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brentru 2025-07-21 10:52:34 -04:00
parent 8f6b59b218
commit 5eb550766a
6 changed files with 477 additions and 430 deletions
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104
Adafruit_UBX.cpp
View file

@ -5,8 +5,9 @@
*
* @section intro_sec Introduction
*
* This is a library for parsing UBX protocol messages from u-blox GPS/RTK modules.
* It works with any Stream-based interface including UART and DDC (I2C).
* This is a library for parsing UBX protocol messages from u-blox GPS/RTK
* modules. It works with any Stream-based interface including UART and DDC
* (I2C).
*
* Designed specifically to work with u-blox GPS/RTK modules
* like NEO-M8P, ZED-F9P, etc.
@ -22,11 +23,10 @@
#include "Adafruit_UBX.h"
/*!
* @brief Constructor
* @param stream Reference to a Stream object (Serial, Adafruit_UBloxDDC, etc.)
* @param stream Reference to a Stream object (Serial, Adafruit_UBloxDDC,
* etc.)
*/
Adafruit_UBX::Adafruit_UBX(Stream &stream) {
_stream = &stream;
@ -42,9 +42,6 @@ bool Adafruit_UBX::begin() {
return true;
}
/*!
* @brief Configure the GPS module to output only UBX protocol (disables NMEA)
* @param portID Port identifier (UBX_PORT_DDC, UBX_PORT_UART1, etc.)
@ -52,7 +49,8 @@ bool Adafruit_UBX::begin() {
* @param timeout_ms Maximum time to wait for acknowledgment in milliseconds
* @return UBXSendStatus indicating success, failure, or timeout
*/
UBXSendStatus Adafruit_UBX::setUBXOnly(UBXPortId portID, bool checkAck, uint16_t timeout_ms) {
UBXSendStatus Adafruit_UBX::setUBXOnly(UBXPortId portID, bool checkAck,
uint16_t timeout_ms) {
UBX_CFG_PRT_t cfgPrt;
// Zero out the structure
@ -103,7 +101,8 @@ UBXSendStatus Adafruit_UBX::setUBXOnly(UBXPortId portID, bool checkAck, uint16_t
// Send the message and wait for acknowledgment if requested
if (checkAck) {
return sendMessageWithAck(UBX_CLASS_CFG, UBX_CFG_PRT, cfgPrt.raw, sizeof(cfgPrt), timeout_ms);
return sendMessageWithAck(UBX_CLASS_CFG, UBX_CFG_PRT, cfgPrt.raw,
sizeof(cfgPrt), timeout_ms);
} else {
if (sendMessage(UBX_CLASS_CFG, UBX_CFG_PRT, cfgPrt.raw, sizeof(cfgPrt))) {
return UBX_SEND_SUCCESS;
@ -113,12 +112,10 @@ UBXSendStatus Adafruit_UBX::setUBXOnly(UBXPortId portID, bool checkAck, uint16_t
}
}
/*!
* @brief Sets the callback function for UBX messages
* @param callback Function pointer to call when a complete UBX message is received
* @param callback Function pointer to call when a complete UBX message is
* received
*/
void Adafruit_UBX::setMessageCallback(UBXMessageCallback callback) {
onUBXMessage = callback;
@ -140,7 +137,8 @@ void Adafruit_UBX::resetParser() {
* @param checksumA Reference to store the first checksum byte
* @param checksumB Reference to store the second checksum byte
*/
void Adafruit_UBX::calculateChecksum(uint8_t *buffer, uint16_t len, uint8_t &checksumA, uint8_t &checksumB) {
void Adafruit_UBX::calculateChecksum(uint8_t *buffer, uint16_t len,
uint8_t &checksumA, uint8_t &checksumB) {
checksumA = 0;
checksumB = 0;
@ -222,7 +220,8 @@ bool Adafruit_UBX::checkMessages() {
case GET_CHECKSUM_A:
// Calculate expected checksum
calculateChecksum(_buffer + 2, _payloadLength + 4, _checksumA, _checksumB);
calculateChecksum(_buffer + 2, _payloadLength + 4, _checksumA,
_checksumB);
if (incomingByte == _checksumA) {
_parserState = GET_CHECKSUM_B; // Checksum A matches
@ -235,7 +234,8 @@ bool Adafruit_UBX::checkMessages() {
if (incomingByte == _checksumB) {
// We have a valid message!
if (onUBXMessage != NULL) {
onUBXMessage(_msgClass, _msgId, _payloadLength, _buffer + 6); // Call the callback with the message
onUBXMessage(_msgClass, _msgId, _payloadLength,
_buffer + 6); // Call the callback with the message
}
messageReceived = true;
@ -253,19 +253,23 @@ bool Adafruit_UBX::checkMessages() {
// Print header (sync chars, class, id, length)
Serial.print("HDR[B5 62 ");
if (_msgClass < 0x10) Serial.print("0");
if (_msgClass < 0x10)
Serial.print("0");
Serial.print(_msgClass, HEX);
Serial.print(" ");
if (_msgId < 0x10) Serial.print("0");
if (_msgId < 0x10)
Serial.print("0");
Serial.print(_msgId, HEX);
Serial.print(" ");
uint8_t lenLSB = _payloadLength & 0xFF;
uint8_t lenMSB = (_payloadLength >> 8) & 0xFF;
if (lenLSB < 0x10) Serial.print("0");
if (lenLSB < 0x10)
Serial.print("0");
Serial.print(lenLSB, HEX);
Serial.print(" ");
if (lenMSB < 0x10) Serial.print("0");
if (lenMSB < 0x10)
Serial.print("0");
Serial.print(lenMSB, HEX);
Serial.print("] ");
@ -273,7 +277,8 @@ bool Adafruit_UBX::checkMessages() {
if (verbose_debug > 1 && _payloadLength > 0) {
Serial.print("PL[");
for (uint16_t i = 0; i < _payloadLength; i++) {
if (_buffer[6 + i] < 0x10) Serial.print("0");
if (_buffer[6 + i] < 0x10)
Serial.print("0");
Serial.print(_buffer[6 + i], HEX);
Serial.print(" ");
}
@ -282,10 +287,12 @@ bool Adafruit_UBX::checkMessages() {
// Print checksum
Serial.print("CS[");
if (_checksumA < 0x10) Serial.print("0");
if (_checksumA < 0x10)
Serial.print("0");
Serial.print(_checksumA, HEX);
Serial.print(" ");
if (_checksumB < 0x10) Serial.print("0");
if (_checksumB < 0x10)
Serial.print("0");
Serial.print(_checksumB, HEX);
Serial.println("]");
}
@ -299,7 +306,6 @@ bool Adafruit_UBX::checkMessages() {
return messageReceived;
}
/*!
* @brief Send a UBX message and wait for acknowledgment
* @param msgClass Message class
@ -309,7 +315,10 @@ bool Adafruit_UBX::checkMessages() {
* @param timeout_ms Maximum time to wait for acknowledgment
* @return UBXSendStatus indicating success, failure, or timeout
*/
UBXSendStatus Adafruit_UBX::sendMessageWithAck(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length, uint16_t timeout_ms = 500) {
UBXSendStatus Adafruit_UBX::sendMessageWithAck(uint8_t msgClass, uint8_t msgId,
uint8_t *payload,
uint16_t length,
uint16_t timeout_ms = 500) {
// First send the message
if (!sendMessage(msgClass, msgId, payload, length)) {
if (verbose_debug > 0) {
@ -332,10 +341,12 @@ UBXSendStatus Adafruit_UBX::sendMessageWithAck(uint8_t msgClass, uint8_t msgId,
if (_lastPayload[0] == msgClass && _lastPayload[1] == msgId) {
if (verbose_debug > 0) {
Serial.print(F("UBX ACK: SUCCESS for message class 0x"));
if (msgClass < 0x10) Serial.print("0");
if (msgClass < 0x10)
Serial.print("0");
Serial.print(msgClass, HEX);
Serial.print(" ID 0x");
if (msgId < 0x10) Serial.print("0");
if (msgId < 0x10)
Serial.print("0");
Serial.println(msgId, HEX);
}
return UBX_SEND_SUCCESS;
@ -345,10 +356,12 @@ UBXSendStatus Adafruit_UBX::sendMessageWithAck(uint8_t msgClass, uint8_t msgId,
if (_lastPayload[0] == msgClass && _lastPayload[1] == msgId) {
if (verbose_debug > 0) {
Serial.print(F("UBX ACK: NAK for message class 0x"));
if (msgClass < 0x10) Serial.print("0");
if (msgClass < 0x10)
Serial.print("0");
Serial.print(msgClass, HEX);
Serial.print(" ID 0x");
if (msgId < 0x10) Serial.print("0");
if (msgId < 0x10)
Serial.print("0");
Serial.println(msgId, HEX);
}
return UBX_SEND_NAK;
@ -362,28 +375,33 @@ UBXSendStatus Adafruit_UBX::sendMessageWithAck(uint8_t msgClass, uint8_t msgId,
}
if (verbose_debug > 0) {
Serial.print(F("UBX ACK: TIMEOUT waiting for ACK/NAK for message class 0x"));
if (msgClass < 0x10) Serial.print("0");
Serial.print(
F("UBX ACK: TIMEOUT waiting for ACK/NAK for message class 0x"));
if (msgClass < 0x10)
Serial.print("0");
Serial.print(msgClass, HEX);
Serial.print(" ID 0x");
if (msgId < 0x10) Serial.print("0");
if (msgId < 0x10)
Serial.print("0");
Serial.println(msgId, HEX);
}
return UBX_SEND_TIMEOUT;
}
/*!
* @brief Send a UBX message to the GPS module
* @param msgClass Message class
* @param msgId Message ID
* @param payload Pointer to the payload data (can be NULL for zero-length payload)
* @param payload Pointer to the payload data (can be NULL for zero-length
* payload)
* @param length Length of payload
* @return True if message was sent successfully
*/
bool Adafruit_UBX::sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length) {
// Buffer for message (2 sync chars + class + id + 2 length bytes + payload + 2 checksum bytes)
bool Adafruit_UBX::sendMessage(uint8_t msgClass, uint8_t msgId,
uint8_t *payload, uint16_t length) {
// Buffer for message (2 sync chars + class + id + 2 length bytes + payload +
// 2 checksum bytes)
uint8_t msgBuffer[length + 8];
// Sync characters
@ -417,7 +435,8 @@ bool Adafruit_UBX::sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload
// Print header (sync chars, class, id, length)
Serial.print("HDR[");
for (int i = 0; i < 6; i++) {
if (msgBuffer[i] < 0x10) Serial.print("0");
if (msgBuffer[i] < 0x10)
Serial.print("0");
Serial.print(msgBuffer[i], HEX);
Serial.print(" ");
}
@ -427,7 +446,8 @@ bool Adafruit_UBX::sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload
if (verbose_debug > 1 && length > 0) {
Serial.print("PL[");
for (uint16_t i = 0; i < length; i++) {
if (msgBuffer[6 + i] < 0x10) Serial.print("0");
if (msgBuffer[6 + i] < 0x10)
Serial.print("0");
Serial.print(msgBuffer[6 + i], HEX);
Serial.print(" ");
}
@ -436,10 +456,12 @@ bool Adafruit_UBX::sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload
// Print checksum
Serial.print("CS[");
if (checksumA < 0x10) Serial.print("0");
if (checksumA < 0x10)
Serial.print("0");
Serial.print(checksumA, HEX);
Serial.print(" ");
if (checksumB < 0x10) Serial.print("0");
if (checksumB < 0x10)
Serial.print("0");
Serial.print(checksumB, HEX);
Serial.println("]");
}

25
Adafruit_UBX.h
View file

@ -17,9 +17,9 @@
#ifndef ADAFRUIT_UBX_H
#define ADAFRUIT_UBX_H
#include "Adafruit_uBlox_typedef.h"
#include <Arduino.h>
#include <Stream.h>
#include "Adafruit_uBlox_typedef.h"
// UBX protocol constants
#define UBX_SYNC_CHAR_1 0xB5 // First UBX protocol sync char (<28>)
@ -28,9 +28,10 @@
#define UBX_ACK_NAK 0x00 // Message Not Acknowledged
#define UBX_ACK_ACK 0x01 // Message Acknowledged
// Callback function type for UBX messages - defined at global scope so other classes can use it
typedef void (*UBXMessageCallback)(uint8_t msgClass, uint8_t msgId, uint16_t payloadLen, uint8_t *payload);
// Callback function type for UBX messages - defined at global scope so other
// classes can use it
typedef void (*UBXMessageCallback)(uint8_t msgClass, uint8_t msgId,
uint16_t payloadLen, uint8_t *payload);
/*!
* @brief Class for parsing UBX protocol messages from u-blox GPS/RTK modules
@ -45,11 +46,15 @@ class Adafruit_UBX {
bool begin();
bool checkMessages(); // Message parsing
bool sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length); // Send a UBX message
UBXSendStatus sendMessageWithAck(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length, uint16_t timeout_ms = 500);
bool sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload,
uint16_t length); // Send a UBX message
UBXSendStatus sendMessageWithAck(uint8_t msgClass, uint8_t msgId,
uint8_t *payload, uint16_t length,
uint16_t timeout_ms = 500);
// Configure port to use UBX protocol only (disable NMEA)
UBXSendStatus setUBXOnly(UBXPortId portID, bool checkAck = true, uint16_t timeout_ms = 500);
UBXSendStatus setUBXOnly(UBXPortId portID, bool checkAck = true,
uint16_t timeout_ms = 500);
void setMessageCallback(UBXMessageCallback callback); // Set callback function
UBXMessageCallback onUBXMessage; // Callback for message received
@ -59,7 +64,8 @@ class Adafruit_UBX {
// Buffer for reading messages
static const uint16_t MAX_PAYLOAD_SIZE = 64; // Maximum UBX payload size
uint8_t _buffer[MAX_PAYLOAD_SIZE + 8]; // Buffer for message (header, payload, checksum)
uint8_t _buffer[MAX_PAYLOAD_SIZE +
8]; // Buffer for message (header, payload, checksum)
// Parser state machine
enum ParserState {
@ -83,7 +89,8 @@ class Adafruit_UBX {
uint8_t _checksumB; // Running checksum B
// Calculate checksum for a block of data
void calculateChecksum(uint8_t *buffer, uint16_t len, uint8_t &checksumA, uint8_t &checksumB);
void calculateChecksum(uint8_t *buffer, uint16_t len, uint8_t &checksumA,
uint8_t &checksumB);
// Reset parser state
void resetParser();

14
Adafruit_UBloxDDC.cpp
View file

@ -50,9 +50,7 @@ Adafruit_UBloxDDC::~Adafruit_UBloxDDC() {
* @brief Initializes the GPS module and I2C interface
* @return True if GPS module responds, false on any failure
*/
bool Adafruit_UBloxDDC::begin() {
return _i2cDevice->begin();
}
bool Adafruit_UBloxDDC::begin() { return _i2cDevice->begin(); }
/*!
* @brief Gets the number of bytes available for reading
@ -62,7 +60,8 @@ int Adafruit_UBloxDDC::available() {
uint8_t buffer[2];
// Create a register for reading bytes available
Adafruit_BusIO_Register bytesAvailableReg = Adafruit_BusIO_Register(_i2cDevice, REG_BYTES_AVAILABLE_MSB, 2);
Adafruit_BusIO_Register bytesAvailableReg =
Adafruit_BusIO_Register(_i2cDevice, REG_BYTES_AVAILABLE_MSB, 2);
if (!bytesAvailableReg.read(buffer, 2)) {
return 0;
@ -88,7 +87,8 @@ int Adafruit_UBloxDDC::read() {
uint8_t value;
// Create a register for the data stream
Adafruit_BusIO_Register dataStreamReg = Adafruit_BusIO_Register(_i2cDevice, REG_DATA_STREAM, 1);
Adafruit_BusIO_Register dataStreamReg =
Adafruit_BusIO_Register(_i2cDevice, REG_DATA_STREAM, 1);
if (!dataStreamReg.read(&value, 1)) {
return -1;
@ -176,7 +176,8 @@ uint16_t Adafruit_UBloxDDC::readBytes(uint8_t* buffer, uint16_t length) {
}
// Create a register for the data stream
Adafruit_BusIO_Register dataStreamReg = Adafruit_BusIO_Register(_i2cDevice, REG_DATA_STREAM, 1);
Adafruit_BusIO_Register dataStreamReg =
Adafruit_BusIO_Register(_i2cDevice, REG_DATA_STREAM, 1);
while (bytesRead < length) {
// Calculate chunk size (I2C has a limit on bytes per transfer)
@ -219,4 +220,3 @@ uint8_t* Adafruit_UBloxDDC::readMessage(uint16_t* messageLength) {
*messageLength = readMessage(_buffer, MAX_BUFFER_SIZE);
return _buffer;
}

16
Adafruit_UBloxDDC.h
View file

@ -18,10 +18,10 @@
#ifndef ADAFRUIT_UBLOXDDC_H
#define ADAFRUIT_UBLOXDDC_H
#include <Arduino.h>
#include <Stream.h>
#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
#include <Arduino.h>
#include <Stream.h>
/*!
* @brief Arduino library for interfacing with u-blox GPS/RTK modules over I2C
@ -31,12 +31,16 @@ class Adafruit_UBloxDDC : public Stream {
Adafruit_I2CDevice *_i2cDevice; ///< Underlying I2C device
// Register addresses
static const uint8_t REG_DATA_STREAM = 0xFF; ///< Register for reading data stream
static const uint8_t REG_BYTES_AVAILABLE_MSB = 0xFD; ///< MSB of bytes available
static const uint8_t REG_BYTES_AVAILABLE_LSB = 0xFE; ///< LSB of bytes available
static const uint8_t REG_DATA_STREAM =
0xFF; ///< Register for reading data stream
static const uint8_t REG_BYTES_AVAILABLE_MSB =
0xFD; ///< MSB of bytes available
static const uint8_t REG_BYTES_AVAILABLE_LSB =
0xFE; ///< LSB of bytes available
// Buffer for reading messages
static const uint16_t MAX_BUFFER_SIZE = 128; ///< Maximum buffer size for messages
static const uint16_t MAX_BUFFER_SIZE =
128; ///< Maximum buffer size for messages
uint8_t _buffer[MAX_BUFFER_SIZE]; ///< Internal buffer for messages
// Last byte read for peek() implementation

39
Adafruit_uBlox_Ubx_Messages.h
View file

@ -18,22 +18,35 @@
#include <Arduino.h>
// NMEA Message Configuration Commands (CFG-MSG)
// Format: {msgClass, msgID, rate_I2C, rate_UART1, rate_UART2, rate_USB, rate_SPI, reserved}
// Format: {msgClass, msgID, rate_I2C, rate_UART1, rate_UART2, rate_USB,
// rate_SPI, reserved}
// Enable specific NMEA message sentences to output on the DDC interface
static uint8_t UBX_CFG_MSG_NMEA_GGA_ENABLE[] = {0xF0, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GLL_ENABLE[] = {0xF0, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GSA_ENABLE[] = {0xF0, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GSV_ENABLE[] = {0xF0, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_RMC_ENABLE[] = {0xF0, 0x04, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_VTG_ENABLE[] = {0xF0, 0x05, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GGA_ENABLE[] = {0xF0, 0x00, 0x01, 0x00,
0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GLL_ENABLE[] = {0xF0, 0x01, 0x01, 0x00,
0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GSA_ENABLE[] = {0xF0, 0x02, 0x01, 0x00,
0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GSV_ENABLE[] = {0xF0, 0x03, 0x01, 0x00,
0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_RMC_ENABLE[] = {0xF0, 0x04, 0x01, 0x00,
0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_VTG_ENABLE[] = {0xF0, 0x05, 0x01, 0x00,
0x00, 0x00, 0x00, 0x00};
// Disable specific NMEA message sentences from outputting on the DDC interface
static uint8_t UBX_CFG_MSG_NMEA_GGA_DISABLE[] = {0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GLL_DISABLE[] = {0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GSA_DISABLE[] = {0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GSV_DISABLE[] = {0xF0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_RMC_DISABLE[] = {0xF0, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_VTG_DISABLE[] = {0xF0, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GGA_DISABLE[] = {0xF0, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GLL_DISABLE[] = {0xF0, 0x01, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GSA_DISABLE[] = {0xF0, 0x02, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_GSV_DISABLE[] = {0xF0, 0x03, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_RMC_DISABLE[] = {0xF0, 0x04, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00};
static uint8_t UBX_CFG_MSG_NMEA_VTG_DISABLE[] = {0xF0, 0x05, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00};
// Navigation Rate Configuration Commands (CFG-RATE)
// Format: {measRate_ms (2 bytes), navRate, timeRef}

3
Adafruit_uBlox_typedef.h
View file

@ -91,7 +91,8 @@ typedef enum {
// Total size: 20 bytes
typedef union {
struct {
uint8_t portID; // Port identifier (0=DDC/I2C, 1=UART1, 2=UART2, 3=USB, 4=SPI)
uint8_t
portID; // Port identifier (0=DDC/I2C, 1=UART1, 2=UART2, 3=USB, 4=SPI)
uint8_t reserved1; // Reserved
uint16_t txReady; // TX ready PIN configuration
uint32_t mode; // UART mode (bit field) or Reserved for non-UART ports