sparkfun · PaulZC · Dec 9, 2021 · Dec 8, 2021 · Dec 8, 2021 · Dec 9, 2021
diff --git a/keywords.txt b/keywords.txt
@@ -121,6 +121,7 @@ setNMEAOutputPort	KEYWORD2
 
 factoryReset	KEYWORD2
 hardReset	KEYWORD2
+softwareResetGNSSOnly	KEYWORD2
 factoryDefault	KEYWORD2
 
 saveConfiguration	KEYWORD2

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.1.2
+version=2.1.3
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>

diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
@@ -438,7 +438,7 @@ void SFE_UBLOX_GNSS::setPacketCfgPayloadSize(size_t payloadSize)
 }
 
 //Initialize the I2C port
-bool SFE_UBLOX_GNSS::begin(TwoWire &wirePort, uint8_t deviceAddress)
+bool SFE_UBLOX_GNSS::begin(TwoWire &wirePort, uint8_t deviceAddress, uint16_t maxWait, bool assumeSuccess)
 {
   commType = COMM_TYPE_I2C;
   _i2cPort = &wirePort; //Grab which port the user wants us to use
@@ -461,19 +461,46 @@ bool SFE_UBLOX_GNSS::begin(TwoWire &wirePort, uint8_t deviceAddress)
   createFileBuffer();
 
   // Call isConnected up to three times - tests on the NEO-M8U show the CFG RATE poll occasionally being ignored
-  bool connected = isConnected();
+  bool connected = isConnected(maxWait);
 
   if (!connected)
-    connected = isConnected();
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+    {
+      _debugSerial->println(F("begin: isConnected - second attempt"));
+    }
+#endif
+    connected = isConnected(maxWait);
+  }
 
   if (!connected)
-    connected = isConnected();
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+    {
+      _debugSerial->println(F("begin: isConnected - third attempt"));
+    }
+#endif
+    connected = isConnected(maxWait);
+  }
+
+  if ((!connected ) && assumeSuccess) // Advanced users can assume success if required. Useful if the port is outputting messages at high navigation rate.
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+    {
+      _debugSerial->println(F("begin: third attempt failed. Assuming success..."));
+    }
+#endif
+    return (true);
+  }
 
   return (connected);
 }
 
 //Initialize the Serial port
-bool SFE_UBLOX_GNSS::begin(Stream &serialPort)
+bool SFE_UBLOX_GNSS::begin(Stream &serialPort, uint16_t maxWait, bool assumeSuccess)
 {
   commType = COMM_TYPE_SERIAL;
   _serialPort = &serialPort; //Grab which port the user wants us to use
@@ -486,19 +513,46 @@ bool SFE_UBLOX_GNSS::begin(Stream &serialPort)
   createFileBuffer();
 
   // Call isConnected up to three times - tests on the NEO-M8U show the CFG RATE poll occasionally being ignored
-  bool connected = isConnected();
+  bool connected = isConnected(maxWait);
 
   if (!connected)
-    connected = isConnected();
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+    {
+      _debugSerial->println(F("begin: isConnected - second attempt"));
+    }
+#endif
+    connected = isConnected(maxWait);
+  }
 
   if (!connected)
-    connected = isConnected();
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+    {
+      _debugSerial->println(F("begin: isConnected - third attempt"));
+    }
+#endif
+    connected = isConnected(maxWait);
+  }
+
+  if ((!connected ) && assumeSuccess) // Advanced users can assume success if required. Useful if the port is outputting messages at high navigation rate.
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+    {
+      _debugSerial->println(F("begin: third attempt failed. Assuming success..."));
+    }
+#endif
+    return (true);
+  }
 
   return (connected);
 }
 
 // Initialize for SPI
-bool SFE_UBLOX_GNSS::begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed)
+bool SFE_UBLOX_GNSS::begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed, uint16_t maxWait, bool assumeSuccess)
 {
   commType = COMM_TYPE_SPI;
   _spiPort = &spiPort;
@@ -538,14 +592,41 @@ bool SFE_UBLOX_GNSS::begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed)
     }
   }
 
-  // Call isConnected up to three times
-  bool connected = isConnected();
+  // Call isConnected up to three times - tests on the NEO-M8U show the CFG RATE poll occasionally being ignored
+  bool connected = isConnected(maxWait);
 
   if (!connected)
-    connected = isConnected();
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+    {
+      _debugSerial->println(F("begin: isConnected - second attempt"));
+    }
+#endif
+    connected = isConnected(maxWait);
+  }
 
   if (!connected)
-    connected = isConnected();
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+    {
+      _debugSerial->println(F("begin: isConnected - third attempt"));
+    }
+#endif
+    connected = isConnected(maxWait);
+  }
+
+  if ((!connected ) && assumeSuccess) // Advanced users can assume success if required. Useful if the port is outputting messages at high navigation rate.
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+    {
+      _debugSerial->println(F("begin: third attempt failed. Assuming success..."));
+    }
+#endif
+    return (true);
+  }
 
   return (connected);
 }
@@ -5413,6 +5494,20 @@ void SFE_UBLOX_GNSS::hardReset()
   sendCommand(&packetCfg, 0); // don't expect ACK
 }
 
+void SFE_UBLOX_GNSS::softwareResetGNSSOnly()
+{
+  // Issue controlled software reset (GNSS only)
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RST;
+  packetCfg.len = 4;
+  packetCfg.startingSpot = 0;
+  payloadCfg[0] = 0;          // hot start
+  payloadCfg[1] = 0;          // hot start
+  payloadCfg[2] = 0x02;       // 0x02 = Controlled software reset (GNSS only)
+  payloadCfg[3] = 0;          // reserved
+  sendCommand(&packetCfg, 0); // don't expect ACK
+}
+
 //Reset module to factory defaults
 //This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods
 bool SFE_UBLOX_GNSS::factoryDefault(uint16_t maxWait)
@@ -9628,9 +9723,7 @@ bool SFE_UBLOX_GNSS::getNavigationFrequencyInternal(uint16_t maxWait)
     return (true);
 
   if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
-  {
     return (true);
-  }
 
   return (false);
 }

diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.h b/src/SparkFun_u-blox_GNSS_Arduino_Library.h
@@ -598,12 +598,13 @@ class SFE_UBLOX_GNSS
 	//New in v2.0: allow the payload size for packetCfg to be changed
 	void setPacketCfgPayloadSize(size_t payloadSize); // Set packetCfgPayloadSize
 
+	//Begin communication with the GNSS. Advanced users can assume success if required. Useful if the port is already outputting messages at high navigation rate.
 	//By default use the default I2C address, and use Wire port
-	bool begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected
+	bool begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42, uint16_t maxWait = defaultMaxWait, bool assumeSuccess = false); //Returns true if module is detected
 	//serialPort needs to be perviously initialized to correct baud rate
-	bool begin(Stream &serialPort); //Returns true if module is detected
+	bool begin(Stream &serialPort, uint16_t maxWait = defaultMaxWait, bool assumeSuccess = false); //Returns true if module is detected
 	//SPI - supply instance of SPIClass, chip select pin and SPI speed (in Hz)
-	bool begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed);
+	bool begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed, uint16_t maxWait = defaultMaxWait, bool assumeSuccess = false);
 
 	void end(void); //Stop all automatic message processing. Free all used RAM
 
@@ -633,7 +634,7 @@ class SFE_UBLOX_GNSS
 	int8_t getMaxNMEAByteCount(void);
 
 	//Returns true if device answers on _gpsI2Caddress address or via Serial
-	bool isConnected(uint16_t maxWait = 1100);
+	bool isConnected(uint16_t maxWait = defaultMaxWait);
 
 	// Enable debug messages using the chosen Serial port (Stream)
 	// Boards like the RedBoard Turbo use SerialUSB (not Serial).
@@ -780,7 +781,8 @@ class SFE_UBLOX_GNSS
 
 	void factoryReset(); //Send factory reset sequence (i.e. load "default" configuration and perform hardReset)
 	void hardReset();	 //Perform a reset leading to a cold start (zero info start-up)
-	bool factoryDefault(uint16_t maxWait = defaultMaxWait);							 //Reset module to factory defaults
+	void softwareResetGNSSOnly(); //Controlled Software Reset (GNSS only) only restarts the GNSS tasks, without reinitializing the full system or reloading any stored configuration.
+	bool factoryDefault(uint16_t maxWait = defaultMaxWait); //Reset module to factory defaults
 
 	//Save configuration to BBR / Flash
 
@@ -826,7 +828,7 @@ class SFE_UBLOX_GNSS
 	bool powerSaveMode(bool power_save = true, uint16_t maxWait = defaultMaxWait);
 	uint8_t getPowerSaveMode(uint16_t maxWait = defaultMaxWait); // Returns 255 if the sendCommand fails
 	bool powerOff(uint32_t durationInMs, uint16_t maxWait = defaultMaxWait);
-	bool powerOffWithInterrupt(uint32_t durationInMs, uint32_t wakeupSources = VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0, bool forceWhileUsb = true, uint16_t maxWait = 1100);
+	bool powerOffWithInterrupt(uint32_t durationInMs, uint32_t wakeupSources = VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0, bool forceWhileUsb = true, uint16_t maxWait = defaultMaxWait);
 
 	//Change the dynamic platform model using UBX-CFG-NAV5
 	bool setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = defaultMaxWait);
@@ -1235,7 +1237,7 @@ class SFE_UBLOX_GNSS
 
 	// Helper functions for HPPOSECEF
 
-	uint32_t getPositionAccuracy(uint16_t maxWait = 1100); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,
+	uint32_t getPositionAccuracy(uint16_t maxWait = defaultMaxWait); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,
 
 	// Helper functions for HPPOSLLH
 
@@ -1291,8 +1293,8 @@ class SFE_UBLOX_GNSS
 
 	// Helper functions for HNR
 
-	bool setHNRNavigationRate(uint8_t rate, uint16_t maxWait = 1100); // Returns true if the setHNRNavigationRate is successful
-	uint8_t getHNRNavigationRate(uint16_t maxWait = 1100); // Returns 0 if the getHNRNavigationRate fails
+	bool setHNRNavigationRate(uint8_t rate, uint16_t maxWait = defaultMaxWait); // Returns true if the setHNRNavigationRate is successful
+	uint8_t getHNRNavigationRate(uint16_t maxWait = defaultMaxWait); // Returns 0 if the getHNRNavigationRate fails
 	float getHNRroll(uint16_t maxWait = defaultMaxWait); // Returned as degrees
 	float getHNRpitch(uint16_t maxWait = defaultMaxWait); // Returned as degrees
 	float getHNRheading(uint16_t maxWait = defaultMaxWait); // Returned as degrees