Class for implementing u-blox GPS support. More...

#include <UbloxGPS.h>

Inheritance diagram for Ublox:

Public Types
enum	StartType { StartType::HOT = 0, StartType::WARM = 1, StartType::COLD = 0xFFFF }
	Constants for whether to do a hot, warm, or cold restart using resetReceiver. More...

enum	ResetMode { ResetMode::HARDWARE_RESET_IMMEDIATE = 0x00, ResetMode::CONTROLLED_SOFTWARE_RESET = 0x01, ResetMode::CONTROLLED_SOFTWARE_RESET_GNSS_ONLY = 0x02, ResetMode::HARDWARE_RESET_AFTER_SHUTDOWN = 0x04, ResetMode::CONTROLLED_GNSS_STOP = 0x08, ResetMode::CONTROLLED_GNSS_START = 0x09 }
	Constants for how to do the reset when using resetReceiver. More...

Public Member Functions
	Ublox ()
	Constructor. You typically instantiate one of these as a global variable in your main application file.

virtual	~Ublox ()
	Destructor. As it is typically a global variable, you don't generally delete this.

void	setup ()
	Call from main application setup. Required!

void	loop ()
	Call from main application loop. Required!

void	getValue (uint8_t msgClass, uint8_t msgId, std::function< void(UbloxCommandBase *)> callback)
	Get a command value from the u-blox modem. More...

void	sendCommand (UbloxCommandBase *cmd)
	Send a command top the GPS. More...

void	setAntenna (bool external)
	Sets the antenna to external or internal on the AssetTracker V2.

void	enableAckAiding ()
	This function does not appear to work, but if it did, it would enable ACKs for aiding data.

void	resetReceiver (StartType startType, ResetMode resetMode=ResetMode::CONTROLLED_SOFTWARE_RESET)
	Resets the GPS. Note: This often does not work. More...

Public Member Functions inherited from UbloxCommand< 100 >
	UbloxCommand ()
	Constructs a command buffer of BUFFER_SIZE bytes. More...

Public Member Functions inherited from UbloxCommandBase
	UbloxCommandBase (uint8_t *buffer, size_t bufferSize)
	Construct a UbloxCommandBase object. Normally you'd use UbloxCommand instead, which handles the buffer management for you. More...

virtual	~UbloxCommandBase ()
	Destructor.

bool	decode (char ch)
	Decode a single character. More...

void	discardToNextSync1 ()
	Used internally to discard invalid data. You probably won't need to call this.

void	updateChecksum ()
	When preparing a command to send, updates the checksum, sync, and length bytes. More...

void	calculateChecksum (uint8_t &ckA, uint8_t &ckB) const
	Calculates the checksum based on the data in the buffer. More...

void	addHandler (UbloxMessageHandler *handler)
	Add a message handler. More...

void	removeHandler (UbloxMessageHandler *handler)
	Remove a message handler. More...

void	callHandlers ()
	Used internally to call all of the message handlers that match this class and id.

uint8_t	getMsgClass () const
	Gets the message class of the current command. More...

uint8_t	getMsgId () const
	Gets the message ID of the current command. More...

void	setClassId (uint8_t msgClass, uint8_t msgId)
	When sending a message, sets the message class and ID. More...

size_t	getPayloadLen () const
	Gets the payload length, the number of bytes available from getData()

const uint8_t *	getData () const
	Get a const pointer to the data payload. More...

bool	getData (size_t offset, void *data, size_t dataLen) const
	Copies data from the buffer. More...

bool	setData (size_t offset, const void *data, size_t dataLen)
	Set data in the buffer. More...

bool	appendData (const void *data, size_t dataLen)
	Appends data into the buffer at the current payloadLen. More...

bool	fillData (uint8_t value, size_t dataLen)
	Works like appendData(), but fill with a value instead. More...

uint8_t	getU1 (size_t offset) const
	Get a uint8_t value at offset. More...

bool	setU1 (size_t offset, uint8_t value)
	Set a uint8_t value at offset in the payload. More...

bool	appendU1 (uint8_t value)
	Append a uint8_t value to the current end of the payload. More...

int8_t	getI1 (size_t offset) const
	Get a int8_t value (signed) at offset. More...

bool	setI1 (size_t offset, int8_t value)
	Set a int8_t value at offset in the payload. More...

bool	appendI1 (int8_t value)
	Append a int8_t value to the current end of the payload. More...

uint16_t	getU2 (size_t offset) const
	Get a uint16_t value (little endian) at offset. More...

bool	setU2 (size_t offset, uint16_t value)
	Set a uint16_t value at offset in the payload. More...

bool	appendU2 (uint16_t value)
	Append a uint16_t value to the current end of the payload. More...

int16_t	getI2 (size_t offset) const
	Get a int16_t value (little endian, signed) at offset. More...

bool	setI2 (size_t offset, int16_t value)
	Set an int16_t value at offset in the payload. More...

bool	appendI2 (int16_t value)
	Append an int16_t value to the current end of the payload. More...

uint32_t	getU4 (size_t offset) const
	Get a uint32_t value (little endian, 4 bytes) at offset. More...

bool	setU4 (size_t offset, uint32_t value)
	Set a uint32_t value at offset in the payload. More...

bool	appendU4 (uint32_t value)
	Append a uint32_t value to the current end of the payload. More...

int32_t	getI4 (size_t offset) const
	Get a int32_t value (little endian, 4 bytes, signed) at offset. More...

bool	setI4 (size_t offset, int32_t value)
	Set an int16_t value at offset in the payload. More...

bool	appendI4 (int32_t value)
	Append a int32_t value to the current end of the payload. More...

float	getR4 (size_t offset) const
	Get a float value (4 bytes) at offset. More...

bool	setR4 (size_t offset, float value)
	Set an float (4 byte floating point) value at offset in the payload. More...

bool	appendR4 (float value)
	Append a float (4 byte floating point) value to the current end of the payload. More...

double	getR8 (size_t offset) const
	Get a double value (8 bytes) at offset. More...

bool	setR8 (size_t offset, double value)
	Set an double (8 byte floating point) value at offset in the payload. More...

bool	appendR8 (double value)
	Append a double (8 byte floating point) value to the current end of the payload. More...

const uint8_t *	getBuffer () const
	Get a pointer to the buffer, typically to send data. More...

size_t	getSendLength () const
	Get the length of the data, typically to send it. More...

Static Public Member Functions
static Ublox *	getInstance ()
	Get the singleton instance of this class.

Static Protected Attributes
static Ublox *	instance = 0
	Singleton instance of this class.

Static Protected Attributes inherited from UbloxCommandBase
static const uint8_t	SYNC_1 = 0xb5
	value of the first sync byte at buffer[0]

static const uint8_t	SYNC_2 = 0x62
	value of the second sync byte at buffer[1]

static const size_t	CLASS_OFFSET = 2
	offset in buffer where the message class is stored

static const size_t	ID_OFFSET = 3
	offset in buffer where the message ID is stored

static const size_t	DATA_OFFSET = 6
	offset in buffer where data begins (after sync, class, id, and length)

static const size_t	HEADER_PLUS_CRC_LEN = 8
	size of the header data (6 bytes) plus CRC (2 bytes). Minimum size of a valid packet with 0 bytes of payload data.

static const size_t	CRC_START_OFFSET = 2
	offset in buffer where the CRC calculation starts (does not include sync bytes)

static const size_t	CRC_HEADER_LEN = 4
	number of header bytes included in the CRC. The total CRC length is this plus payloadLen.

Additional Inherited Members
Protected Types inherited from UbloxCommandBase
enum	State { State::LOOKING_FOR_START, State::LOOKING_FOR_LENGTH, State::LOOKING_FOR_MESSAGE }
	u-blox parsing state constants More...

Protected Attributes inherited from UbloxCommandBase
uint8_t *	buffer
	Buffer to hold data (received data or data for composing a packet to send)

size_t	bufferSize
	Size of the buffer. Maximum payload is bufferSize - HEADER_PLUS_CRC_LEN.

size_t	bufferOffset = 0
	Current offset being written to in buffer when using encode()

size_t	payloadLen = 0
	Length of the data payload (0 = no data). This does not include the header or CRC.

State	state = State::LOOKING_FOR_START
	Current parsing state.

std::vector< UbloxMessageHandler * >	handlers
	Vector of message handler objects, contains filter and callback function to handle incoming messages.

Detailed Description

Class for implementing u-blox GPS support.

You typically instantiate one of these as a global variable in your main application code if you want to use the u-blox specific features. It is optional.

If you are using it, be sure to call the setup() and loop() methods from your application setup() and loop()!

Member Enumeration Documentation

◆ ResetMode

enum Ublox::ResetMode

strong

Constants for how to do the reset when using resetReceiver.

Enumerator
HARDWARE_RESET_IMMEDIATE	Hardware reset of the GPS receiver immediately.
CONTROLLED_SOFTWARE_RESET	Controlled software reset (default)
CONTROLLED_SOFTWARE_RESET_GNSS_ONLY	Controlled software reset of the GNSS only.
HARDWARE_RESET_AFTER_SHUTDOWN	Hardware reset after doing a software shutdown.
CONTROLLED_GNSS_STOP	Controlled stop of the GNSS.
CONTROLLED_GNSS_START	Controlled start of the GNSS.

◆ StartType

enum Ublox::StartType

strong

Constants for whether to do a hot, warm, or cold restart using resetReceiver.

Enumerator
HOT	Restart with any current data.
WARM	Restart without ephemeris, but with all other data.
COLD	Restart clearing all saved data.

Member Function Documentation

◆ getValue()

void Ublox::getValue	(	uint8_t	msgClass,
		uint8_t	msgId,
		std::function< void(UbloxCommandBase *)>	callback
	)

Get a command value from the u-blox modem.

Parameters

msgClass	The class of the data to get
msgId	The ID of the data to get
callback	The function to call with the value

Get operations typically work by sending a command with a 0 byte payload. When the message is received (with the values), the callback is called

The callback has the prototype:

void callback(UbloxCommandBase *cmd);

The cmd parameter allows the data to be examined.

Note that when the AssetTracker is running in threaded mode, this will be called from the GPS reading thread so you should not do operations that block or are lengthy from the callback as it will affect GPS performance.

◆ resetReceiver()

void Ublox::resetReceiver	(	StartType	startType,
		ResetMode	resetMode = `ResetMode::CONTROLLED_SOFTWARE_RESET`
	)

Resets the GPS. Note: This often does not work.

Parameters

startType	whether to to a HOT, WARM, or COLD start
resetMode	how to do the reset when using resetReceiver (default: CONTROLLED_SOFTWARE_RESET)

In theory you could use this to cold start the GPS for more easily testing things like AssistNow but in reality, cold booting seems to have no effect.

◆ sendCommand()

void Ublox::sendCommand ( UbloxCommandBase * cmd )

Send a command top the GPS.

Parameters

cmd	The command object to send

This class has some pre-made commands like setAntenna() but the sendCommand() can be used to send any arbitrary command.

The documentation for this class was generated from the following files:

src/UbloxGPS.h
src/UbloxGPS.cpp

Public Types

Public Member Functions

Static Public Member Functions

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ResetMode

◆ StartType

Member Function Documentation

◆ getValue()

◆ resetReceiver()

◆ sendCommand()