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Increased default maxWait - for Serial #87

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Apr 16, 2020
Merged

Increased default maxWait - for Serial #87

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d97c4e0
Added maxWait for isConnected to avoid Serial begin problems
PaulZC Apr 16, 2020
debbf05
Increased the default maxWait to avoid problems on Serial
PaulZC Apr 16, 2020
ee7ad7c
Increased the default maxWait for Serial to avoid timeout problems on…
PaulZC Apr 16, 2020
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4 changes: 2 additions & 2 deletions src/SparkFun_Ublox_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -960,7 +960,7 @@ void SFE_UBLOX_GPS::sendSerialCommand(ubxPacket outgoingUBX)
}

//Returns true if I2C device ack's
boolean SFE_UBLOX_GPS::isConnected()
boolean SFE_UBLOX_GPS::isConnected(uint16_t maxWait)
{
if (commType == COMM_TYPE_I2C)
{
Expand All @@ -975,7 +975,7 @@ boolean SFE_UBLOX_GPS::isConnected()
packetCfg.len = 0;
packetCfg.startingSpot = 0;

return sendCommand(packetCfg);
return sendCommand(packetCfg, maxWait);
}
return false;
}
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58 changes: 34 additions & 24 deletions src/SparkFun_Ublox_Arduino_Library.h
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Original file line number Diff line number Diff line change
Expand Up @@ -426,12 +426,19 @@ class SFE_UBLOX_GPS
public:
SFE_UBLOX_GPS(void);

// A default of 250ms for maxWait seems fine for I2C but is not enough for SerialUSB.
// If you know you are only going to be using I2C / Qwiic communication, you can
// safely reduce defaultMaxWait to 250.
#define defaultMaxWait 1100

//By default use the default I2C address, and use Wire port
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

boolean isConnected(); //Returns turn if device answers on _gpsI2Caddress address
//Returns true if device answers on _gpsI2Caddress address or via Serial
//maxWait is only used for Serial
boolean isConnected(uint16_t maxWait = 1100);

boolean checkUblox(); //Checks module with user selected commType
boolean checkUbloxI2C(); //Method for I2C polling of data, passing any new bytes to process()
Expand All @@ -446,7 +453,7 @@ class SFE_UBLOX_GPS
void processNMEA(char incoming) __attribute__((weak)); //Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries

void calcChecksum(ubxPacket *msg); //Sets the checksumA and checksumB of a given messages
sfe_ublox_status_e sendCommand(ubxPacket outgoingUBX, uint16_t maxWait = 250); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
sfe_ublox_status_e sendCommand(ubxPacket outgoingUBX, uint16_t maxWait = defaultMaxWait); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
sfe_ublox_status_e sendI2cCommand(ubxPacket outgoingUBX, uint16_t maxWait = 250);
void sendSerialCommand(ubxPacket outgoingUBX);

Expand All @@ -456,17 +463,17 @@ class SFE_UBLOX_GPS
void hardReset(); //Perform a reset leading to a cold start (zero info start-up)

boolean setI2CAddress(uint8_t deviceAddress, uint16_t maxTime = 250); //Changes the I2C address of the Ublox module
void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = 250); //Changes the serial baud rate of the Ublox module, uartPort should be COM_PORT_UART1/2
void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = defaultMaxWait); //Changes the serial baud rate of the Ublox module, uartPort should be COM_PORT_UART1/2
void setNMEAOutputPort(Stream &nmeaOutputPort); //Sets the internal variable for the port to direct NMEA characters to

boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = 250); //Set the number of nav solutions sent per second
uint8_t getNavigationFrequency(uint16_t maxWait = 250); //Get the number of nav solutions sent per second currently being output by module
boolean saveConfiguration(uint16_t maxWait = 250); //Save current configuration to flash and BBR (battery backed RAM)
boolean factoryDefault(uint16_t maxWait = 250); //Reset module to factory defaults
boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = 250); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait); //Set the number of nav solutions sent per second
uint8_t getNavigationFrequency(uint16_t maxWait = defaultMaxWait); //Get the number of nav solutions sent per second currently being output by module
boolean saveConfiguration(uint16_t maxWait = defaultMaxWait); //Save current configuration to flash and BBR (battery backed RAM)
boolean factoryDefault(uint16_t maxWait = defaultMaxWait); //Reset module to factory defaults
boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = defaultMaxWait); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)

sfe_ublox_status_e waitForACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = 250); //Poll the module until a config packet and an ACK is received
sfe_ublox_status_e waitForNoACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = 250); //Poll the module until a config packet is received
sfe_ublox_status_e waitForACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet and an ACK is received
sfe_ublox_status_e waitForNoACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet is received

// getPVT will only return data once in each navigation cycle. By default, that is once per second.
// Therefore we should set getPVTmaxWait to slightly longer than that.
Expand All @@ -477,9 +484,9 @@ class SFE_UBLOX_GPS
#define getHPPOSLLHmaxWait 1100 // Default maxWait for getHPPOSLLH and all functions which call it

boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and PVT is send cyclically already
boolean setAutoPVT(boolean enabled, uint16_t maxWait = 250); //Enable/disable automatic PVT reports at the navigation frequency
boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency
boolean getPVT(uint16_t maxWait = getPVTmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Retruns true if new PVT is available.
boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = 250); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
boolean getHPPOSLLH(uint16_t maxWait = getHPPOSLLHmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Retruns true if new PVT is available.
void flushPVT(); //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure

Expand Down Expand Up @@ -512,26 +519,28 @@ class SFE_UBLOX_GPS
uint32_t getVerticalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);

//Port configurations
boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = 250); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = 250); //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
boolean getPortSettings(uint8_t portID, uint16_t maxWait = 250); //Returns the current protocol bits in the UBX-CFG-PRT command for a given port
boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
boolean getPortSettings(uint8_t portID, uint16_t maxWait = defaultMaxWait); //Returns the current protocol bits in the UBX-CFG-PRT command for a given port

boolean setI2COutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure I2C port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = 250); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = 250); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setUSBOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure USB port to output UBX, NMEA, RTCM3 or a combination thereof
boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof

//Functions to turn on/off message types for a given port ID (see COM_PORT_I2C, etc above)
boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = 250);
boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = 250);
boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = 250);
boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = 250);
boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = 250);
boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = 250); //Given a message number turns on a message ID for output over given PortID
boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = 250); //Turn off given RTCM message from a given port
boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait);
boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait); //Given a message number turns on a message ID for output over given PortID
boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = defaultMaxWait); //Turn off given RTCM message from a given port

//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
//It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic.
//If they are using Serial then the higher baud rate will also help. So let's leave maxWait set to 250ms.
uint8_t getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
uint8_t getVal8(uint32_t keyID, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
uint8_t setVal(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Sets the 16-bit value at a given group/id/size location
Expand All @@ -549,6 +558,7 @@ class SFE_UBLOX_GPS
uint8_t sendCfgValset32(uint32_t keyID, uint32_t value, uint16_t maxWait = 250); //Add the final KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket and send it

//Functions used for RTK and base station setup
//It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms.
boolean getSurveyMode(uint16_t maxWait = 250); //Get the current TimeMode3 settings
boolean setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Control survey in mode
boolean enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Begin Survey-In for NEO-M8P
Expand Down