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PaulZCPaulZC
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Increased the default maxWait to avoid problems on Serial
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‎src/SparkFun_Ublox_Arduino_Library.h

Lines changed: 31 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -426,6 +426,11 @@ class SFE_UBLOX_GPS
426426
public:
427427
SFE_UBLOX_GPS(void);
428428

429+
// A default of 250ms for maxWait seems fine for I2C but is not enough for SerialUSB.
430+
// If you know you are only going to be using I2C / Qwiic communication, you can
431+
// safely reduce defaultMaxWait to 250.
432+
#define defaultMaxWait 500
433+
429434
//By default use the default I2C address, and use Wire port
430435
boolean begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected
431436
//serialPort needs to be perviously initialized to correct baud rate
@@ -448,7 +453,7 @@ class SFE_UBLOX_GPS
448453
void processNMEA(char incoming) __attribute__((weak)); //Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries
449454

450455
void calcChecksum(ubxPacket *msg); //Sets the checksumA and checksumB of a given messages
451-
sfe_ublox_status_e sendCommand(ubxPacket outgoingUBX, uint16_t maxWait = 250); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
456+
sfe_ublox_status_e sendCommand(ubxPacket outgoingUBX, uint16_t maxWait = defaultMaxWait); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
452457
sfe_ublox_status_e sendI2cCommand(ubxPacket outgoingUBX, uint16_t maxWait = 250);
453458
void sendSerialCommand(ubxPacket outgoingUBX);
454459

@@ -458,17 +463,17 @@ class SFE_UBLOX_GPS
458463
void hardReset(); //Perform a reset leading to a cold start (zero info start-up)
459464

460465
boolean setI2CAddress(uint8_t deviceAddress, uint16_t maxTime = 250); //Changes the I2C address of the Ublox module
461-
void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = 250); //Changes the serial baud rate of the Ublox module, uartPort should be COM_PORT_UART1/2
466+
void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = defaultMaxWait); //Changes the serial baud rate of the Ublox module, uartPort should be COM_PORT_UART1/2
462467
void setNMEAOutputPort(Stream &nmeaOutputPort); //Sets the internal variable for the port to direct NMEA characters to
463468

464-
boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = 250); //Set the number of nav solutions sent per second
465-
uint8_t getNavigationFrequency(uint16_t maxWait = 250); //Get the number of nav solutions sent per second currently being output by module
466-
boolean saveConfiguration(uint16_t maxWait = 250); //Save current configuration to flash and BBR (battery backed RAM)
467-
boolean factoryDefault(uint16_t maxWait = 250); //Reset module to factory defaults
468-
boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = 250); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
469+
boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait); //Set the number of nav solutions sent per second
470+
uint8_t getNavigationFrequency(uint16_t maxWait = defaultMaxWait); //Get the number of nav solutions sent per second currently being output by module
471+
boolean saveConfiguration(uint16_t maxWait = defaultMaxWait); //Save current configuration to flash and BBR (battery backed RAM)
472+
boolean factoryDefault(uint16_t maxWait = defaultMaxWait); //Reset module to factory defaults
473+
boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = defaultMaxWait); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
469474

470-
sfe_ublox_status_e waitForACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = 250); //Poll the module until a config packet and an ACK is received
471-
sfe_ublox_status_e waitForNoACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = 250); //Poll the module until a config packet is received
475+
sfe_ublox_status_e waitForACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet and an ACK is received
476+
sfe_ublox_status_e waitForNoACKResponse(uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet is received
472477

473478
// getPVT will only return data once in each navigation cycle. By default, that is once per second.
474479
// Therefore we should set getPVTmaxWait to slightly longer than that.
@@ -479,9 +484,9 @@ class SFE_UBLOX_GPS
479484
#define getHPPOSLLHmaxWait 1100 // Default maxWait for getHPPOSLLH and all functions which call it
480485

481486
boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and PVT is send cyclically already
482-
boolean setAutoPVT(boolean enabled, uint16_t maxWait = 250); //Enable/disable automatic PVT reports at the navigation frequency
487+
boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency
483488
boolean getPVT(uint16_t maxWait = getPVTmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Retruns true if new PVT is available.
484-
boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = 250); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
489+
boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
485490
boolean getHPPOSLLH(uint16_t maxWait = getHPPOSLLHmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Retruns true if new PVT is available.
486491
void flushPVT(); //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
487492

@@ -514,26 +519,28 @@ class SFE_UBLOX_GPS
514519
uint32_t getVerticalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);
515520

516521
//Port configurations
517-
boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = 250); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
518-
boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = 250); //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
519-
boolean getPortSettings(uint8_t portID, uint16_t maxWait = 250); //Returns the current protocol bits in the UBX-CFG-PRT command for a given port
522+
boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
523+
boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
524+
boolean getPortSettings(uint8_t portID, uint16_t maxWait = defaultMaxWait); //Returns the current protocol bits in the UBX-CFG-PRT command for a given port
520525

521526
boolean setI2COutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure I2C port to output UBX, NMEA, RTCM3 or a combination thereof
522-
boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = 250); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
523-
boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = 250); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
527+
boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
528+
boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
524529
boolean setUSBOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure USB port to output UBX, NMEA, RTCM3 or a combination thereof
525530
boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof
526531

527532
//Functions to turn on/off message types for a given port ID (see COM_PORT_I2C, etc above)
528-
boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = 250);
529-
boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = 250);
530-
boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = 250);
531-
boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = 250);
532-
boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = 250);
533-
boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = 250); //Given a message number turns on a message ID for output over given PortID
534-
boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = 250); //Turn off given RTCM message from a given port
533+
boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait);
534+
boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
535+
boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
536+
boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
537+
boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
538+
boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait); //Given a message number turns on a message ID for output over given PortID
539+
boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = defaultMaxWait); //Turn off given RTCM message from a given port
535540

536541
//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
542+
//It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic.
543+
//If they are using Serial then the higher baud rate will also help. So let's leave maxWait set to 250ms.
537544
uint8_t getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
538545
uint8_t getVal8(uint32_t keyID, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
539546
uint8_t setVal(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Sets the 16-bit value at a given group/id/size location
@@ -551,6 +558,7 @@ class SFE_UBLOX_GPS
551558
uint8_t sendCfgValset32(uint32_t keyID, uint32_t value, uint16_t maxWait = 250); //Add the final KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
552559

553560
//Functions used for RTK and base station setup
561+
//It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms.
554562
boolean getSurveyMode(uint16_t maxWait = 250); //Get the current TimeMode3 settings
555563
boolean setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Control survey in mode
556564
boolean enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Begin Survey-In for NEO-M8P

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