean SFE_UBLOX_GPS::setPortOutput(uint8_t portID, uint8_t outStreamSettings,

if (commandAck != UBX_ACK_ACK)
{
debugPrintln((char *)F("setPortOutput failed to ACK"));
if (_printDebug == true)
{
_debugSerial->println(F("setPortOutput failed to ACK"));
}
return (false);
}

Expand Down Expand Up @@ -2145,7 +2197,10 @@ boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait)
*/
if (protVer >= 27)
{
debugPrintln((char *)F("powerSaveMode (UBX-CFG-RXM) is not supported by this protocol version"));
if (_printDebug == true)
{
_debugSerial->println(F("powerSaveMode (UBX-CFG-RXM) is not supported by this protocol version"));
}
return (false);
}

Expand Down Expand Up @@ -2303,19 +2358,28 @@ boolean SFE_UBLOX_GPS::getPVT(uint16_t maxWait)
if (autoPVT && autoPVTImplicitUpdate)
{
//The GPS is automatically reporting, we just check whether we got unread data
debugPrintln((char *)F("getPVT: Autoreporting"));
if (_printDebug == true)
{
_debugSerial->println(F("getPVT: Autoreporting"));
}
checkUblox();
return moduleQueried.all;
}
else if (autoPVT && !autoPVTImplicitUpdate)
{
//Someone else has to call checkUblox for us...
debugPrintln((char *)F("getPVT: Exit immediately"));
if (_printDebug == true)
{
_debugSerial->println(F("getPVT: Exit immediately"));
}
return (false);
}
else
{
debugPrintln((char *)F("getPVT: Polling"));
if (_printDebug == true)
{
_debugSerial->println(F("getPVT: Polling"));
}

//The GPS is not automatically reporting navigation position so we have to poll explicitly
packetCfg.cls = UBX_CLASS_NAV;
Expand Down