Merge pull request #81 from sparkfun/release_candidate

v3.0.11

Author: PaulZC

examples/Data_Logging/DataLoggingExample10_processLoggedUBX/DataLoggingExample10_processLoggedUBX.ino

@@ -0,0 +1,116 @@
+/*
+  Demonstrate how to 'process' any UBX message - without needing the Auto methods
+  By: Paul Clark
+  SparkFun Electronics
+  Date: July 14th, 2025
+  License: MIT. See license file for more information.
+
+  This example shows how to configure the u-blox GNSS to output (e.g.) UBX_MON_SYS
+  and process those messages within your own code. This is cool because UBX_MON_SYS
+  does not have full "Auto" support. There are no setAutoMONSYS or setAutoMONSYScallbackPtr methods.
+  But we can process it anyway...!
+
+  ** Please note: processLoggedUBX is called by the library's internal processUBXpacket method. **
+  ** The library will stall while processLoggedUBX is executing. **
+  ** For best results, avoid Serial prints and delays etc. within processLoggedUBX. **
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a Redboard Qwiic
+  If you don't have a platform with a Qwiic connection use the
+  SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  
+  To minimise I2C bus errors, it is a good idea to open the I2C pull-up split pad links on
+  the u-blox module breakout.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  SparkFun GPS-RTK2 - ZED-F9P (GPS-15136)    https://www.sparkfun.com/products/15136
+  SparkFun GPS-RTK-SMA - ZED-F9P (GPS-16481) https://www.sparkfun.com/products/16481
+  SparkFun MAX-M10S Breakout (GPS-18037)     https://www.sparkfun.com/products/18037
+  SparkFun ZED-F9K Breakout (GPS-18719)      https://www.sparkfun.com/products/18719
+  SparkFun ZED-F9R Breakout (GPS-16344)      https://www.sparkfun.com/products/16344
+
+*/
+
+#include <Wire.h> //Needed for I2C to GNSS
+
+#include <SparkFun_u-blox_GNSS_v3.h> //Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS_v3
+
+// Define a custom class so we can override processLoggedUBX
+class my_SFE_UBLOX_GNSS : public SFE_UBLOX_GNSS
+{
+  public:
+    void processLoggedUBX(ubxPacket *incomingUBX)
+    {
+      // processLoggedUBX will stall the library while it is executing
+      // For best results, quickly copy the data elsewhere. Avoid Serial prints, delays etc..
+      // incomingUBX->len contains the payload length (uint16_t)
+      // incomingUBX->payload points to the payload (uint8_t *)
+      // The ubxPacket struct is defined in u-blox_external_typedefs.h
+
+      Serial.printf("UBX message received: Class 0x%02x ID 0x%02x", incomingUBX->cls, incomingUBX->id);
+      if ((incomingUBX->cls == UBX_CLASS_MON) && (incomingUBX->id == UBX_MON_SYS))
+      {
+        // We can use the "extract" helper functions to read the data - useful for 16, 32 and 64-bit values
+        // The full list is:
+        //   uint64_t extractLongLong(ubxPacket *msg, uint16_t spotToStart);       // Combine eight bytes from payload into uint64_t
+        //   uint64_t extractSignedLongLong(ubxPacket *msg, uint16_t spotToStart); // Combine eight bytes from payload into int64_t
+        //   uint32_t extractLong(ubxPacket *msg, uint16_t spotToStart);           // Combine four bytes from payload into long
+        //   int32_t extractSignedLong(ubxPacket *msg, uint16_t spotToStart);      // Combine four bytes from payload into signed long (avoiding any ambiguity caused by casting)
+        //   uint16_t extractInt(ubxPacket *msg, uint16_t spotToStart);            // Combine two bytes from payload into int
+        //   int16_t extractSignedInt(ubxPacket *msg, uint16_t spotToStart);
+        //   uint8_t extractByte(ubxPacket *msg, uint16_t spotToStart);            // Get byte from payload
+        //   int8_t extractSignedChar(ubxPacket *msg, uint16_t spotToStart);       // Get signed 8-bit value from payload
+        //   float extractFloat(ubxPacket *msg, uint16_t spotToStart);             // Get 32-bit float from payload
+        //   double extractDouble(ubxPacket *msg, uint16_t spotToStart);           // Get 64-bit double from payload
+        
+        uint8_t cpuLoad = extractByte(incomingUBX, 2);
+        uint32_t runTime = extractLong(incomingUBX, 8);
+        int8_t tempValue = extractSignedChar(incomingUBX, 18);
+
+        Serial.printf(" : UBX-MON-SYS : cpuLoad %d%% runTime %ds tempValue %dC", (int)cpuLoad, (int)runTime, (int)tempValue);
+      }
+      Serial.println();
+    }
+};
+my_SFE_UBLOX_GNSS myGNSS;
+
+void setup()
+{
+  delay(1000);
+  
+  Serial.begin(115200);
+  Serial.println("SparkFun u-blox Example");
+
+  Wire.begin(); // Start I2C communication
+
+  //myGNSS.enableDebugging(); // Uncomment this line to enable lots of helpful GNSS debug messages on Serial
+  //myGNSS.enableDebugging(Serial, true); // Or, uncomment this line to enable only the important GNSS debug messages on Serial
+
+  while (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring..."));
+  }
+
+  // Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
+  // This will (re)enable the standard NMEA messages too
+  // This will also disable any "auto" UBX messages that were enabled and saved by other examples and reduce the load on the I2C bus
+  //myGNSS.factoryDefault(); delay(5000);
+
+  myGNSS.setI2COutput(COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3); //Set the I2C port to output UBX, NMEA and RTCM messages
+
+  //myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Optional: save (only) the communications port settings to flash and BBR
+
+  myGNSS.setNavigationFrequency(1); //Produce one navigation solution per second
+
+  myGNSS.newCfgValset(VAL_LAYER_RAM_BBR); // Use cfgValset to disable / enable individual messages
+  myGNSS.addCfgValset(UBLOX_CFG_MSGOUT_UBX_MON_SYS_I2C, 1); // Enable the UBX-MON-SYS message on I2C
+  myGNSS.sendCfgValset(); // Send the configuration VALSET
+
+  myGNSS.enableUBXlogging(UBX_CLASS_MON, UBX_MON_SYS, false, true); // Disable logging of MON-SYS. Enable processing
+}
+
+void loop()
+{
+  myGNSS.checkUblox(); // Check for the arrival of new data. MON-SYS data will be processed by processLoggedUBX
+}

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS v3
-version=3.1.10
+version=3.1.11
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>

src/u-blox_GNSS.cpp

@@ -1702,7 +1702,7 @@ void DevUBLOXGNSS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t req
       if (packetBuf.cls != UBX_CLASS_ACK)
       {
         bool logBecauseAuto = autoLookup(packetBuf.cls, packetBuf.id, &maxPayload);
-        bool logBecauseEnabled = logThisUBX(packetBuf.cls, packetBuf.id);
+        bool logBecauseEnabled = logThisUBX(packetBuf.cls, packetBuf.id) || processThisUBX(packetBuf.cls, packetBuf.id);
 
         // This is not an ACK so check for a class and ID match
         if ((packetBuf.cls == storedClass) && (packetBuf.id == storedID))
@@ -3260,7 +3260,7 @@ void DevUBLOXGNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t
     //{
 
     bool logBecauseAuto = autoLookup(incomingUBX->cls, incomingUBX->id, &maximum_payload_size);
-    bool logBecauseEnabled = logThisUBX(incomingUBX->cls, incomingUBX->id);
+    bool logBecauseEnabled = logThisUBX(incomingUBX->cls, incomingUBX->id) || processThisUBX(incomingUBX->cls, incomingUBX->id);
     if ((!logBecauseAuto) && (logBecauseEnabled))
       maximum_payload_size = SFE_UBX_MAX_LENGTH;
     if (maximum_payload_size == 0)
@@ -3351,7 +3351,7 @@ void DevUBLOXGNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t
 
       // This is not an ACK and we do not have a complete class and ID match
       // So let's check for an "automatic" message arriving
-      else if ((autoLookup(incomingUBX->cls, incomingUBX->id)) || (logThisUBX(incomingUBX->cls, incomingUBX->id)))
+      else if ((autoLookup(incomingUBX->cls, incomingUBX->id)) || (logThisUBX(incomingUBX->cls, incomingUBX->id)) || (processThisUBX(incomingUBX->cls, incomingUBX->id)))
       {
         // This isn't the message we are looking for...
         // Let's say so and leave incomingUBX->classAndIDmatch _unchanged_
@@ -5117,10 +5117,14 @@ void DevUBLOXGNSS::processUBXpacket(ubxPacket *msg)
   // Check if this UBX message should be added to the file buffer - if it has not been added already
   if ((!addedToFileBuffer) && (logThisUBX(msg->cls, msg->id)))
     storePacket(msg);
+
+  // Check if UBX message should be processed
+  if (processThisUBX(msg->cls, msg->id))
+    processLoggedUBX(msg);
 }
 
 // UBX Logging - without needing to have or use "Auto" methods
-void DevUBLOXGNSS::enableUBXlogging(uint8_t UBX_CLASS, uint8_t UBX_ID, bool enable)
+void DevUBLOXGNSS::enableUBXlogging(uint8_t UBX_CLASS, uint8_t UBX_ID, bool logMe, bool processMe)
 {
   // If the list is empty
   if (sfe_ublox_ubx_logging_list_head == nullptr)
@@ -5129,7 +5133,8 @@ void DevUBLOXGNSS::enableUBXlogging(uint8_t UBX_CLASS, uint8_t UBX_ID, bool enab
     sfe_ublox_ubx_logging_list_head = new sfe_ublox_ubx_logging_list_t;
     sfe_ublox_ubx_logging_list_head->UBX_CLASS = UBX_CLASS;
     sfe_ublox_ubx_logging_list_head->UBX_ID = UBX_ID;
-    sfe_ublox_ubx_logging_list_head->enable = enable;
+    sfe_ublox_ubx_logging_list_head->logMe = logMe;
+    sfe_ublox_ubx_logging_list_head->processMe = processMe;
     sfe_ublox_ubx_logging_list_head->next = nullptr;
     return;
   }
@@ -5144,7 +5149,8 @@ void DevUBLOXGNSS::enableUBXlogging(uint8_t UBX_CLASS, uint8_t UBX_ID, bool enab
     if ((sfe_ublox_ubx_logging_list_ptr->UBX_CLASS == UBX_CLASS) // Check for a match
         && (sfe_ublox_ubx_logging_list_ptr->UBX_ID == UBX_ID))
     {
-      sfe_ublox_ubx_logging_list_ptr->enable = enable; // Update enable
+      sfe_ublox_ubx_logging_list_ptr->logMe = logMe; // Update logMe
+      sfe_ublox_ubx_logging_list_ptr->logMe = processMe; // Update processMe
       return;
     }
 
@@ -5159,12 +5165,21 @@ void DevUBLOXGNSS::enableUBXlogging(uint8_t UBX_CLASS, uint8_t UBX_ID, bool enab
   sfe_ublox_ubx_logging_list_ptr = sfe_ublox_ubx_logging_list_ptr->next;
   sfe_ublox_ubx_logging_list_ptr->UBX_CLASS = UBX_CLASS;
   sfe_ublox_ubx_logging_list_ptr->UBX_ID = UBX_ID;
-  sfe_ublox_ubx_logging_list_ptr->enable = enable;
+  sfe_ublox_ubx_logging_list_ptr->logMe = logMe;
+  sfe_ublox_ubx_logging_list_ptr->processMe = processMe;
   sfe_ublox_ubx_logging_list_ptr->next = nullptr;
 }
 
 // PRIVATE: Returns true if this UBX should be added to the logging buffer
 bool DevUBLOXGNSS::logThisUBX(uint8_t UBX_CLASS, uint8_t UBX_ID)
+{
+  return logOrProcessThisUBX(UBX_CLASS, UBX_ID, true);
+}
+bool DevUBLOXGNSS::processThisUBX(uint8_t UBX_CLASS, uint8_t UBX_ID)
+{
+  return logOrProcessThisUBX(UBX_CLASS, UBX_ID, false);
+}
+bool DevUBLOXGNSS::logOrProcessThisUBX(uint8_t UBX_CLASS, uint8_t UBX_ID, bool log)
 {
   // If the list is empty
   if (sfe_ublox_ubx_logging_list_head == nullptr)
@@ -5178,7 +5193,10 @@ bool DevUBLOXGNSS::logThisUBX(uint8_t UBX_CLASS, uint8_t UBX_ID)
     if ((sfe_ublox_ubx_logging_list_ptr->UBX_CLASS == UBX_CLASS) // Check for a match
         && (sfe_ublox_ubx_logging_list_ptr->UBX_ID == UBX_ID))
     {
-      return sfe_ublox_ubx_logging_list_ptr->enable;
+      if (log)
+        return (sfe_ublox_ubx_logging_list_ptr->logMe);
+      else
+        return (sfe_ublox_ubx_logging_list_ptr->processMe);
     }
 
     if (sfe_ublox_ubx_logging_list_ptr->next == nullptr)
@@ -9062,7 +9080,7 @@ bool DevUBLOXGNSS::getESFAutoAlignment(bool *enabled, uint8_t layer, uint16_t ma
 }
 bool DevUBLOXGNSS::getESFAutoAlignment(uint8_t layer, uint16_t maxWait) // Unsafe overload
 {
-  uint8_t result;
+  uint8_t result = 0;
   getVal8(UBLOX_CFG_SFIMU_AUTO_MNTALG_ENA, &result, layer, maxWait);
   return (bool)result;
 }
@@ -17859,7 +17877,7 @@ bool DevUBLOXGNSS::getMeasurementRate(uint16_t *measRate, uint8_t layer, uint16_
 }
 uint16_t DevUBLOXGNSS::getMeasurementRate(uint8_t layer, uint16_t maxWait) // Unsafe overload...
 {
-  uint16_t measurementRate;
+  uint16_t measurementRate = 0;
 
   getMeasurementRate(&measurementRate, layer, maxWait);
 
@@ -17886,7 +17904,7 @@ bool DevUBLOXGNSS::getNavigationRate(uint16_t *navRate, uint8_t layer, uint16_t
 }
 uint16_t DevUBLOXGNSS::getNavigationRate(uint8_t layer, uint16_t maxWait) // Unsafe overload...
 {
-  uint16_t navigationRate;
+  uint16_t navigationRate = 0;
 
   getNavigationRate(&navigationRate, layer, maxWait);
 

src/u-blox_GNSS.h

@@ -239,6 +239,7 @@ class DevUBLOXGNSS
   void processRTCM(uint8_t incoming) __attribute__((weak));                                                        // Given rtcm byte, do something with it. User can overwrite if desired to pipe bytes to radio, internet, etc.
   void processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID);          // Given a character, file it away into the uxb packet structure
   void processUBXpacket(ubxPacket *msg);                                                                           // Once a packet has been received and validated, identify this packet's class/id and update internal flags
+  virtual void processLoggedUBX(ubxPacket *incomingUBX) {}                                                         // Process any UBX message with enableUBXlogging processMe set true
 
   // Send I2C/Serial/SPI commands to the module
 
@@ -1361,7 +1362,7 @@ void logSECSIG(bool enabled = true);
 #endif
 
   // UBX Logging - log any UBX message using packetAuto and avoiding having to have and use "Auto" (setAutonnn and lognnn) methods
-  void enableUBXlogging(uint8_t UBX_CLASS, uint8_t UBX_ID, bool enable = true);
+  void enableUBXlogging(uint8_t UBX_CLASS, uint8_t UBX_ID, bool logMe = true, bool processMe = false);
 
   // Functions to extract signed and unsigned 8/16/32-bit data from a ubxPacket
   // From v2.0: These are public. The user can call these to extract data from custom packets
@@ -1663,7 +1664,9 @@ void logSECSIG(bool enabled = true);
 
   // UBX logging
   sfe_ublox_ubx_logging_list_t *sfe_ublox_ubx_logging_list_head = nullptr; // Linked list of which messages to log
-  bool logThisUBX(uint8_t UBX_CLASS, uint8_t UBX_ID);                      // Returns true if this UBX should be added to the logging buffer
+  bool logThisUBX(uint8_t UBX_CLASS, uint8_t UBX_ID);                      // Returns true if this UBX should be added to the logging buffer - for logging
+  bool processThisUBX(uint8_t UBX_CLASS, uint8_t UBX_ID);                  // Returns true if this UBX should be added to the logging buffer - for processing
+  bool logOrProcessThisUBX(uint8_t UBX_CLASS, uint8_t UBX_ID, bool log);   // Called by logThisUBX and processThisUBX
 
   // Flag to prevent reentry into checkCallbacks
   // Prevent badness if the user accidentally calls checkCallbacks from inside a callback

src/u-blox_external_typedefs.h

@@ -245,7 +245,8 @@ struct sfe_ublox_ubx_logging_list_t
 {
   uint8_t UBX_CLASS;
   uint8_t UBX_ID;
-  bool enable;
+  bool logMe;
+  bool processMe;
   sfe_ublox_ubx_logging_list_t *next;
 };