Building in debug print statements

Author: nseidle

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -197,7 +197,11 @@ void SFE_UBLOX_GPS::process(uint8_t incoming)
     else if (ubxFrameClass == CLASS_NOT_AN_ACK)
       processUBX(incoming, &packetCfg);
     else
-      ; //Serial.println("No frame class set");
+	{
+#ifdef DEBUG
+	debug.println(F("No frame class set"));
+#endif
+	}
   }
   else if (currentSentence == NMEA)
   {
@@ -318,16 +322,20 @@ void SFE_UBLOX_GPS::processUBX(uint8_t incoming, ubxPacket *incomingUBX)
 
     if (incomingUBX->checksumA == tempA && incomingUBX->checksumB == tempB)
     {
-      //Serial.print("Frame cleared: ");
-      //printFrame(incomingUBX);
+#ifdef DEBUG
+		debug.print("Frame cleared: ");
+		//printFrame(incomingUBX);
+#endif
 
       incomingUBX->valid = true;
       processUBXpacket(incomingUBX); //We've got a valid packet, now do something with it
     }
   }
-  else //Load this byte into the appropriate array
+  else //Load this byte into the payload array
   {
-    incomingUBX->payload[incomingUBX->counter - 4] = incoming; //Store this byte into payload array
+	  //Check to see if we have room for this byte
+	  if( (incomingUBX->counter - 4) < MAX_PAYLOAD_SIZE)
+		incomingUBX->payload[incomingUBX->counter - 4] = incoming; //Store this byte into payload array
   }
 
   incomingUBX->counter++;
@@ -344,7 +352,10 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
       if (msg->payload[0] == packetCfg.cls && msg->payload[1] == packetCfg.id)
       {
         //The ack we just received matched the CLS/ID of last packetCfg sent
-        //Serial.println("Command sent/ack'd successfully");
+#ifdef DEBUG
+        debug.println("Command sent/ack'd successfully");
+#endif
+
         commandAck = true;
       }
     }
@@ -474,8 +485,12 @@ boolean SFE_UBLOX_GPS::waitForResponse(uint16_t maxTime)
     if (commandAck == true) return (true);
     if (packetCfg.valid == true) return (true);
   }
-  //Serial.println("waitForResponse timeout");
-  return (false);
+
+#ifdef DEBUG
+	debug.println(F("waitForResponse timeout"));
+#endif
+	
+	return (false);
 }
 
 //Get the current TimeMode3 settings - these contain survey in statuses
@@ -735,4 +750,22 @@ int32_t SFE_UBLOX_GPS::getAltitude(uint16_t maxWait)
 	alt |= payloadCfg[19] << 8*3;
 
 	return(alt);
-}
+}
+
+//Get the current protocol version of the Ublox module we're communicating with
+//This is helpful when deiciding if we should call the high-precision Lat/Long (HPPOSLLH) or the regular (POSLLH)
+uint8_t SFE_UBLOX_GPS::getProtocolVersionHigh(uint16_t maxWait)
+{
+	//Send packet with only CLS and ID, length of zero. This will cause the module to respond with the contents of that CLS/ID.
+	packetCfg.cls = UBX_CLASS_MON;
+	packetCfg.id = UBX_MON_VER;
+	packetCfg.len = 0;
+
+	if(sendCommand(packetCfg, maxWait) == false)
+		return(0); //If command send fails then bail
+
+	//We got a response, now find the extension that contains 'PROTVER'
+	//The response for this register can be quite large, many hundreds of bytes so we have to use a new, much larger array
+
+	return(0);
+}

src/SparkFun_Ublox_Arduino_Library.h

@@ -37,6 +37,13 @@
 
 #include <Wire.h>
 
+//Uncomment the following line to enable a variety of debug statements
+//This will increase the codeword and RAM footprint of the library
+#define DEBUG
+
+#ifdef DEBUG
+#define debug Serial //Point debug statements to print to Serial port
+#endif
 
 //Platform specific configurations
 
@@ -94,10 +101,11 @@ const uint8_t SVIN_MODE_ENABLE = 0x01;
 
 const uint8_t UBX_NAV_POSLLH = 0x02; //Used for obtaining lat/long/alt in low precision
 const uint8_t UBX_NAV_HPPOSLLH = 0x14; //Used for obtaining lat/long/alt in high precision
-
 const uint8_t UBX_NAV_SVIN = 0x3B; //Used for checking Survey In status
 const uint8_t UBX_NAV_HPPOSECEF = 0x13; //Find our positional accuracy (high precision)
 
+const uint8_t UBX_MON_VER = 0x04; //Used for obtaining Protocol Version
+
 //The following are used to enable RTCM messages
 const uint8_t UBX_CFG_MSG = 0x01;
 const uint8_t UBX_RTCM_MSB = 0xF5; //All RTCM enable commands have 0xF5 as MSB
@@ -179,6 +187,10 @@ class SFE_UBLOX_GPS
 	int32_t getAltitude(uint16_t maxWait = 250); //Returns the current altitude in mm above mean sea level (most common output of GPS receivers).
 	int32_t getAltitudeEllipsoid(uint16_t maxWait = 250); //Returns the current altitude in mm, ellipsoid model.
 
+	uint8_t getProtocolVersionHigh(uint16_t maxWait = 250); //Returns the PROTVER XX.00 from UBX-MON-VER register
+	//uint8_t getProtocolVersionLow(uint16_t maxWait = 250); //Returns the PROTVER 00.XX from UBX-MON-VER register
+	//float getProtocolVersion(uint16_t maxWait = 250); //Returns the combination of high&low portions from PROTVER in UBX-MON-VER register
+	
 	struct svinStructure {
 		boolean active;
 		boolean valid;
@@ -218,7 +230,7 @@ class SFE_UBLOX_GPS
     TwoWire *_i2cPort; //The generic connection to user's chosen I2C hardware
 	Stream *_nmeaOutputPort = NULL; //The user can assign an output port to print NMEA sentences if they wish
 
-	uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8 series
+	uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8/F9 series
 	//This can be changed using the ublox configuration software
 
 	//These are pointed at from within the ubxPacket