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This commit is contained in:
brentru 2025-07-21 11:13:53 -04:00
parent 5eb550766a
commit 569ff1495e
4 changed files with 51 additions and 39 deletions
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10
Adafruit_UBX.cpp
View file

@ -33,6 +33,16 @@ Adafruit_UBX::Adafruit_UBX(Stream &stream) {
onUBXMessage = NULL; onUBXMessage = NULL;
} }
/*!
* @brief Destructor
*/
Adafruit_UBX::~Adafruit_UBX() {
if (_stream)
delete _stream;
if (onUBXMessage)
onUBXMessage = NULL;
}
/*! /*!
* @brief Initializes the UBX parser * @brief Initializes the UBX parser
* @return Always returns true (initialization is trivial) * @return Always returns true (initialization is trivial)

26
Adafruit_UBX.h
View file

@ -22,14 +22,20 @@
#include <Stream.h> #include <Stream.h>
// UBX protocol constants // UBX protocol constants
#define UBX_SYNC_CHAR_1 0xB5 // First UBX protocol sync char (<28>) #define UBX_SYNC_CHAR_1 0xB5 ///< First UBX protocol sync char (<28>)
#define UBX_SYNC_CHAR_2 0x62 // Second UBX protocol sync char (b) #define UBX_SYNC_CHAR_2 0x62 ///< Second UBX protocol sync char (b)
// UBX ACK Message IDs // UBX ACK Message IDs
#define UBX_ACK_NAK 0x00 // Message Not Acknowledged #define UBX_ACK_NAK 0x00 ///< Message Not Acknowledged
#define UBX_ACK_ACK 0x01 // Message Acknowledged #define UBX_ACK_ACK 0x01 ///< Message Acknowledged
// Callback function type for UBX messages - defined at global scope so other /*!
// classes can use it * @brief Callback function type for UBX messages - defined at global scope so
* other classes can use it
* @param msgClass Message class
* @param msgId Message ID
* @param payloadLen Length of payload data
* @param payload Pointer to payload data
*/
typedef void (*UBXMessageCallback)(uint8_t msgClass, uint8_t msgId, typedef void (*UBXMessageCallback)(uint8_t msgClass, uint8_t msgId,
uint16_t payloadLen, uint8_t *payload); uint16_t payloadLen, uint8_t *payload);
@ -38,13 +44,11 @@ typedef void (*UBXMessageCallback)(uint8_t msgClass, uint8_t msgId,
*/ */
class Adafruit_UBX { class Adafruit_UBX {
public: public:
// Constructor
Adafruit_UBX(Stream &stream); Adafruit_UBX(Stream &stream);
uint8_t verbose_debug = 0; // 0=off, 1=basic, 2=verbose ~Adafruit_UBX();
uint8_t verbose_debug = 0; ///< 0=off, 1=basic, 2=verbose
// Basic methods // Basic methods
bool begin(); bool begin();
bool checkMessages(); // Message parsing bool checkMessages(); // Message parsing
bool sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload, bool sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload,
uint16_t length); // Send a UBX message uint16_t length); // Send a UBX message
@ -57,7 +61,7 @@ public:
uint16_t timeout_ms = 500); uint16_t timeout_ms = 500);
void setMessageCallback(UBXMessageCallback callback); // Set callback function void setMessageCallback(UBXMessageCallback callback); // Set callback function
UBXMessageCallback onUBXMessage; // Callback for message received UBXMessageCallback onUBXMessage; ///< Callback for message received
private: private:
Stream *_stream; // Stream interface for reading data Stream *_stream; // Stream interface for reading data

10
Adafruit_UBloxDDC.cpp
View file

@ -1,25 +1,23 @@
/*! /*!
* @file Adafruit_UBloxDDC.cpp * @file Adafruit_UBloxDDC.cpp
* *
* @mainpage Arduino library for u-blox GPS/RTK modules over DDC (I2C) * @section ddc_intro_sec Introduction
*
* @section intro_sec Introduction
* *
* This is a library for the u-blox GPS/RTK modules using I2C interface (DDC) * This is a library for the u-blox GPS/RTK modules using I2C interface (DDC)
* *
* Designed specifically to work with u-blox GPS/RTK modules * Designed specifically to work with u-blox GPS/RTK modules
* like NEO-M8P, ZED-F9P, etc. * like NEO-M8P, ZED-F9P, etc.
* *
* @section dependencies Dependencies * @section ddc_dependencies Dependencies
* *
* This library depends on: * This library depends on:
* <a href="https://github.com/adafruit/Adafruit_BusIO">Adafruit_BusIO</a> * <a href="https://github.com/adafruit/Adafruit_BusIO">Adafruit_BusIO</a>
* *
* @section author Author * @section ddc_author Author
* *
* Written by Limor Fried/Ladyada for Adafruit Industries. * Written by Limor Fried/Ladyada for Adafruit Industries.
* *
* @section license License * @section ddc_license License
* *
* MIT license, all text above must be included in any redistribution * MIT license, all text above must be included in any redistribution
*/ */

44
Adafruit_uBlox_typedef.h
View file

@ -17,7 +17,7 @@
#include <Arduino.h> #include <Arduino.h>
// UBX Message Classes /** UBX protocol message class identifiers. */
typedef enum { typedef enum {
UBX_CLASS_NAV = 0x01, // Navigation Results UBX_CLASS_NAV = 0x01, // Navigation Results
UBX_CLASS_RXM = 0x02, // Receiver Manager Messages UBX_CLASS_RXM = 0x02, // Receiver Manager Messages
@ -36,7 +36,7 @@ typedef enum {
UBX_CLASS_NMEA = 0xF0 // NMEA Standard Messages UBX_CLASS_NMEA = 0xF0 // NMEA Standard Messages
} UBXMessageClass; } UBXMessageClass;
// UBX CFG Message IDs /** UBX CFG Message IDs. */
typedef enum { typedef enum {
UBX_CFG_PRT = 0x00, // Port Configuration UBX_CFG_PRT = 0x00, // Port Configuration
UBX_CFG_MSG = 0x01, // Message Configuration UBX_CFG_MSG = 0x01, // Message Configuration
@ -48,7 +48,7 @@ typedef enum {
UBX_CFG_PMS = 0x86 // Power Mode Setup UBX_CFG_PMS = 0x86 // Power Mode Setup
} UBXCfgMessageId; } UBXCfgMessageId;
// Return values for functions that wait for acknowledgment /** Return values for functions that wait for acknowledgment. */
typedef enum { typedef enum {
UBX_SEND_SUCCESS = 0, // Message was acknowledged (ACK) UBX_SEND_SUCCESS = 0, // Message was acknowledged (ACK)
UBX_SEND_NAK, // Message was not acknowledged (NAK) UBX_SEND_NAK, // Message was not acknowledged (NAK)
@ -56,7 +56,7 @@ typedef enum {
UBX_SEND_TIMEOUT // Timed out waiting for ACK/NAK UBX_SEND_TIMEOUT // Timed out waiting for ACK/NAK
} UBXSendStatus; } UBXSendStatus;
// Port ID enum for different interfaces /** Port ID enum for different interfaces. */
typedef enum { typedef enum {
UBX_PORT_DDC = 0, // I2C / DDC port UBX_PORT_DDC = 0, // I2C / DDC port
UBX_PORT_UART1 = 1, // UART1 port UBX_PORT_UART1 = 1, // UART1 port
@ -65,7 +65,7 @@ typedef enum {
UBX_PORT_SPI = 4 // SPI port UBX_PORT_SPI = 4 // SPI port
} UBXPortId; } UBXPortId;
// UART mode flags (Charlen, Parity & Stop bit settings) /** UART mode flags (Charlen, Parity & Stop bit settings). */
typedef enum { typedef enum {
UBX_UART_MODE_8N1 = 0x000, // 8-bit, no parity, 1 stop bit UBX_UART_MODE_8N1 = 0x000, // 8-bit, no parity, 1 stop bit
UBX_UART_MODE_8E1 = 0x100, // 8-bit, even parity, 1 stop bit UBX_UART_MODE_8E1 = 0x100, // 8-bit, even parity, 1 stop bit
@ -82,27 +82,27 @@ typedef enum {
} UBXUARTMode; } UBXUARTMode;
// Protocol flags for inProtoMask and outProtoMask // Protocol flags for inProtoMask and outProtoMask
#define UBX_PROTOCOL_UBX 0x0001 // UBX protocol #define UBX_PROTOCOL_UBX 0x0001 ///< UBX protocol
#define UBX_PROTOCOL_NMEA 0x0002 // NMEA protocol #define UBX_PROTOCOL_NMEA 0x0002 ///< NMEA protocol
#define UBX_PROTOCOL_RTCM 0x0004 // RTCM2 protocol (only for inProtoMask) #define UBX_PROTOCOL_RTCM 0x0004 ///< RTCM2 protocol (only for inProtoMask)
#define UBX_PROTOCOL_RTCM3 0x0020 // RTCM3 protocol #define UBX_PROTOCOL_RTCM3 0x0020 ///< RTCM3 protocol
// CFG-PRT (Port Configuration) Message /** UBX CFG-PRT (Port Configuration) message structure. 20 bytes total.
// Total size: 20 bytes */
typedef union { typedef union {
struct { struct {
uint8_t uint8_t
portID; // Port identifier (0=DDC/I2C, 1=UART1, 2=UART2, 3=USB, 4=SPI) portID; ///< Port identifier (0=DDC/I2C, 1=UART1, 2=UART2, 3=USB, 4=SPI)
uint8_t reserved1; // Reserved uint8_t reserved1; ///< Reserved
uint16_t txReady; // TX ready PIN configuration uint16_t txReady; ///< TX ready PIN configuration
uint32_t mode; // UART mode (bit field) or Reserved for non-UART ports uint32_t mode; ///< UART mode (bit field) or Reserved for non-UART ports
uint32_t baudRate; // Baudrate in bits/second (UART only) uint32_t baudRate; ///< Baudrate in bits/second (UART only)
uint16_t inProtoMask; // Input protocol mask uint16_t inProtoMask; ///< Input protocol mask
uint16_t outProtoMask; // Output protocol mask uint16_t outProtoMask; ///< Output protocol mask
uint16_t flags; // Flags bit field uint16_t flags; ///< Flags bit field
uint16_t reserved2; // Reserved uint16_t reserved2; ///< Reserved
} fields; } fields; ///< Fields for CFG-PRT message
uint8_t raw[20]; uint8_t raw[20]; ///< Raw byte array for CFG-PRT message
} UBX_CFG_PRT_t; } UBX_CFG_PRT_t;
#endif // ADAFRUIT_UBLOX_TYPEDEF_H #endif // ADAFRUIT_UBLOX_TYPEDEF_H