Add full auto support for NAV SVIN

Author: PaulZC

README.md

@@ -48,7 +48,7 @@ v2.1 of the library adds support for u-blox AssistNow<sup>TM</sup> Assisted GNSS
 This library is the new and improved version of the very popular SparkFun u-blox GNSS Arduino Library. v2.0 contains some big changes and improvements:
 
 * Seamless support for "automatic" message delivery:
-  * In v1.8, you could ask for the NAV PVT (Navigation Position Velocity Time) message to be delivered _automatically_, without polling. v2.0 adds automatic support for [**26 messages**](./Theory.md#auto-messages), covering the full range of: standard and High Precision position, velocity, attitude and time information; relative positioning; event capture with nanosecond time resolution; raw GNSS signal data including carrier phase; Sensor Fusion; and High Navigation Rate data.
+  * In v1.8, you could ask for the NAV PVT (Navigation Position Velocity Time) message to be delivered _automatically_, without polling. v2.0 adds automatic support for [**27 messages**](./Theory.md#auto-messages), covering the full range of: standard and High Precision position, velocity, attitude and time information; relative positioning; event capture with nanosecond time resolution; raw GNSS signal data including carrier phase; Sensor Fusion; and High Navigation Rate data.
   * Don't see the message you really need? [Adding_New_Messages](./Adding_New_Messages.md) provides details on how to add "auto" support for your favourite message.
 * Dynamic memory allocation with clearly-defined data storage structs for each message:
   * There are no static 'global' variables to eat up your RAM. v2.0 automatically allocates memory for the automatic messages when they are enabled. You may find your total RAM use is lower with v2.0 than with v1.8.

keywords.txt

@@ -359,6 +359,12 @@ getCurrentLeapSeconds   KEYWORD2
 initPacketUBXNAVTIMELS	KEYWORD2
 
 getSurveyStatus	KEYWORD2
+setAutoNAVSVIN	KEYWORD2
+setAutoNAVSVINrate	KEYWORD2
+setAutoNAVSVINcallbackPtr	KEYWORD2
+assumeAutoNAVSVIN	KEYWORD2
+flushNAVSVIN	KEYWORD2
+logNAVSVIN	KEYWORD2
 initPacketUBXNAVSVIN	KEYWORD2
 
 getNAVSAT	KEYWORD2

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -3588,6 +3588,20 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
 
         // Mark all datums as fresh (not read before)
         packetUBXNAVSVIN->moduleQueried.moduleQueried.all = 0xFFFFFFFF;
+
+        // Check if we need to copy the data for the callback
+        if ((packetUBXNAVSVIN->callbackData != NULL)                                     // If RAM has been allocated for the copy of the data
+            && (packetUBXNAVSVIN->automaticFlags.flags.bits.callbackCopyValid == false)) // AND the data is stale
+        {
+          memcpy(&packetUBXNAVSVIN->callbackData->version, &packetUBXNAVSVIN->data.version, sizeof(UBX_NAV_SVIN_data_t));
+          packetUBXNAVSVIN->automaticFlags.flags.bits.callbackCopyValid = true;
+        }
+
+        // Check if we need to copy the data into the file buffer
+        if (packetUBXNAVSVIN->automaticFlags.flags.bits.addToFileBuffer)
+        {
+          storePacket(msg);
+        }
       }
     }
     else if (msg->id == UBX_NAV_SAT) // Note: length is variable
@@ -5313,6 +5327,19 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
     packetUBXNAVCLOCK->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
   }
 
+  if ((packetUBXNAVSVIN != NULL)                                                  // If RAM has been allocated for message storage
+      && (packetUBXNAVSVIN->callbackData != NULL)                                 // If RAM has been allocated for the copy of the data
+      && (packetUBXNAVSVIN->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
+  {
+    if (packetUBXNAVSVIN->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
+    {
+      // if (_printDebug == true)
+      //   _debugSerial->println(F("checkCallbacks: calling callbackPtr for NAV SVIN"));
+      packetUBXNAVSVIN->callbackPointerPtr(packetUBXNAVSVIN->callbackData); // Call the callback
+    }
+    packetUBXNAVSVIN->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
+  }
+
   if ((packetUBXNAVSAT != NULL)                                                  // If RAM has been allocated for message storage
       && (packetUBXNAVSAT->callbackData != NULL)                                 // If RAM has been allocated for the copy of the data
       && (packetUBXNAVSAT->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
@@ -11629,23 +11656,126 @@ bool SFE_UBLOX_GNSS::getSurveyStatus(uint16_t maxWait)
   if (packetUBXNAVSVIN == NULL) // Abort if the RAM allocation failed
     return (false);
 
-  packetCfg.cls = UBX_CLASS_NAV;
-  packetCfg.id = UBX_NAV_SVIN;
-  packetCfg.len = 0;
+  if (packetUBXNAVSVIN->automaticFlags.flags.bits.automatic && packetUBXNAVSVIN->automaticFlags.flags.bits.implicitUpdate)
+  {
+    // The GPS is automatically reporting, we just check whether we got unread data
+    checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_SVIN);
+    return packetUBXNAVSVIN->moduleQueried.moduleQueried.bits.all;
+  }
+  else if (packetUBXNAVSVIN->automaticFlags.flags.bits.automatic && !packetUBXNAVSVIN->automaticFlags.flags.bits.implicitUpdate)
+  {
+    // Someone else has to call checkUblox for us...
+    return (false);
+  }
+  else
+  {
+    // The GPS is not automatically reporting SVIN so we have to poll explicitly
+    packetCfg.cls = UBX_CLASS_NAV;
+    packetCfg.id = UBX_NAV_SVIN;
+    packetCfg.len = 0;
+    packetCfg.startingSpot = 0;
+
+    // The data is parsed as part of processing the response
+    sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+
+    if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
+      return (true);
+
+    if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
+    {
+      return (true);
+    }
+
+    return (false);
+  }
+}
+
+// Enable or disable automatic SVIN message generation by the GNSS. This changes the way getSurveyStatus
+// works.
+bool SFE_UBLOX_GNSS::setAutoNAVSVIN(bool enable, uint16_t maxWait)
+{
+  return setAutoNAVSVINrate(enable ? 1 : 0, true, maxWait);
+}
+
+// Enable or disable automatic SVIN message generation by the GNSS. This changes the way getSurveyStatus
+// works.
+bool SFE_UBLOX_GNSS::setAutoNAVSVIN(bool enable, bool implicitUpdate, uint16_t maxWait)
+{
+  return setAutoNAVSVINrate(enable ? 1 : 0, implicitUpdate, maxWait);
+}
+
+// Enable or disable automatic SVIN message generation by the GNSS. This changes the way getSurveyStatus
+// works.
+bool SFE_UBLOX_GNSS::setAutoNAVSVINrate(uint8_t rate, bool implicitUpdate, uint16_t maxWait)
+{
+  if (packetUBXNAVSVIN == NULL)
+    initPacketUBXNAVSVIN();     // Check that RAM has been allocated for the data
+  if (packetUBXNAVSVIN == NULL) // Only attempt this if RAM allocation was successful
+    return false;
+
+  if (rate > 127)
+    rate = 127;
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_MSG;
+  packetCfg.len = 3;
   packetCfg.startingSpot = 0;
+  payloadCfg[0] = UBX_CLASS_NAV;
+  payloadCfg[1] = UBX_NAV_SVIN;
+  payloadCfg[2] = rate; // rate relative to navigation freq.
 
-  // The data is parsed as part of processing the response
-  sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+  bool ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+  if (ok)
+  {
+    packetUBXNAVSVIN->automaticFlags.flags.bits.automatic = (rate > 0);
+    packetUBXNAVSVIN->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
+  }
+  packetUBXNAVSVIN->moduleQueried.moduleQueried.bits.all = false; // Mark data as stale
+  return ok;
+}
 
-  if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
-    return (true);
+// Enable automatic navigation message generation by the GNSS.
+bool SFE_UBLOX_GNSS::setAutoNAVSVINcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_SVIN_data_t *), uint16_t maxWait)
+{
+  // Enable auto messages. Set implicitUpdate to false as we expect the user to call checkUblox manually.
+  bool result = setAutoNAVSVIN(true, false, maxWait);
+  if (!result)
+    return (result); // Bail if setAuto failed
 
-  if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
+  if (packetUBXNAVSVIN->callbackData == NULL) // Check if RAM has been allocated for the callback copy
   {
-    return (true);
+    packetUBXNAVSVIN->callbackData = new UBX_NAV_SVIN_data_t; // Allocate RAM for the main struct
   }
 
-  return (false);
+  if (packetUBXNAVSVIN->callbackData == NULL)
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("setAutoNAVSVINcallbackPtr: RAM alloc failed!"));
+#endif
+    return (false);
+  }
+
+  packetUBXNAVSVIN->callbackPointerPtr = callbackPointerPtr;
+  return (true);
+}
+
+// In case no config access to the GNSS is possible and SVIN is send cyclically already
+// set config to suitable parameters
+bool SFE_UBLOX_GNSS::assumeAutoNAVSVIN(bool enabled, bool implicitUpdate)
+{
+  if (packetUBXNAVSVIN == NULL)
+    initPacketUBXNAVSVIN();     // Check that RAM has been allocated for the SVIN data
+  if (packetUBXNAVSVIN == NULL) // Bail if the RAM allocation failed
+    return (false);
+
+  bool changes = packetUBXNAVSVIN->automaticFlags.flags.bits.automatic != enabled || packetUBXNAVSVIN->automaticFlags.flags.bits.implicitUpdate != implicitUpdate;
+  if (changes)
+  {
+    packetUBXNAVSVIN->automaticFlags.flags.bits.automatic = enabled;
+    packetUBXNAVSVIN->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
+  }
+  return changes;
 }
 
 // PRIVATE: Allocate RAM for packetUBXNAVSVIN and initialize it
@@ -11661,13 +11791,28 @@ bool SFE_UBLOX_GNSS::initPacketUBXNAVSVIN()
     return (false);
   }
   packetUBXNAVSVIN->automaticFlags.flags.all = 0;
-  packetUBXNAVSVIN->callbackPointer = NULL;
   packetUBXNAVSVIN->callbackPointerPtr = NULL;
   packetUBXNAVSVIN->callbackData = NULL;
   packetUBXNAVSVIN->moduleQueried.moduleQueried.all = 0;
   return (true);
 }
 
+// Mark all the data as read/stale
+void SFE_UBLOX_GNSS::flushNAVSVIN()
+{
+  if (packetUBXNAVSVIN == NULL)
+    return;                                               // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
+  packetUBXNAVSVIN->moduleQueried.moduleQueried.all = 0; // Mark all datums as stale (read before)
+}
+
+// Log this data in file buffer
+void SFE_UBLOX_GNSS::logNAVSVIN(bool enabled)
+{
+  if (packetUBXNAVSVIN == NULL)
+    return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
+  packetUBXNAVSVIN->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
+}
+
 // ***** NAV SAT automatic support
 
 // Signal information

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -1110,11 +1110,17 @@ class SFE_UBLOX_GNSS
   void flushNAVCLOCK();                                                                                                   // Mark all the data as read/stale
   void logNAVCLOCK(bool enabled = true);                                                                                  // Log data to file buffer
 
-  // Add "auto" support for NAV SVIN - to avoid needing 'global' storage
-  bool getSurveyStatus(uint16_t maxWait); // Reads survey in status
+  bool getSurveyStatus(uint16_t maxWait = 2100);                                                                         // NAV SVIN - Reads survey in status
+  bool setAutoNAVSVIN(bool enabled, uint16_t maxWait = defaultMaxWait);                                                  // Enable/disable automatic survey in reports at the navigation frequency
+  bool setAutoNAVSVIN(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait);                             // Enable/disable automatic survey in 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
+  bool setAutoNAVSVINrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait);                  // Set the rate for automatic SVIN reports
+  bool setAutoNAVSVINcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_SVIN_data_t *), uint16_t maxWait = defaultMaxWait);  // Enable automatic SVIN reports at the navigation frequency. Data is accessed from the callback.
+  bool assumeAutoNAVSVIN(bool enabled, bool implicitUpdate = true);                                                      // In case no config access to the GPS is possible and survey in is send cyclically already
+  void flushNAVSVIN();                                                                                                   // Mark all the data as read/stale
+  void logNAVSVIN(bool enabled = true);                                                                                  // Log data to file buffer
 
   // Add "auto" support for NAV TIMELS - to avoid needing 'global' storage
-  bool getLeapSecondEvent(uint16_t maxWait); // Reads leap second event info
+  bool getLeapSecondEvent(uint16_t maxWait = defaultMaxWait); // Reads leap second event info
 
   bool getNAVSAT(uint16_t maxWait = defaultMaxWait);                                                                  // Query module for latest AssistNow Autonomous status and load global vars:. If autoNAVSAT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new NAVSAT is available.
   bool setAutoNAVSAT(bool enabled, uint16_t maxWait = defaultMaxWait);                                                // Enable/disable automatic NAVSAT reports at the navigation frequency

src/u-blox_structs.h

@@ -1233,7 +1233,6 @@ typedef struct
   ubxAutomaticFlags automaticFlags;
   UBX_NAV_SVIN_data_t data;
   UBX_NAV_SVIN_moduleQueried_t moduleQueried;
-  void (*callbackPointer)(UBX_NAV_SVIN_data_t);
   void (*callbackPointerPtr)(UBX_NAV_SVIN_data_t *);
   UBX_NAV_SVIN_data_t *callbackData;
 } UBX_NAV_SVIN_t;