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PaulZCPaulZC
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Corrections for the sendCommand return value
1 parent 5f916bc commit bd00cde

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+43
-79
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+43
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‎src/SparkFun_Ublox_Arduino_Library.cpp‎

Lines changed: 43 additions & 79 deletions
Original file line numberDiff line numberDiff line change
@@ -247,7 +247,7 @@ boolean SFE_UBLOX_GPS::setI2CAddress(uint8_t deviceAddress, uint16_t maxWait)
247247
//payloadCfg is now loaded with current bytes. Change only the ones we need to
248248
payloadCfg[4] = deviceAddress << 1; //DDC mode LSB
249249

250-
if (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT)
250+
if (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT) // We are only expecting an ACK
251251
{
252252
//Success! Now change our internal global.
253253
_gpsI2Caddress = deviceAddress; //Store the I2C address from user
@@ -980,14 +980,7 @@ boolean SFE_UBLOX_GPS::isConnected()
980980
packetCfg.len = 0;
981981
packetCfg.startingSpot = 0;
982982

983-
if (sendCommand(packetCfg) == SFE_UBLOX_STATUS_DATA_SENT)
984-
{
985-
return true;
986-
}
987-
else
988-
{
989-
return false;
990-
}
983+
return (sendCommand(packetCfg) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are polling the RATE so we expect data and an ACK
991984
}
992985
return false;
993986
}
@@ -1269,10 +1262,7 @@ boolean SFE_UBLOX_GPS::saveConfiguration(uint16_t maxWait)
12691262
packetCfg.payload[4] = 0xFF; //Set any bit in the saveMask field to save current config to Flash and BBR
12701263
packetCfg.payload[5] = 0xFF;
12711264

1272-
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT)
1273-
return (false); //If command send fails then bail
1274-
1275-
return (true);
1265+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
12761266
}
12771267

12781268
//Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
@@ -1293,10 +1283,7 @@ boolean SFE_UBLOX_GPS::saveConfigSelective(uint32_t configMask, uint16_t maxWait
12931283
packetCfg.payload[6] = (configMask >> 16) & 0xFF;
12941284
packetCfg.payload[7] = (configMask >> 24) & 0xFF;
12951285

1296-
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT)
1297-
return (false); //If command send fails then bail
1298-
1299-
return (true);
1286+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
13001287
}
13011288

13021289
//Reset module to factory defaults
@@ -1317,10 +1304,7 @@ boolean SFE_UBLOX_GPS::factoryDefault(uint16_t maxWait)
13171304
packetCfg.payload[8] = 0xFF; //Set any bit in the loadMask field to discard current config and rebuild from lower non-volatile memory layers
13181305
packetCfg.payload[9] = 0xFF;
13191306

1320-
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT)
1321-
return (false); //If command send fails then bail
1322-
1323-
return (true);
1307+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
13241308
}
13251309

13261310
//Given a group, ID and size, return the value of this config spot
@@ -1383,8 +1367,8 @@ uint8_t SFE_UBLOX_GPS::getVal8(uint32_t key, uint8_t layer, uint16_t maxWait)
13831367
_debugSerial->print(F("getVal8: sendCommand returned: "));
13841368
_debugSerial->println(statusString(retVal));
13851369
}
1386-
if (retVal != SFE_UBLOX_STATUS_DATA_SENT)
1387-
return (false); //If command send fails then bail
1370+
if (retVal != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
1371+
return (0); //If command send fails then bail
13881372

13891373
//Verify the response is the correct length as compared to what the user called (did the module respond with 8-bits but the user called getVal32?)
13901374
//Response is 8 bytes plus cfg data
@@ -1433,11 +1417,7 @@ uint8_t SFE_UBLOX_GPS::setVal16(uint32_t key, uint16_t value, uint8_t layer, uin
14331417
payloadCfg[9] = value >> 8 * 1;
14341418

14351419
//Send VALSET command with this key and value
1436-
if (sendCommand(packetCfg, maxWait) == false)
1437-
return (false); //If command send fails then bail
1438-
1439-
//All done
1440-
return (true);
1420+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
14411421
}
14421422

14431423
//Given a key, set an 8-bit value
@@ -1468,11 +1448,7 @@ uint8_t SFE_UBLOX_GPS::setVal8(uint32_t key, uint8_t value, uint8_t layer, uint1
14681448
payloadCfg[8] = value; //Value
14691449

14701450
//Send VALSET command with this key and value
1471-
if (sendCommand(packetCfg, maxWait) == false)
1472-
return (false); //If command send fails then bail
1473-
1474-
//All done
1475-
return (true);
1451+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
14761452
}
14771453

14781454
//Given a key, set a 32-bit value
@@ -1506,11 +1482,7 @@ uint8_t SFE_UBLOX_GPS::setVal32(uint32_t key, uint32_t value, uint8_t layer, uin
15061482
payloadCfg[11] = value >> 8 * 3;
15071483

15081484
//Send VALSET command with this key and value
1509-
if (sendCommand(packetCfg, maxWait) == false)
1510-
return (false); //If command send fails then bail
1511-
1512-
//All done
1513-
return (true);
1485+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
15141486
}
15151487

15161488
//Start defining a new UBX-CFG-VALSET ubxPacket
@@ -1682,11 +1654,7 @@ uint8_t SFE_UBLOX_GPS::sendCfgValset32(uint32_t key, uint32_t value, uint16_t ma
16821654
addCfgValset32(key, value);
16831655

16841656
//Send VALSET command with this key and value
1685-
if (sendCommand(packetCfg, maxWait) == false)
1686-
return (false); //If command send fails then bail
1687-
1688-
//All done
1689-
return (true);
1657+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
16901658
}
16911659

16921660
//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
@@ -1697,11 +1665,7 @@ uint8_t SFE_UBLOX_GPS::sendCfgValset16(uint32_t key, uint16_t value, uint16_t ma
16971665
addCfgValset16(key, value);
16981666

16991667
//Send VALSET command with this key and value
1700-
if (sendCommand(packetCfg, maxWait) == false)
1701-
return (false); //If command send fails then bail
1702-
1703-
//All done
1704-
return (true);
1668+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
17051669
}
17061670

17071671
//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
@@ -1712,11 +1676,7 @@ uint8_t SFE_UBLOX_GPS::sendCfgValset8(uint32_t key, uint8_t value, uint16_t maxW
17121676
addCfgValset8(key, value);
17131677

17141678
//Send VALSET command with this key and value
1715-
if (sendCommand(packetCfg, maxWait) == false)
1716-
return (false); //If command send fails then bail
1717-
1718-
//All done
1719-
return (true);
1679+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
17201680
}
17211681

17221682
//Get the current TimeMode3 settings - these contain survey in statuses
@@ -1727,7 +1687,7 @@ boolean SFE_UBLOX_GPS::getSurveyMode(uint16_t maxWait)
17271687
packetCfg.len = 0;
17281688
packetCfg.startingSpot = 0;
17291689

1730-
return (sendCommand(packetCfg, maxWait));
1690+
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
17311691
}
17321692

17331693
//Control Survey-In for NEO-M8P
@@ -1756,7 +1716,7 @@ boolean SFE_UBLOX_GPS::setSurveyMode(uint8_t mode, uint16_t observationTime, flo
17561716
payloadCfg[29] = svinAccLimit >> 8;
17571717
payloadCfg[30] = svinAccLimit >> 16;
17581718

1759-
return (sendCommand(packetCfg, maxWait)); //Wait for ack
1719+
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
17601720
}
17611721

17621722
//Begin Survey-In for NEO-M8P
@@ -1787,7 +1747,7 @@ boolean SFE_UBLOX_GPS::getSurveyStatus(uint16_t maxWait)
17871747
packetCfg.len = 0;
17881748
packetCfg.startingSpot = 0;
17891749

1790-
if (sendCommand(packetCfg, maxWait) == false)
1750+
if ((sendCommand(packetCfg, maxWait)) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
17911751
return (false); //If command send fails then bail
17921752

17931753
//We got a response, now parse the bits into the svin structure
@@ -1812,7 +1772,7 @@ boolean SFE_UBLOX_GPS::getPortSettings(uint8_t portID, uint16_t maxWait)
18121772

18131773
payloadCfg[0] = portID;
18141774

1815-
return (sendCommand(packetCfg, maxWait));
1775+
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
18161776
}
18171777

18181778
//Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
@@ -1841,7 +1801,7 @@ boolean SFE_UBLOX_GPS::setPortOutput(uint8_t portID, uint8_t outStreamSettings,
18411801
//payloadCfg is now loaded with current bytes. Change only the ones we need to
18421802
payloadCfg[14] = outStreamSettings; //OutProtocolMask LSB - Set outStream bits
18431803

1844-
return (sendCommand(packetCfg, maxWait));
1804+
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
18451805
}
18461806

18471807
//Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
@@ -1862,7 +1822,7 @@ boolean SFE_UBLOX_GPS::setPortInput(uint8_t portID, uint8_t inStreamSettings, ui
18621822
//payloadCfg is now loaded with current bytes. Change only the ones we need to
18631823
payloadCfg[12] = inStreamSettings; //InProtocolMask LSB - Set inStream bits
18641824

1865-
return (sendCommand(packetCfg, maxWait));
1825+
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
18661826
}
18671827

18681828
//Configure a port to output UBX, NMEA, RTCM3 or a combination thereof
@@ -1903,16 +1863,17 @@ boolean SFE_UBLOX_GPS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
19031863
packetCfg.len = 0;
19041864
packetCfg.startingSpot = 0;
19051865

1906-
if (sendCommand(packetCfg, maxWait) == false) //This will load the payloadCfg array with current settings of the given register
1907-
return (false); //If command send fails then bail
1866+
//This will load the payloadCfg array with current settings of the given register
1867+
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
1868+
return (false); //If command send fails then bail
19081869

19091870
uint16_t measurementRate = 1000 / navFreq;
19101871

19111872
//payloadCfg is now loaded with current bytes. Change only the ones we need to
19121873
payloadCfg[0] = measurementRate & 0xFF; //measRate LSB
19131874
payloadCfg[1] = measurementRate >> 8; //measRate MSB
19141875

1915-
return (sendCommand(packetCfg, maxWait));
1876+
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
19161877
}
19171878

19181879
//Get the rate at which the module is outputting nav solutions
@@ -1924,8 +1885,9 @@ uint8_t SFE_UBLOX_GPS::getNavigationFrequency(uint16_t maxWait)
19241885
packetCfg.len = 0;
19251886
packetCfg.startingSpot = 0;
19261887

1927-
if (sendCommand(packetCfg, maxWait) == false) //This will load the payloadCfg array with current settings of the given register
1928-
return (0); //If command send fails then bail
1888+
//This will load the payloadCfg array with current settings of the given register
1889+
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
1890+
return (0); //If command send fails then bail
19291891

19301892
uint16_t measurementRate = 0;
19311893

@@ -1968,7 +1930,7 @@ boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, boolean implicitUpdate, uint16
19681930
payloadCfg[1] = UBX_NAV_PVT;
19691931
payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq.
19701932

1971-
bool ok = sendCommand(packetCfg, maxWait);
1933+
boolean ok = ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
19721934
if (ok)
19731935
{
19741936
autoPVT = enable;
@@ -1994,7 +1956,7 @@ boolean SFE_UBLOX_GPS::configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t
19941956
packetCfg.payload[1] = msgID;
19951957
packetCfg.payload[2 + portID] = sendRate; //Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every 2nd navigation solution.
19961958

1997-
return (sendCommand(packetCfg, maxWait));
1959+
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
19981960
}
19991961

20001962
//Enable a given message type, default of 1 per update rate (usually 1 per second)
@@ -2132,7 +2094,7 @@ boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t
21322094
payloadCfg[54] = currentGeofenceParams.rads[3] >> 16;
21332095
payloadCfg[55] = currentGeofenceParams.rads[3] >> 24;
21342096
}
2135-
return (sendCommand(packetCfg, maxWait)); //Wait for ack
2097+
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
21362098
}
21372099

21382100
//Clear all geofences using UBX-CFG-GEOFENCE
@@ -2154,7 +2116,7 @@ boolean SFE_UBLOX_GPS::clearGeofences(uint16_t maxWait)
21542116

21552117
currentGeofenceParams.numFences = 0; // Zero the number of geofences currently in use
21562118

2157-
return (sendCommand(packetCfg, maxWait)); //Wait for ack
2119+
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
21582120
}
21592121

21602122
//Clear the antenna control settings using UBX-CFG-ANT
@@ -2172,7 +2134,7 @@ boolean SFE_UBLOX_GPS::clearAntPIO(uint16_t maxWait)
21722134
payloadCfg[2] = 0xFF; // Antenna pin configuration: set pinSwitch and pinSCD to 31
21732135
payloadCfg[3] = 0xFF; // Antenna pin configuration: set pinOCD to 31, set reconfig bit
21742136

2175-
return (sendCommand(packetCfg, maxWait)); //Wait for ack
2137+
return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
21762138
}
21772139

21782140
//Returns the combined geofence state using UBX-NAV-GEOFENCE
@@ -2183,7 +2145,8 @@ boolean SFE_UBLOX_GPS::getGeofenceState(geofenceState &currentGeofenceState, uin
21832145
packetCfg.len = 0;
21842146
packetCfg.startingSpot = 0;
21852147

2186-
if (sendCommand(packetCfg, maxWait) == false) //Ask module for the geofence status. Loads into payloadCfg.
2148+
//Ask module for the geofence status. Loads into payloadCfg.
2149+
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
21872150
return (false);
21882151

21892152
currentGeofenceState.status = payloadCfg[5]; // Extract the status
@@ -2229,7 +2192,8 @@ boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait)
22292192
packetCfg.len = 0;
22302193
packetCfg.startingSpot = 0;
22312194

2232-
if (sendCommand(packetCfg, maxWait) == false) //Ask module for the current power management settings. Loads into payloadCfg.
2195+
//Ask module for the current power management settings. Loads into payloadCfg.
2196+
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
22332197
return (false);
22342198

22352199
if (power_save)
@@ -2244,7 +2208,7 @@ boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait)
22442208
packetCfg.len = 2;
22452209
packetCfg.startingSpot = 0;
22462210

2247-
return (sendCommand(packetCfg, maxWait)); //Wait for ack
2211+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
22482212
}
22492213

22502214
//Change the dynamic platform model using UBX-CFG-NAV5
@@ -2260,7 +2224,8 @@ boolean SFE_UBLOX_GPS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWai
22602224
packetCfg.len = 0;
22612225
packetCfg.startingSpot = 0;
22622226

2263-
if (sendCommand(packetCfg, maxWait) == false) //Ask module for the current navigation model settings. Loads into payloadCfg.
2227+
//Ask module for the current navigation model settings. Loads into payloadCfg.
2228+
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
22642229
return (false);
22652230

22662231
payloadCfg[0] = 0x01; // mask: set only the dyn bit (0)
@@ -2270,7 +2235,7 @@ boolean SFE_UBLOX_GPS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWai
22702235
packetCfg.len = 36;
22712236
packetCfg.startingSpot = 0;
22722237

2273-
return (sendCommand(packetCfg, maxWait)); //Wait for ack
2238+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
22742239
}
22752240

22762241
//Given a spot in the payload array, extract four bytes and build a long
@@ -2492,8 +2457,7 @@ boolean SFE_UBLOX_GPS::getHPPOSLLH(uint16_t maxWait)
24922457
packetCfg.id = UBX_NAV_HPPOSLLH;
24932458
packetCfg.len = 0;
24942459

2495-
return sendCommand(packetCfg, maxWait);
2496-
return (false); //If command send fails then bail
2460+
return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are only expecting data (no ACK)
24972461
}
24982462

24992463
//Get the current 3D high precision positional accuracy - a fun thing to watch
@@ -2505,7 +2469,7 @@ uint32_t SFE_UBLOX_GPS::getPositionAccuracy(uint16_t maxWait)
25052469
packetCfg.len = 0;
25062470
packetCfg.startingSpot = 0;
25072471

2508-
if (sendCommand(packetCfg, maxWait) == false)
2472+
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
25092473
return (0); //If command send fails then bail
25102474

25112475
uint32_t tempAccuracy = extractLong(24); //We got a response, now extract a long beginning at a given position
@@ -2665,7 +2629,7 @@ boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
26652629
packetCfg.len = 0;
26662630
packetCfg.startingSpot = 40; //Start at first "extended software information" string
26672631

2668-
if (sendCommand(packetCfg, maxWait) == false)
2632+
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
26692633
return (false); //If command send fails then bail
26702634

26712635
//Payload should now contain ~220 characters (depends on module type)
@@ -2741,7 +2705,7 @@ boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
27412705
packetCfg.len = 0;
27422706
packetCfg.startingSpot = 0;
27432707

2744-
if (sendCommand(packetCfg, maxWait) == false)
2708+
if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
27452709
return (false); //If command send fails then bail
27462710

27472711
//We got a response, now parse the bits

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