110 lines
4 KiB
C++
110 lines
4 KiB
C++
/*!
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* @file Adafruit_UBX.h
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*
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* Arduino library for parsing UBX protocol from u-blox GPS/RTK modules.
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*
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* This library can use any Stream object as input (UART, DDC, or other).
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*
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* Adafruit invests time and resources providing this open source code,
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* please support Adafruit and open-source hardware by purchasing
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* products from Adafruit!
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*
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* Written by Limor Fried/Ladyada for Adafruit Industries.
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*
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* MIT license, all text here must be included in any redistribution.
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*/
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#ifndef ADAFRUIT_UBX_H
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#define ADAFRUIT_UBX_H
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#include "Adafruit_uBlox_Ubx_Messages.h"
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#include "Adafruit_uBlox_typedef.h"
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#include <Arduino.h>
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#include <Stream.h>
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// UBX protocol constants
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#define UBX_SYNC_CHAR_1 0xB5 ///< First UBX protocol sync char (<28>)
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#define UBX_SYNC_CHAR_2 0x62 ///< Second UBX protocol sync char (b)
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// UBX ACK Message IDs
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#define UBX_ACK_NAK 0x00 ///< Message Not Acknowledged
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#define UBX_ACK_ACK 0x01 ///< Message Acknowledged
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/*!
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* @brief Callback function type for UBX messages - defined at global scope so
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* other classes can use it
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* @param msgClass Message class
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* @param msgId Message ID
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* @param payloadLen Length of payload data
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* @param payload Pointer to payload data
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*/
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typedef void (*UBXMessageCallback)(uint8_t msgClass, uint8_t msgId,
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uint16_t payloadLen, uint8_t *payload);
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/*!
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* @brief Class for parsing UBX protocol messages from u-blox GPS/RTK modules
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*/
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class Adafruit_UBX {
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public:
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Adafruit_UBX(Stream &stream);
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~Adafruit_UBX();
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uint8_t verbose_debug = 0; ///< 0=off, 1=basic, 2=verbose
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// Basic methods
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bool begin();
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bool checkMessages(); // Message parsing
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bool sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload,
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uint16_t length); // Send a UBX message
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UBXSendStatus sendMessageWithAck(uint8_t msgClass, uint8_t msgId,
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uint8_t *payload, uint16_t length,
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uint16_t timeout_ms = 500);
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// Configure port to use UBX protocol only (disable NMEA)
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UBXSendStatus setUBXOnly(UBXPortId portID, bool checkAck = true,
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uint16_t timeout_ms = 500);
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void setMessageCallback(UBXMessageCallback callback); // Set callback function
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UBXMessageCallback onUBXMessage; ///< Callback for message received
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private:
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Stream *_stream; // Stream interface for reading data
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// Buffer for reading messages
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static const uint16_t MAX_PAYLOAD_SIZE = 64; // Maximum UBX payload size
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uint8_t _buffer[MAX_PAYLOAD_SIZE +
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8]; // Buffer for message (header, payload, checksum)
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// Parser state machine
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enum ParserState {
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WAIT_SYNC_1, // Waiting for first sync char (0xB5)
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WAIT_SYNC_2, // Waiting for second sync char (0x62)
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GET_CLASS, // Reading message class
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GET_ID, // Reading message ID
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GET_LENGTH_1, // Reading length LSB
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GET_LENGTH_2, // Reading length MSB
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GET_PAYLOAD, // Reading payload
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GET_CHECKSUM_A, // Reading checksum A
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GET_CHECKSUM_B // Reading checksum B
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};
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ParserState _parserState = WAIT_SYNC_1; // Current state of the parser
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uint8_t _msgClass; // Message class of current message
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uint8_t _msgId; // Message ID of current message
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uint16_t _payloadLength; // Length of current message payload
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uint16_t _payloadCounter; // Counter for payload bytes received
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uint8_t _checksumA; // Running checksum A
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uint8_t _checksumB; // Running checksum B
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// Calculate checksum for a block of data
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void calculateChecksum(uint8_t *buffer, uint16_t len, uint8_t &checksumA,
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uint8_t &checksumB);
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// Reset parser state
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void resetParser();
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// Add to private section of Adafruit_UBX.h
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uint8_t _lastMsgClass; // Class of last message
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uint8_t _lastMsgId; // ID of last message
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uint16_t _lastPayloadLength; // Length of last message payload
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uint8_t _lastPayload[8]; // Buffer for small payloads (like ACK messages)
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};
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#endif // ADAFRUIT_UBX_H
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